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code=0BAA owner=0055 element=0794 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=0BAB owner=0054 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BAC owner=0054 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BAD owner=0098 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BAE owner=009B element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BAF owner=009E element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 ŧ758)tB[[=/?[_~?[[[[[BZYY i) [I%F?iwf  :@)) :@ :@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031103.023165 s, next control iter: 1743031103.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031103.403165 s.&H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076196< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743031103.403266F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@A̗`@Ak_~? A^ʪAn&"AAa+wNA"AZAbAjArAzAAAf[f9@AysAkfq@AҒ;AL=A?A`?A ?A|*AB9?2Aֽ:Ap =BAB9?JAֽRAp =٘i)I9fq@YG JCC=JJJJhD&K Yi7_~?yUxMADj7Z7_8)xB[[}V?[_~?[z[[[[BZYY i)  jItF?i'TQe @))@@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031103.423165 s, next control iter: 1743031103.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4602", header.stamp.nsec: 0"0 temperature: 13.564871"* salinity: 33.375572", density: 1025.000000"* values[0]: 0.578738"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031103.823165 s.H~,)"AA\(@A|@A_~? AuªA &"AA3wNA"AZAbAjArAzAAA,09@A%ոtsAp@A׈,<AD=A?A?A ?AX*A9?2Ahbֽ:A=BA9?JAhbֽRA=٘i)I9p@YG J؜JJJJsD&K Y:_~?yohMADŧ7b78B)zBE[[%|?[Ү_~?[*q[[[[BZYY itq) $\zIrE?iɰ.Jb [@))[@[@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031103.843165 s, next control iter: 1743031104.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031104.243165 s.H~,q"AJ"J*J2J:JBJnJvJAGz@A gz@Av_~? AAǣ&"AAs;wNA"AZAbAjArAzAAALi9@A}osARZp@AD5<A=A*?A2?A@ !?A:*AZ9?2Asֽ:AL=BAZ9?JAsֽRAL=٘i)I9Zp@YHG JSJJJJ}D&K Y=_~?yfMAD77{78)~B[[l?[ʯ_~?[g[[[[BZYY i) !IE?i_S] @))@@?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031104.263165 s, next control iter: 1743031104.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031104.663165 s. H~,q*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031104.663278F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4603, header.stamp.nsec: 00 temperature: 13.565100* salinity: 33.375603, density: 1025.000000* values[0]: 0.578124F (some fields omitted in printout)A@AWt@A_~? AA?&"AAMBwNA"AZAbAjArAzAAAY9@A_eksAo@A;A=A^?Aw?A`y4?A3*A9?2Aֽ:A=BA9?JAֽRA=Y^ի??y=w;ٓHԂ?z@-z?~?ǃ?@8?[<w??)^ի? I٘i)I9o@YG JԣJ_<JJJD&K;x> Y=_~?y^LA?D778)B[[?[_~?[][[[[BZYY i) kI*E?iD] z@))z@z@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031104.683165 s, next control iter: 1743031105.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031105.083165 s.DH~,RE"AJ"J*J2J:J?BJ?nJ05vJARk@A{mQ@Ai_~? AA&"AA\HwNA"AZAbAjArAzAAAK89@A^(!fsAGo@A* #A+=A?AǸ?AE?Au*Aں9?2AC׽:A=BAں9?JAC׽RA=٘i)I9Go@YG J JJJJD&K Y1>_~?y:U9LAD7 ɒ8)B[[?[s_~?[*T[[[[BZYY i) ?IE?iL\  @)) @ @yWKתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031105.103165 s, next control iter: 1743031105.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031105.503165 s.H~,@4`"AAp= @Al@A`~? AADw&"AAMwNA"AZAbAjArAzAAAM:@A 2_~?ylLKAD77{75В8B)BE[[` ?[$_~?[J[[[[BZYY i) V}IgE?i橿\yY @))@@b۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031105.543165 s, next control iter: 1743031105.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4604, header.stamp.nsec: 00 temperature: 13.565331* salinity: 33.375580, density: 1025.000000* values[0]: 0.577504F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031105.923165 s.J "J *J 2J :J ?BJ ?nJ 5vJ BH~,{"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031105.923318F (some fields omitted in printout)A(\B@ARx(@A=`~? AA&"AARwNA"AZAbAjArAzAAAB{ :@A`FU\sA2n@AU:A =A?A?A _?A *A89?2A$׽:A=BA89?JA$׽RA=٘i)I92n@YG JIJJJJD&K Y>_~?yCkKAD7)7`ג8)B[[Y*?[_~?[@[[[[BZYY i) I{E?iNU (@))(@(@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031105.963165 s, next control iter: 1743031106.323184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743031106.343165 s.<%H~,"AAHz@AyT@A\`~? AtA&"AAUwNA"AZAbAjArAzAAA`t*Q:@A;X%kWsAm@AAbC=A`?Aģ?A@h?A*A9?2Anֽ:AN=BA9?JAnֽRAN=٘i)I9m@YG JCJJJJD&K Y>_~?y:KA CD77{7ޒ8)B[[F?[J_~?[c7[[[[BZYY i) uIE?iZO @))@@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031106.383165 s, next control iter: 1743031106.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4605*, header.stamp.nsec: 0*0 temperature: 13.565570** salinity: 33.375587*, density: 1025.000000** values[0]: 0.576835*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031106.763165 s.:+H~,,ذ"AJ"J*J2J:J?BJ?nJ5vJA@A @A`~? AeA/N&"AAXwNA"AZAbAjArAzAAA':@A⭊RsA[ m@A :Ac=A?A@A?A`zo?A̹*A9?2Aڈֽ:AG=BA9?JAڈֽRAG=٘i)I9 m@YDG JB=JJJJD&K Y?_~?)>i  rAdjusting time to match Gazebo time: 1743031108.023165 s.Z@H~,|"AA(\@A"B@A`~? A0rA&&"AA]\wNA"AZAbAjArAzAAA4r?$:@ACsAk@A<A=AY?Aԑ}A`Hu?A˼*Aj9?2Aiֽ:Ac=BAj9?JAiֽRAc=٘i)I9k@YG JmʼJJJJD&K Y@_~?yfIADj7j758)B[[?[_~?[#[[[[BZYY i)  ȼISE?i񆿉V, `!@))`!@`!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031108.043165 s, next control iter: 1743031108.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031108.443165 s.;FH~,O]"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031108.443283F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@Ax@A`~? AjAP&"AA\wNA"AZAbAjArAzAAA9Ѳ:@AFl>sAEoj@A%:Az=AP?A@X͖Ajr?AO̼*AE9?2Aֽ:A=BAE9?JAֽRA=٘i)I9oj@YG Jm̼JJJJD&K  8YF@_~? 8yHA'D777`8B)BE[[0?[_~?[ [[[[BZYY i) 9AмIEE?i.{t 8r#@))8r#@8r#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031108.463165 s, next control iter: 1743031108.843182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4607, header.stamp.nsec: 00 temperature: 13.566170* salinity: 33.375591, density: 1025.000000* values[0]: 0.575353F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031108.863165 s.+MH~,>7"AA33333@AS@A `~? AbAa&"AAZwNA"AZAbAjArAzAAA[>n:@Am9sA'i@AvٻAѲ=A:?A Al?A̼*A[9?2A׽:A90=BA[9?JA׽RA90=Y?+?yв=ڻٓH1ȿ@d k@)G?ȿ?RA8{?)? I٘i)I9i@YEG J̼J<JJJD&K2> Y:_~?y-HA?1D)7b7 8)B[[w?[_~?[[[[[BZYY i) Ku׼I58E?iwF $@))$@$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031108.883165 s, next control iter: 1743031109.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031109.283165 s.:RTH~,R"AJ"J*J2J:J-?BJ-?nJS5vJAQ@AH@Az`~? AZA5&"AAXwNA"AZAbAjArAzAAAL+:@A`4sApi@A|8A =Ad?AϪA`e?Aμ*A9?2A׽:AxE=BA9?JA׽RAxE=٘i)I9i@Y G JͼJJJJD&K Yb5_~?yHA?A`ݼ*A9?2A@ֽ:A=BA9?JA@ֽRA=٘i)I9f@Y G JڼJJJJD&K Y %_~?yFA\Dj75&8)ǯB[[?[cg_~?[Uܨ[[[[ZZBZYY i) ͼIE?iU  +@)) +@ +@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031110.563165 s, next control iter: 1743031110.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4609, header.stamp.nsec: 00 temperature: 13.566836* salinity: 33.375576, density: 1025.000000* values[0]: 0.573682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031110.963165 s.wnH~,줽"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743031110.963294F (some fields omitted in printout)AL@Ayj2@A_~? A9Ar &"AA"IwNA"AZAbAjArAzAAA@n9@Ad Y_~?y?ۨ0FA?gD777a-8)ͯB[[#?[]_~?[Ө[[[[ZZBZYY i) ID?iQ ,@)),@,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031110.983165 s, next control iter: 1743031111.363176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031111.383165 s.uH~,'"AAQ@A:q9@A_~? A1A &"AA8CwNA"AZAbAjArAzAAA1 9@AycXsAsMe@AOp.<Ac=Ap?AA?A *A^9?2A!8ֽ:Aa<BA^9?JA!8ֽRAa<٘i)I9Me@Y G JC=JJJJ4D&K Y_~?yҨEArD7748)ԯB[[?[0R_~?[ʨ[[[[ZZBZYY i) ID?i)JWb [.@))[.@[.@yY=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031111.403165 s, next control iter: 1743031111.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4610&, header.stamp.nsec: 0&0 temperature: 13.387700&* salinity: 33.391647&, density: 1025.000000&* values[0]: 0.691566&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031111.803165 s.yA|H~,g"AJ"J*J2J:JBJnJvJAq= #@AVa3 @A_~? A*AĨ &"AA elevatorAngleAction: 0.082500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031112.223294F (some fields omitted in printout)A(\@ASDu@A_~? A("AVC &"AA5wNA"AZAbAjArAzAAA [y9@A"@sAc@A@A/=A?AÿA?Aͼ*A49?2A?tֽ:A>;BA49?JA?tֽRA>;٘i)I9c@Y G JJJJJJD&K Y_~?y¨DAD77B8)B[[kU@[:_~?[![[[[ZZBZYY i) ID?iz6| 1@))1@1@vYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031112.243165 s, next control iter: 1743031112.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031112.643165 s.yЉH~,*)"AJ"J*J2J:J0?BJ0?nJ195vJAG@Ag@A _~? AKAM &"AA,wNA"AZAbAjArAzAAA3W9@A1sAc@A2A6<Ay[?A ߵſA?AU*A89?2A}hֽ:A ,BA89?JA}hֽRA ,٘i)I9c@Y4 G J轼JJJJTD&K Y^~?yZDADj7Z7 J8)B[[Z@[._~?[豨[[[[ZZBZYY i)  ID?i)t.ٻ 2@))2@2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031112.663165 s, next control iter: 1743031113.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4611, header.stamp.nsec: 00 temperature: 13.388072* salinity: 33.391651, density: 1025.000000* values[0]: 0.689896F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031113.063165 s.H~,c D"AAfffff@A RL@A_~? AwAv&"AA#wNA"AZAbAjArAzAAA8]9@Å0K sAb@A3LA^<Aj?A@АǿA?Apz*A̳9?2AYֽ:A#"BA̳9?JAYֽRA#"YY??y_<Q5LٓHؿӎ4?ؿm?ւ8`?)Y? I٘i)I9b@Y G J唼J!:JJJ_D&K3w> Y^~?yuMDA?D{76Q8)B[[O@[ _~?[[[[[ZZBZYY iSƂ=) ,ID?i#Hѻ 4@))4@4@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031113.083165 s, next control iter: 1743031113.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031113.483165 s.~_H~,^"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063855< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419974J2 time: 1743031113.483305F (some fields omitted in printout)"J*J2J:JBJnJvJA@Ae#ٷ@A_~? A A%&"AAwNA"AZAbAjArAzAAA?ZMԋ9@AsAW#@A_~? AA&"AA8wNA"AZAbAjArAzAAAG蜽u9@A8x2rAb@Au@:AA@AC˿A@r?Aqq*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G JO JJJJuD&K Y^~?y.4DAD7{7_8)B[[hG@[Q_~?[[[[[ZZBZYY i) \hID?i.Թ "7@))"7@"7@b)YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743031113.923165 s, next control iter: 1743031114.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031114.323165 s.xH~,-"AJ"J*J2J:J80?BJ80?nJ85vJA\@Aߎ@A_~? A:A=&"AAwNA"AZAbAjArAzAAA=^9@AGrAMa@A* <AMA@A9ͿA`M?Aۺ*A9?2Aֽ:AƼBA9?JAֽRAƼ٘i)I9a@Y| G JJJJJD&K Y^~?y 'DAD77f8)B[[r@[d^~?[摨[[[[BZYY i) i/UIjD?iP $8@))$8@$8@yM6={0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031114.363165 s, next control iter: 1743031114.723178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4613&, header.stamp.nsec: 0&0 temperature: 13.388443&* salinity: 33.391666&, density: 1025.000000&* values[0]: 0.688184&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031114.743165 s.WH~,q"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074147< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031114.743305F (some fields omitted in printout)AGz@AQd@A_~? AA&"AAvNA"AZAbAjArAzAAAD9@AɝqrA2a@AI?<A0AC4@AοA&?A ;*A 9?2ALֽ:A6QBA 9?JALֽRA6Q⼙I٘i)I9a@Y JP9JJJJD&K Y^~?y琨DADb7b7m8B)BE[[6 @[^~?[G[[[[BZYY i) uAID?idM :@)):@:@:m*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031114.783165 s, next control iter: 1743031115.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031115.163165 s.v}H~,q"AJ"J*J2J:JBJnJvJA@A`5e@Aָ_~? AAh&"AAvNA"AZAbAjArAzAAA_Nf?*9@A8Z1rA}b@AE <AVA~@AYпAy?A3;*Aə9?2Aߛֽ:A+'BAə9?JAߛֽRA+'Y$?w@yV- <ٓH޿ (?!? Ŧ޿ u`0ܪ?`??m?)$? I٘i)I9b@Y G J{;JbJJJD&Kw> Y^~?y)cDAw@D77 u8)E[[B @[^~?[[[[[BZYY iyVe=) "1ID?iF߾%去 ;@));@;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031115.183165 s, next control iter: 1743031115.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031115.583165 s.渴H~, S"AAR@AHN&n@A_~? ArAU&"AA vNA"AZAbAjArAzAAAYH9@AM5rA=b@A:ALwA|@A;ѿA?AZQ+<*A9?2AURֽ:AWBA9?JAURֽRAW٘i)I9=b@Y G J <JJJJD&K Y ^~?ykDADb777|8B)E[[& @[y^~?[S{[[[[BZYY i)  ID?i̾  =@)) =@ =@E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031115.603165 s, next control iter: 1743031115.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4614, header.stamp.nsec: 00 temperature: 13.388456* salinity: 33.391685, density: 1025.000000* values[0]: 0.688124F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031116.003165 s.w H~,H4"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743031116.003287F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@AM<@Aå_~? AܩA&"AAvNA"AZAbAjArAzAAAМ k8@A;rAb@A7AMAs@A;ҿA?A$m<*Aʖ9?2A}ֽ:AIV BAʖ9?JA}ֽRAIV ٘i)I9b@Y G J}J<JJJJD&K Y^~?yyDA CD)7ŧ7a8)B[[ @[^~?[t[[[[BZYY i ʅ=) zID?i&s&i >@))>@>@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031116.043165 s, next control iter: 1743031116.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031116.423165 s.uƴH~,"AA(\@A/w@A_~? AթA &"AA|vNA"AZAbAjArAzAAAbM8@ALxrAb@A&EAAoP@A@+ҿAt?A<*AG9?2A5ֽ:AODBAG9?JA5ֽRAOD٘i)I9b@Y' G J<JJJJD&K Y^~?yq elevatorAngleAction: 0.065327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031117.263299F (some fields omitted in printout)A@A@A_~? AƩA?&"AAvNA"AZAbAjArAzAAÁB8@Agl/rAd@A<A3A/ @A@ԿA ?A<*A 9?2Aֽ:AQ BA 9?JAֽRAQ Y? @y2rj=ٓHv fD?HS?@?@gZ?)? I٘i)I9d@Y G J՝<B=JTJJJD&Kw> Y{q^~?ybEA @Dj7j7☓8)B[[@[^~?[K_[[[[BZYY i) eID?iYi FB@))FB@FB@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031117.283165 s, next control iter: 1743031117.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 46162, header.stamp.nsec: 020 temperature: 13.3881802* salinity: 33.3917272, density: 1025.0000002* values[0]: 0.6894412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031117.683165 s.lڴH~,ck"AJ"J*J2J:J0?BJ0?nJ95vJAQ@AU @Ay_~? AA-&"AAvNA"AZAbAjArAzAAAG2k8@ALtrAd@AaY;ADAlN @A“տA`?A<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9d@Y G J'<C=JJJJD&K Ya^~?y[PFADZ7SI7 8 B)BE[[^@[Yl^~?[X[[[[BZYY i) &ID?i0{G RfD@))RfD@RfD@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031117.683165 s, next control iter: 1743031118.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743031118.103165 s.H~,"AA= ףp@AmV@Am_~? AA@Y&"AA{vNA"AZAbAjArAzAAACF8@AƒorAke@AG;<AȓAҢ @AmֿA?Aݦ<*A 9?2Aֽ:A. BA 9?JAֽRA. ٘i)I9e@Yl G J<JJJJD&K YQ^~?yiTFAD77778)B[[~@[AY^~?[)R[[[[BZYY i) 儻ID?i E@))E@E@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031118.143165 s, next control iter: 1743031118.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031118.523165 s.H~,{"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031118.523278F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@AX@A`_~? AA&"AAhvNA"AZAbAjArAzAAA;z8@A%U rA¢e@A&4<AOYA@A C׿A)a?AC<*A:9?2Aֽ:ABA:9?JAֽRA٘i)I9e@Y G J?<JJJJD&K YA^~?y&MGA(Db77b8B)BE[[7@[E^~?[K[[[[BZYY i)  PMID?iʏ 8 OG@))OG@OG@G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031118.543165 s, next control iter: 1743031118.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4617, header.stamp.nsec: 00 temperature: 13.388000* salinity: 33.391720, density: 1025.000000* values[0]: 0.690353F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031118.943165 s.XdH~,B]"AAzG @AwLݕ- @AS_~? AAl&"AAHUvNA"AZAbAjArAzAAA(l*7@AR*QrA2f@A;A2ZAG5@AؿA$?Aլ<*An9?2Aֽ:A$BAn9?JAֽRA$٘i)I92f@Y G J0<JJJJD&K Y1^~?yEGA3D778)ݯB[[@[2^~?[E[[[[BZYY i) ID?ij6 mH@))mH@mH@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031118.983165 s, next control iter: 1743031119.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031119.363165 s.H~,}>"AJ"J*J2J:JBJnJvJA3333 @A @ATF_~? AAF&"AAAvNA"AZAbAjArAzAAAx 7@AxhΪrAf@A}AAx@A`ؿA(?AT<*A9?2A\ֽ:A2BA9?JA\ֽRA2Yv@|@y:l~ٓH 3)n?[?ުA2 ?`>o|?)v@ I٘i)I9f@Ys G J<J%:JJJD&Kx> Yg^~?y*?GA|@=D{7j78B)ۯBE[[? @[^~?[?[[[[BZYY i) wIUD?i<9 G))G"4J@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031119.403165 s, next control iter: 1743031119.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4618&, header.stamp.nsec: 0&0 temperature: 13.387811&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.691342&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031119.783165 s.WH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743031119.783295F (some fields omitted in printout)AQ @A?s֧ @AS8_~? AݜAz&"AA@,vNA"AZAbAjArAzAAAD/7@AV%rAkXg@Aɱ,A_\A@A@fٿA@2?ALp<*A9?2AB9ֽ:ABA9?JAB9ֽRA٘i)I9Xg@Y G J<JJJJ D&K Y( ^~?yr8NHAHD77Ó8B)دBE[[ v@[. ^~?[9[[[[BZYY i) ^IOD?iR=:: tzF))tzFAK@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031119.823165 s, next control iter: 1743031120.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031120.203165 s.H~, "AJ"J*J2J:J1?BJ1?nJ95vJAףp= @AJ ,p @A)_~? A&A#&"AAvNA"AZAbAjArAzAAA_ux7@AQvjrAg@A>AA @Aw|ڿA`?A<*A9?2AMֽ:ABA9?JAMֽRA٘i)I9g@Y& G JS<JJJJD&K Y]~?y1HASD77{7 ˓8)ӯB[[@[G]~?['4[[[[BZYY i)  :ID?i=': D E))D EqM@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031120.223165 s, next control iter: 1743031120.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031120.623165 s.] H~,v'"AA)\ @A @A_~? AAs&"AAvNA"AZAbAjArAzAAAђЩK7@AxC_rA5yh@AY0ػAA]@A`JFۿA?A]<*AU9?2Aֽ:ABAU9?JAֽRA٘i)I9yh@Y| G J<JJJJ!D&K Y]~?y+IA^Dŧ7b78ғ8B)үBE[[pB@["]~?[.[[[[BZYY i) :IrD?ij7>=: PC))PCeN@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031120.663165 s, next control iter: 1743031121.023181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4619 , header.stamp.nsec: 0 0 temperature: 13.387577 * salinity: 33.391705 , density: 1025.000000 * values[0]: 0.692330 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031121.043165 s.¨H~,B"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743031121.043307F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga @A23/G @A _~? AA&"AAuNA"AZAbAjArAzAAAAe77@A5XcrAYi@A:AA-@A`FܿA?Au<*A9?2A(ֽ:AmBA9?JA(ֽRAm٘i)I9i@Y G J<JJJJ,D&K Yo]~?yJ$IAhDb77bٓ8)ͯB[[@[]~?[W)[[[[BZYY i) ,;I͕D?iy>6; -B))-BO@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031121.063165 s, next control iter: 1743031121.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031121.463165 s.`H~,]"AA @A?;າ @A^~? AA&"AA%uNA"AZAbAjArAzAAAڽ 'w6@AH+wrAȂi@AV<AA @ANܿA`.?A<*A^9?2A+׽:AjBA^9?JA+׽RAjYg @@y&ű<ٓH@3k.`[Q?t%?  P?j? ?)g @ I٘i)I9i@YG J <B=J'x<JJJ6D&Kx> Y]~?y-IA@sDb78B)˯BE[[ @[۳]~?[ $[[[[BZYY i_}=) [;ID?i>~9; @))@^Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031121.483165 s, next control iter: 1743031121.863188 s, wait time: 0.380023 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4620, header.stamp.nsec: 00 temperature: 13.387358* salinity: 33.391724, density: 1025.000000* values[0]: 0.693257F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031121.883165 s.yH~,8x"AJ"J*J2J:JBJnJvJAQ8 @AVdt@ @A^~? A>|A"&"AAuNA"AZAbAjArAzAAA POn6@An}rAi@AvE<ASA7[@AHݿA;?AH<*A9?2A4׽:AlBA9?JA4׽RAl񼙘٘i)I9i@YjG J<C=JJJJAD&K Y]~?y:JA~D78B)ɯBE[[m!@[]~?[[[[[BZYY i) ;I3D?i>V; T?))T?R@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031121.903165 s, next control iter: 1743031122.283178 s, wait time: 0.380013 s]~?) rAdjusting time to match Gazebo time: 1743031122.303165 s.U$H~,sg"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743031122.303284F (some fields omitted in printout)Aq= ף @Az @A+^~? AvAv&"AA/uNA"AZAbAjArAzAAAWG&6@A=&ΩrAvj@AW<A,A]@A CP޿A?AMS<*A9?2Aֽ:AaBA9?JAֽRAa٘i)I9vj@YG J<JJJJLD&K Yd]~?yJADj7j78)ůB[["@[V]~?[:[[[[BZYY i) J;IpD?i>|y; =))= 6T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031122.323165 s, next control iter: 1743031122.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4621., header.stamp.nsec: 0.0 temperature: 13.387204.* salinity: 33.391750., density: 1025.000000.* values[0]: 0.694102.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031122.723165 s.+H~,H"AJ"J*J2J:J1?BJ1?nJR:5vJA(\ @AJ @A/^~? AoA]&"AAŇuNA"AZAbAjArAzAAAmV6@ArA\j@ArD9AA@A߿A?A்<*A9?2Aֽ:A&BA9?JAֽRA&٘i)I9j@YG J<JJJJWD&K Y ]~?y JAD778B)įBE[[-$@[p]~?[[[[[BZYY i) (;ID?i>]; <))<$U@yn=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031122.743165 s, next control iter: 1743031123.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031123.143165 s.T/2H~,)"AAGz @A_~` @A͸^~? AiAe&"AAmuNA"AZAbAjArAzAAA8u!6@AfrAdk@AsA| AS-@A߿AM?Aj<*A9?2A/_ֽ:ASBA9?JA/_ֽRAS٘i)I9dk@YDG J0<JJJJaD&K Yp]~?yQKAD77788)B[[L%@[)Z]~?[[[[[BZYY i) ;;I|D?i?`G; &;))&;W@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031123.163165 s, next control iter: 1743031123.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031123.563165 s.8H~,_ "AJ"J*J2J:J1?BJ1?nJo:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031123.563287F (some fields omitted in printout)Affff @AoKS @A ^~? AcAH&"AA'SuNA"AZAbAjArAzAAA  8YtZ]~? 8yNKA@D)7b7c8B)BE[[&@[B]~?[ [[[[BZYY i) 6{# elevatorAngleAction: 0.074458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031124.823296F (some fields omitted in printout)A\(@AEH@Awo^~? ARA *&"AAtNA"AZAbAjArAzAAAC5@A-!krAEm@AF>;A{0At"@AX9A ?Aތ<*Aڼ9?2A ׽:A8BAڼ9?JA ׽RA8٘i)I9Em@YiG J<JJJJD&K Y]~?yLAD{7{78)B[[*@[\~?[[[[[BZYY i) 3 Y\~?yMA%@D79(8%B)BӹE[[|-@[\~?[}[[[[BZYY i) Q elevatorAngleAction: 0.074458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031126.083300F (some fields omitted in printout)ARk@A~mQ@A4^~? ACAd&"AAtNA"AZAbAjArAzAAA|?4@A'rAn@A;AXAY&@A *A?A"<*A9?2Avֽ:AtSBA9?JAvֽRAtS٘i)I9n@YEG J<JJJJD&K Y\~?y,MA CD)7ŧ7c/8)B[[X.@[\~?[$[[[[BZYY i=) >aA&"AAtNA"AZAbAjArAzAAA4S4@AQWrA2o@ANA[Ai'@AuA ?Akm<*Aܶ9?2Ajֽ:A : BAܶ9?JAjֽRA : ٘i)I92o@YG J<B=JJJJD&K Yݹ\~?yyܧBNAD{7{768'B)BйE[[ S0@[~\~?[[[[[BZYY i) ׎p?A|<*A9?2A@ֽ:ABA9?JA@ֽRA٘i)I9o@YG Jԟ<C=JJJJD&K Y\~?yקNAD7777=8)B)B͹E[[:1@[;\~?[[[[[BZYY i)  elevatorAngleAction: 0.083278< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031127.343316F (some fields omitted in printout)AHz@A[ H@A]~? AJ4A&"AAJtNA"AZAbAjArAzAAA̕s3@A* rAAp@AR=ASA.*@A`Ay?Ab1<*A9?2AnRֽ:A BA9?JAnRֽRA ٘i)I9Ap@Y:G JѢ<JJJJD&K Y\~?yӧOA D{7D8*B)BʹE[[2@[k\~?[-[[[[BZYY i)  Yp\~?y(ϧmOA+@D)7b7L8+B)BɹE[[aG4@[KS\~?[[[[[BZYY i)  elevatorAngleAction: 0.083278< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031128.603295F (some fields omitted in printout)A= ף@AHڍ@A:]~? A&A &"AAsNA"AZAbAjArAzAAA3@AeyrAq@A"<AǠA2.@A*A`?A{N<*Aԟ9?2A׽:ABAԟ9?JA׽RA٘i)I9q@Y7G J+<JJJJD&K YA>\~?yRǧ>PA)D7ŧ7dZ8.B)B¹E[[6@[!\~?[[[[[BZYY i) %w"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083278< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743031129.863305F (some fields omitted in printout)A33333@A2*@As]~? AeA!&"AAwsNA"AZAbAjArAzAAA:^iF2@ApxVqrAs@A AW A 2@A A`?Awc<*A?9?2A6rֽ:A BA?9?JA6rֽRA Y"$@G 2@yV ٓH` ֿ?p?$?=?)"$@ I٘i)I9s@YDG J<J邼JJJ D&Kw> YG[~?ydQA 2@JD{7o8)B[[E:@[[~?[ߧ[[[[BZYY i) | elevatorAngleAction: 0.083278< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743031131.123292F (some fields omitted in printout)A)\u@Az[@A-]~? A]Ag"&"AAsNA"AZAbAjArAzAAAޅs1@A%krAu@A,XAA5@A``2A?AX<*A*9?2ARֽ:A BA*9?JARֽRA ٘i)I9u@YsG J<C=JJJJ.D&K Y [~?yRAjDj7j7d85B)BE[[>@[[~?[ۧ[[[[BZYY i) Ȇ YTl[~?yĭSA8@D7789B)BE[[.A@[8[[~?[ا[[[[BZYY i) \ elevatorAngleAction: 0.092239< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743031132.383285F (some fields omitted in printout)AQ@AC 8@A@\~? AA)#&"AA)rNA"AZAbAjArAzAAA9 h0@Ag;erAnw@AE?<Ax밽A9@A@kAk?A$<*A9?2A@׽:ABA9?JA@׽RA٘i)I9w@YG J<C=JJJJND&K YQ[~?y2TADj7j7䚔8)|B[[tB@[JB[~?[ا[[[[BZYY i) D[BZYY i¸>χ) ?)& 1@ I٘i)I9z@YwG J=C=J?<JJJyD&Kw> YUZ~?ynUA?@Db778)hBE[[yG@[PZ~?[֧[[[[ZZZZBZYY i) bðB)]BE[['I@[Z~?[է[[[[ZZZZBZYY i) ?gJJJD&Kv> YWZ~?yxWAE@D7f۔8?B)RBE[[M@[dZ~?[֧[[[[ZZZZBZYY i|) 'q;Z~?yWAD778@B)QBE[[@N@[{LZ~?[ק[[[[ZZZZBZYY i) X?^5vJAp= W@AU<@AD[~? A(A%&"AAqNA"AZAbAjArAzAAAێd*@A..VrA}@AI A=A];G@A:A?A(:*A:?2A <½:A,<BA:?JA <½RA,<٘i)I9}@YG JEu;JJJJD&K YZ~?yWAD7778AB)E[[?&P@[N4Z~?[Pا[[[[BZYY i) "UK5vJAHz.@A$c@A[~? AAg8%&"AApNA"AZAbAjArAzAAAgz)@AbvUrA}@AoFAW=AHA@XAV?Akٻ*A}:?2Aҹǽ:A)m<BA}:?JAҹǽRA)m<٘i)I9}@YxG JJJJJD&K YoY~?ytWAD778BB)SBE[[R@[Z~?[Aڧ[[[[BZYY i) !%JJJD&K:@> Y,Y~?y!WAG D77{7;8)VBE[[OS@[Y~?[qۧ[[[[BZYY iCg) @ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031139.123165 s, next control iter: 1743031139.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031139.523165 s.7H~,{"AJ"J*J2J:JBJnJvJA(@AM2r@A7[~? AAy%&"AAX%pNA"AZAbAjArAzAAAWc'@AvoSrAW|@A+M<Aޗ=ACA`A@sl?A!5*Ag:?2Aн:A=BAg:?JAнRA=٘i)I9W|@YG JߗJJJJD&K YhuY~?ya(VA@Dj7Z78)`BE[[-lW@[Y~?[ߧ[[[[BZYY iE) K;IG?ih(@g< o))o؄@ygЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031139.543165 s, next control iter: 1743031139.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4638, header.stamp.nsec: 00 temperature: 13.384488* salinity: 33.391705, density: 1025.000000* values[0]: 0.707917F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031139.943165 s.]d>H~,W]"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743031139.943294F (some fields omitted in printout)AzG@Asd-@A[~? A{A%&"AAoNA"AZAbAjArAzAAAwOf&@AjSrA{@A&<A_=AWQBA`؈A?Av䫼*Ag:?2Awҽ:A1U=BAg:?JAwҽRA1U=٘i)I9{@Y?G JDJJJJD&K Y(YY~?yUAKD{7{78)eB|E[[[X@[Y~?[y[[[[BZYY i) J;I)H?i,@*G< c?))c?)p@ygbԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031139.963165 s, next control iter: 1743031140.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031140.363165 s.EH~,>"AJ"J*J2J:JBJnJvJA3333@Auʣ@A[~? AGAJ%&"AAUoNA"AZAbAjArAzAAAVY%@A\{KSrA9{@Al ;A=A@A܋A?A*Ac:?2Axӽ:ArX =BAc:?JAxӽRArX =Y)C@@y=8!;ٓH@Ӧ.?G (?w5}Z Ld? ?))C@ I٘i)I99{@YG J@J=JJJD&K{> Y'=Y~?ymUA@VD7777#8DB)jByE[[Y@[xY~?[R[[[[BZYY i) ;I3H?i/@ܵ<  ))  @yp<ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031140.403165 s, next control iter: 1743031140.763177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4639*, header.stamp.nsec: 0*0 temperature: 13.384752** salinity: 33.391712*, density: 1025.000000** values[0]: 0.706894*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031140.783165 s.ZKH~,2"AAQ@A_@A~Z~? A>ANJ%&"AAʮoNA"AZAbAjArAzAAA6)%@A.H.ESrAz@AVֻAvÚ=A?A`XA7HrA9*At`:?2A4ս:A=BAt`:?JA4սRA=٘i)I9z@YG J#JJJJ%D&K Y%!Y~?yҞUA`D7<*8)oBvE[[s[@[;bY~?[J[[[[BZYY i) _;ITZH?i2@< K))K@ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031140.803165 s, next control iter: 1743031141.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031141.203165 s.SH~, M"AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031141.203297F (some fields omitted in printout)Aףp=@A&p@AgZ~? A^A %&"AA=oNA"AZAbAjArAzAAA>$@A!YSrAEz@ADFA=A9>A@2A RA*A|]:?2AWֽ:A =BA|]:?JAWֽRA =٘i)I9z@Y6G J۫JJJJ0D&K Y$Y~?yTAkD{7{7f18)tBsE[[l1\@[KY~?[`[[[[BZYY i) ̅#;I{H?i6@ < S))S:@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031141.223165 s, next control iter: 1743031141.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031141.623165 s.UYH~,Tg"AA)\@A0du@ARZ~? AA%&"AA_oNA"AZAbAjArAzAAA|#@A }SrAy@AZ9A!=A<AuAA*AZ:?2A~dֽ:A=BAZ:?JA~dֽRA=٘i)I9y@YG JJJJJ:D&K Y"X~?y 5TAvD77j788)xBpE[[}_]@[5Y~?[[[[[BZYY i) ͡:IzH?i9@U < A|))A|ч@2ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031141.643165 s, next control iter: 1743031142.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4640 , header.stamp.nsec: 0 0 temperature: 13.385027 * salinity: 33.391724 , density: 1025.000000 * values[0]: 0.705808 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031142.043165 s.`H~,Â"AJ"J*J2J:J4?BJ4?nJv=5vJA{Ga @Ar0G @AEZ~? AA~%&"AA38oNA"AZAbAjArAzAAA|O#@AdaPSrAyx@A(Am =Aw;A9~A ^<AOS*AmX:?2A{ֽ:AQ=BAmX:?JA{ֽRAQ=٘i)I9x@YG JJJJJED&K Y!X~?y*SAD{7?8EB)}BmE[[g^@[Y~?[[[[[BZYY i) Y|,:IaH?i9>@K|< WP))WPg@ϪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031142.063165 s, next control iter: 1743031142.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031142.463165 s.UgH~,㤝"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743031142.463286F (some fields omitted in printout)A @AJ̳ @A@Z~? AAt%&"AAoNA"AZAbAjArAzAAA:DZ"@Atn9/TrA6fx@A|;Ay=AY:AtA 3gASy*A>V:?2Auֽ:A3F=BA>V:?JAuֽRA3F=YRI@@T:y=d;ٓH/*?a Ϳ o(:` r?`>?)RI@ I٘i)I9fx@Y/G J謼JwJJJPD&K{> YX~?y,iSAT:Db77F8)B[[_@[ Y~?[\[[[[BZYY i) H܍IH?i@@< !))!K@;ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031142.483165 s, next control iter: 1743031142.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4641, header.stamp.nsec: 00 temperature: 13.385288* salinity: 33.391712, density: 1025.000000* values[0]: 0.704753F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031142.883165 s.J "J *J 2J :J j4?BJ j4?ymH~nJ.=5vJ,@"AAQ8!@A.9!@AHgZ~? AAg%&"AAWnNA"AZAbAjArAzAAA$N"@AI@yTrAw@A.7<A=A)9AhAh0A*A;T:?2ASֽ:A<=BA;T:?JASֽRA<=٘i)I9w@YG JYJJJJ[D&K Y$X~?y.SADj7Z7N8)BjE[[Y`@[X~?[[[[[BZYY i) %II?iC@F< ))(@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031142.903165 s, next control iter: 1743031143.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031143.303165 s.UtH~,sg"AAq= ף!@AVa3!@A^MZ~? AwAFV%&"AAnNA"AZAbAjArAzAAArW-w!@Aǥ`=UrADw@AD<AQ=A7A ZA AD*AUR:?2Aֽ:Au=BAUR:?JAֽRAu=٘i)I9Dw@Y~G J(JJJJeD&K YzX~?y0RAD77c@[*X~?[m[[[[BZYY i) CHIicJ@b= 9))9u@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031143.743165 s, next control iter: 1743031144.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031144.143165 s.V/H~,* "AAGz"@A 2`"@AZ~? AA0+%&"AAsnNA"AZAbAjArAzAAARf8:> @A\iVrA4v@Ax%Am=Au5A=5A`AЙ*A*N:?2Al׽:A<BA*N:?JAl׽RA<٘i)I94v@YG JRJJJJ{D&K YCX~?y5QAD77c8)BaE[[rgd@[CX~?[R[[[[BZYY i) |IieN@ = ))U@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031144.163165 s, next control iter: 1743031144.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031144.563165 s.H~, $"AJ"J*J2J:JBJnJvJAffff"@AT"@AZ~? AJA%&"AALnNA"AZAbAjArAzAAA" 2yE@A͒WrAu@A8&A/=A3AA A璼*AK:?2A>׽:A\<BAK:?JA>׽RA\ Y(X~?y|QA3Dŧ7b7j8)B^E[[ e@[PX~?[^[[[[BZYY i) jIiP@[= g))g@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031144.603165 s, next control iter: 1743031144.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4643, header.stamp.nsec: 00 temperature: 13.385826* salinity: 33.391708, density: 1025.000000* values[0]: 0.702666F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031144.983165 s.H~,>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031144.983302F (some fields omitted in printout)AQ#@AV)=7#@AY~? AA?$&"AA%nNA"AZAbAjArAzAAA(H@A@-yj=N<ٓH2 `? ڿo Nʼn??)xV@ I٘i)I9`s@Y G JJ*:JJJD&Kx> YW~?yLOA>-Db778)BSE[[Zk@[:X~?[" [[[[BZYY i) -jIiW_@y= ))鿩Tώ@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031146.683165 s, next control iter: 1743031147.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031147.083165 s.DH~,S"AJ"J*J2J:Jn3?BJn3?nJ%<5vJARk%@A mQ%@AhY~? ALA}0$&"AAifmNA"AZAbAjArAzAAA'Y@A^rAmr@A= <AnM=Az+A]eA̿A/*A9':?2AC׽:AS=BA9':?JAC׽RAS=I٘i)I9r@YG JJJJJD&K YW~?y§ROAD{7{78CB)BPE[[l@[3'X~?[[[[[BZYY i) -Iia@r= ;));濩b@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031147.103165 s, next control iter: 1743031147.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031147.503165 s.H~,L4"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031147.503305F (some fields omitted in printout)Ap= %@A%@AOY~? AAD$&"AA@mNA"AZAbAjArAzAAASHT@AUe=v`rAjr@AΎ:AE=A *A=A@οAI*A!:?2AQ׽:A6=BA!:?JAQ׽RA6=٘i)I9jr@YG JΑJJJJD&K YGqW~?yŧNA Db7b7蜕8)B[[Wm@[ X~?[[[[[BZYY i) e=Iiqd@3= h))h俩@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031147.523165 s, next control iter: 1743031147.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4646, header.stamp.nsec: 00 temperature: 13.386493* salinity: 33.391674, density: 1025.000000* values[0]: 0.700043F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031147.923165 s.?H~,"AJ"J*J2J:J63?BJ63?nJ;5vJA(\B&@AwNy(&@A>7Y~? AA#&"AAjmNA"AZAbAjArAzAAAXxu@A brA&q@AEA$=AyJ)AhA`>пAِ*A,:?2Aے׽:A =BA,:?JAے׽RA =٘i)I9q@Y@G JJJJJD&K YWW~?ylɧNAD{7{78)BME[[n@[/X~?[o[[[[BZYY i) LIig@b3= C ))C ⿩ʇ@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031147.943165 s, next control iter: 1743031148.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031148.343165 s.<ŶH~,"AAHz&@A=&@AY~? AnA#&"AASlNA"AZAbAjArAzAAAyݙ@A) crAvq@A`GA=AE'AA%ѿAZ*A:?2A4׽:A:=BA:?JA4׽RA:=٘i)I9vq@YG JrJJJJD&K Y >W~?y"ͧ;NA"Dŧ7b7=8)BJE[[4o@[W~?[_[[[[BZYY i) ~a\Iik@vp= ߿))߿@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031148.363165 s, next control iter: 1743031148.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4647*, header.stamp.nsec: 0*0 temperature: 13.386710** salinity: 33.391674*, density: 1025.000000** values[0]: 0.699177*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031148.763165 s.8˶H~,#0"AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031148.763293F (some fields omitted in printout)A'@AH0&@AY~? AtA2]#&"AAlNA"AZAbAjArAzAAAWgt@A5erA9p@A+ 3Ax=AΩ&A7A`" ҿA{*AB:?2Ay׽:A2=BAB:?JAy׽RA2=Yb]@&yv=3ٓH ma?6LQ|X觿@@(a ?)b]@ I٘i)I9p@YG JJO<JJJD&Kx> Y%W~?yѧMA&,D77{7h8BB)BHE[[!q@[8W~?[r [[[[BZYY i) kIil@ۇ= ;ݿ));ݿ@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031148.783165 s, next control iter: 1743031149.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031149.183165 s.ҶH~,ZK"AAQ'@A4 k'@AX~? A A #&"AAlNA"AZAbAjArAzAAAfBQ@A~:grAsxp@A0gAӗ=Awd%AAҿA*A` :?2A%׽:AY =BA` :?JA%׽RAY =٘i)I9xp@Y[G JxJJJJD&K Y W~?y#֧rMA7D8)BEE[[ 7r@[W~?[$[[[[BZYY i) AzIin@= ?Iۿ))?Iۿ=@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031149.203165 s, next control iter: 1743031149.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031149.603165 s.>4ٶH~,̚f"AJ"J*J2J:JBJnJvJA= ף'@AwhX'@AX~? A A"&"AA؈lNA"AZAbAjArAzAAAe1@AOirAWo@A];Aiљ=A!$A4UAJӿA<*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9o@YG JJJJJD&K Y;V~?yڧMABD8)¯B[[Ys@[=W~?[([[[[BZYY iU) IiQq@q= ٿ))ٿΒ@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031149.623165 s, next control iter: 1743031150.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4648 , header.stamp.nsec: 0 0 temperature: 13.386954 * salinity: 33.391651 , density: 1025.000000 * values[0]: 0.698252 F (some fields omitted in printout).;V~?).ڧ rAdjusting time to match Gazebo time: 1743031150.023165 s.ZH~,{"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085255< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031150.023286F (some fields omitted in printout)A(\(@A B(@AnX~? AlAV"&"AAdlNA"AZAbAjArAzAAALr@AU_krAXbo@AH=<AgQ=A"A A@;ԿAZ *A:?2Aѣֽ:A=BA:?JAѣֽRA=٘i)I9bo@YG JJJJJD&K YV~?y#ߧLALDb7b7Ǖ8)ƯBBE[[{t@[W~?[--[[[[BZYY i) Ii)t@pC= gֿ))gֿ_@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031150.043165 s, next control iter: 1743031150.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031150.443165 s.5H~,5]"AJ"J*J2J:J2?BJ2?nJO;5vJAz(@Ag(@A!X~? A ACZ"&"AA}AlNA"AZAbAjArAzAAAD+ @AGnrAn@AB<AVʜ=A!AA"zտA *A9?2Aֽ:A=BA9?JAֽRA=٘i)I9n@YYG JcJJJJD&K YV~?yELAWD7ϕ8AB)˯B?E[[u@[W~?[1[[[[BZYY i) /Ii`w@rR= 7Կ))7Կ@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031150.463165 s, next control iter: 1743031150.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4649, header.stamp.nsec: 00 temperature: 13.387195* salinity: 33.391659, density: 1025.000000* values[0]: 0.697254F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031150.863165 s.+H~,>"AA33333)@A>)@AX~? AAQ"&"AAYlNA"AZAbAjArAzAAAzo @AQrNprA@n@A;AHÞ=A.8 A ASֿA Q*A'9?2Abֽ:AB=BA'9?JAbֽRAB=Yc@0 yž=t;ٓH?հ`+;ӳ@{x?`@?)c@ I٘i)I9@n@YG JoJ 1<JJJ'D&Kx> YV~?yKA0 bD{7j7>֕8)ϯB Y>V~?yIAD{78?B)B4E[[|\|@[3W~?[M[[[[BZYY i) Ii@X%= ƿ))ƿ9P@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031152.983165 s, next control iter: 1743031153.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031153.383165 s.H~,8X"AAQ+@A:q9+@At X~? Aa1A' &"AATkNA"AZAbAjArAzAAA3!h?Ah} rAAj@A|E<AP=A-kA`&A .ۿA} ʼ*A+9?2Arֽ:AM=BA+9?JArֽRAM=٘i)I9j@YG JżJJJJgD&K  8Y)V~? 8y HIAD77>8>B)B0E[[{}@[$W~?[R[[[[BZYY i) "ȼIim@a&= oĿ))oĿߗ@UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031153.403165 s, next control iter: 1743031153.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4652&, header.stamp.nsec: 0&0 temperature: 13.387998&* salinity: 33.391624&, density: 1025.000000&* values[0]: 0.694087&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031153.803165 s.|AH~,gs"AJ"J*J2J:J1?BJ1?nJQ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085255< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743031153.803326F (some fields omitted in printout)Aq= #,@A\* ,@AaW~? A6A&"AA3kNA"AZAbAjArAzAAA&w4i?AL~ςrA+j@AGM<A=A"A AۿA~ϼ*A9?2Afֽ:AC=BA9?JAfֽRAC=٘i)I9j@YmG J̼B=JJJJrD&K YV~?yHADŧ7b7i8)B[[ٙ~@[W~?[W[[[[BZYY i) mϼIi\@$(= ˃¿))˃¿n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031153.843165 s, next control iter: 1743031154.203182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743031154.223165 s.g#H~,H"AA(\,@AXCu,@AW~? A:A o&"AAkNA"AZAbAjArAzAAAn$=z?A wȅrATi@AT<AG =A~AEA qܿAѼ*A~9?2Azֽ:Aδ=BA~9?JAzֽRAδ=٘i)I9Ti@YG JѼC=JJJJ}D&K YV~?yaHADSI7878)B.E[[ @[W~?[][[[[BZYY i) ּIi{@͓)= kI))kI@YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743031154.243165 s, next control iter: 1743031154.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031154.643165 s.J "J *J 2J :J _1?BJ _1?nJ 95vJ w)H~, *"AAG,@A{,@A/W~? A?A&"AAjNA"AZAbAjArAzAAAϛPr?AՈrA h@A:A)=AuAFGA`vݿAѼ*A+9?2A}ֽ:A=BA+9?JA}ֽRA=٘i)I9h@Y G J#ҼJJJJD&K YA:=AXA A@5޿AAѼ*A9?2AT>׽:A=BA9?JAT>׽RA=Ykp@(&yB9= ٓH*8@?I`~@?)kp@ I٘i)I9g@Y+ G JѼJd<JJJD&K}x> YvU~?y"tGA&D778)B[[k@[V~?[g[[[[ZZ¸BZYY i¸1=) ѼIi0@+= ջ))ջf@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031155.083165 s, next control iter: 1743031155.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031155.483165 s.{_7H~,"AJ"J*J2J:JBJnJvJA-@A(ѷ-@AWW~? A_JAF&"AAjNA"AZAbAjArAzAAAM$Cy?AA,rACg@A 1IAQ=AA+Ac޿AHҼ*A.9?2AN׽:A=BA.9?JAN׽RA=٘i)I9Cg@Y G JѼJJJJD&K YU~?y(FA CD7777%8=B)B(E[[@[V~?[l[[[[ZZBZYY i) żIidž@DŽ,= ))@(YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743031155.503165 s, next control iter: 1743031155.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4654, header.stamp.nsec: 00 temperature: 13.388598* salinity: 33.391613, density: 1025.000000* values[0]: 0.691578F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031155.903165 s.=H~,"AA ףp=.@AyY#.@AW~? AOA&"AA;jNA"AZAbAjArAzAAA 2?APurAf@A6`.A=A{A`SA߿A*A9?2A6 ׽:A<BA9?JA6 ׽RA<٘i)I9f@YI G J5JJJJD&K YU~?y;/FAD{7?,8) B[[@@[V~?[Xr[[[[ZZBZYY i) 蹼Ii@Ђ-= b))b;7@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031155.923165 s, next control iter: 1743031156.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031156.323165 s.zDH~,6"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084079< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743031156.323328F (some fields omitted in printout)A\.@AlЗގ.@AW~? A?UAt&"AA}jNA"AZAbAjArAzAAA`7?A-OЕrAe@ATiA%=AF7AA(AW*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9e@Y G JJJJJD&K Y"U~?y5 FADb77i38)B&E[[@[V~?[w[[[[ZZBZYY i) \୼Ii@s.= +))+ś@yn=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031156.343165 s, next control iter: 1743031156.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4655*, header.stamp.nsec: 0*0 temperature: 13.388941** salinity: 33.391571*, density: 1025.000000** values[0]: 0.690198*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031156.743165 s.WKH~,/"AAGz/@AKe.@AAmW~? AZA}&"AA`jNA"AZAbAjArAzAAAyǎ?A=rAKd@A;A 3t=A AAAM*A9?2Aֽ:ARi<BA9?JAֽRARi<٘i)I9d@YB G JTJJJJD&K Y[U~?y[<EAD)7ŧ7:8 Y|U~?yCUEA DA8)B[[⾃@[qV~?[[[[[ZZBZYY i=) Ii@ރ0= ))@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031157.183165 s, next control iter: 1743031157.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031157.583165 s.XH~,Re"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031157.583275F (some fields omitted in printout)AR/@A]k/@A IW~? AqfA(&"AA)jNA"AZAbAjArAzAAAMo|ڿA$kOrAhc@AK+<A%<AW[ A`+߿A@+A?欼*A!9?2Aݩֽ:A|ͺBA!9?JAݩֽRA|ͺ٘i)I9hc@Yg G JżJJJJD&K Y/lU~?yJEA D77H8;B) B E[[M@[KV~?[[[[[ZZBZYY i) EIiT@W1= ))o@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031157.603165 s, next control iter: 1743031157.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4656, header.stamp.nsec: 00 temperature: 13.389283* salinity: 33.391586, density: 1025.000000* values[0]: 0.688717F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031158.003165 s.{ `H~,Y4"AJ"J*J2J:JBJnJvJAp= W0@Aξ<0@A7W~? AglA&"AAjNA"AZAbAjArAzAAAXA S}rAb@A;AW <A A^H߿A~AWP}*A49?2Aֽ:A!BA49?JAֽRA!٘i)I9b@Y G JJJJJD&K Y[U~?yQDADŧ77P8.B)B!E[[&ۄ@[{V~?[r[[[[ZZBZYY i) |Ii@1= J))J!@ YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031158.043165 s, next control iter: 1743031158.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031158.423165 s.ufH~,"AA(\0@Av0@AZ&W~? AyrA>@&"AAiNA"AZAbAjArAzAAAɻ;cAmOe%rA[b@AMA{AA޿AA"*AK9?2Avֽ:AQZ|BAK9?JAvֽRAQZ|٘i)I9b@Y G J!WJJJJD&K YKU~?yXDA#DZ7Z7?W8)BE[[h@[V~?[@[[[[ZZBZYY i=) cmIi@&2= 7))7͊@yr=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031158.463165 s, next control iter: 1743031158.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4657, header.stamp.nsec: 00 temperature: 13.389522* salinity: 33.391579, density: 1025.000000* values[0]: 0.687768F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031158.843165 s.J "J *J 2J :J 0?BJ 0?nJ 85vJ lH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743031158.843304F (some fields omitted in printout)AHz.1@A1@AW~? AxA&"AAiNA"AZAbAjArAzAAA,!>^A?lrAJWb@A=7AAvA@ݿAA| *Aa9?2ARֽ:AVBAa9?JARֽRAV٘i)I9Wb@Y G JB=JJJJD&K Yk:U~?y`iDA.Dŧ7b7j^8)B[[(@[zV~?[[[[[ZZBZYY i) UWIi@*#4= ާ))ާ#@y=I)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031158.883165 s, next control iter: 1743031159.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031159.263165 s.tH~,"AA1@A+f1@AAW~? A~A%O&"AAiNA"AZAbAjArAzAAAB7wA:veBrACb@AHApAz+A6ݿA!kA *A9?2AQֽ:AyӼBA9?JAQֽRAyӼY}@$y!nHٓH `?@қ?@ ??t?)}@ I٘i)I9Cb@Y G Jo@C=J9JJJD&K2w> Y;,U~?ygDA$8D77e8-B)E[[@[pV~?[[[[[BZYY i(l=) kFIiЌ@>4= ))쥟@y=d4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031159.283165 s, next control iter: 1743031159.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 46582, header.stamp.nsec: 020 temperature: 13.3896272* salinity: 33.3915712, density: 1025.0000002* values[0]: 0.6874592F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031159.683165 s.lzH~,c"AJ"J*J2J:JBJnJvJAQ2@A\p1@ARV~? AQA&"AAziNA"AZAbAjArAzAAAjd|A (rA1Kb@A-;A4AA`YܿA`A[;*Aw9?2Aֽ:A7bBAw9?JAֽRA7b񼙘٘i)I9Kb@Y G Jk:JJJJ D&K Y U~?yXoDACDj7j7l8)[[@[eV~?[[[[[BZYY i*=) 5Ii@Ɩ4= p))p3@y˪=s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031159.683165 s, next control iter: 1743031160.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743031160.103165 s.H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743031160.103331F (some fields omitted in printout)A= ףp2@A,gV2@AV~? A͋AU&"AAiNA"AZAbAjArAzAAA I;*A9?2Aֽ:A&BA9?JAֽRA&٘i)I9ob@Y G J֭;JJJJD&K YU~?yvDAND{7{7s8)BE[[:@[u[V~?[ [[[[BZYY i) #Ii@+5= :)):5@y]<"AAzG3@A-3@AV~? AAU&"AAbiNA"AZAbAjArAzAAA( Z A$25rAb@A^C<AHRAAٿAA$E]<*A@9?2A׽:A%x BA@9?JA׽RA%x ٘i)I9b@Y' G JC<C=JJJJ)D&K YzT~?y?MEAcD{7j7?8)B[[@[=HV~?[:[[[[BZYY i) Ii@ 7= oќ))oќۡ@Ը*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031160.963165 s, next control iter: 1743031161.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031161.363165 s.H~,>W"AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031161.363295F (some fields omitted in printout)A33333@A N} 3@AV~? AԟA&"AAMiNA"AZAbAjArAzAAAA%VrA^ec@A<AʑA0AN2ٿA@/A<*A9?2Aֽ:A1 BA9?JAֽRA1 Y;@Cyɑu<ٓH q;ڿ`!.?`D?@Cڿev?B5?À?@?);@ I٘i)I9ec@Ye G Jq<JعJJJ4D&Kw> YT~?yFEACnDb77k8)BE[[F@[$?V~?[e[[[[BZYY iym=) Ii@+6= 3))3h@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031161.383165 s, next control iter: 1743031161.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4660&, header.stamp.nsec: 0&0 temperature: 13.389468&* salinity: 33.391533&, density: 1025.000000&* values[0]: 0.688345&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031161.783165 s.YH~,r"AAQ4@Aޮ4@A)V~? AAL&"AA7iNA"AZAbAjArAzAAAb&p,AÔޅrAc@AT8Aw̘AA@dؿA A<*A9?2AI{ֽ:AXBA9?JAI{ֽRAX٘i)I9c@Y G Jb<JJJJ>D&K YDT~?yMFAyDŧ7b78.B)BE[[Ӊ@[d6V~?[Ĩ[[[[BZYY i) b{ĻIi@7= #i))#i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031161.803165 s, next control iter: 1743031162.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031162.203165 s.H~, "AJ"J*J2J:JV0?BJV0?nJ85vJAףp=4@A2%p4@A۞V~? AA^&"AAF#iNA"AZAbAjArAzAAAzoA2Gg;rA+ed@AnQAA#A׿A KAUv<*A9?2A:ֽ:ABA9?JA:ֽRA٘i)I9ed@Y G J/<JJJJID&K YT~?yTrFAD778) B[[}`@[-V~?[ʨ[[[[BZYY i) ?襻IiP@p7= 5))5x@*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743031162.223165 s, next control iter: 1743031162.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031162.623165 s.XH~,a"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058003< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031162.623287F (some fields omitted in printout)A)\4@A4Lm4@AV~? AA!>&"AAkiNA"AZAbAjArAzAAArƦA5Կ`*?U?`a?)}@ I٘i)I90f@Y G J<J3,JJJiD&Kx> YT~?yGA<Db7b7@8.B)BE[[s@[V~?[ݨ[[[[BZYY i) =3Ii/@)8= ))n(@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031163.483165 s, next control iter: 1743031163.863181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4662, header.stamp.nsec: 00 temperature: 13.388983* salinity: 33.391476, density: 1025.000000* values[0]: 0.690555F (some fields omitted in printout):T~?): rAdjusting time to match Gazebo time: 1743031163.883165 s.yH~,/"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058003< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031163.883290F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ86@A?8:6@A?nV~? A.ʩA&"AAhNA"AZAbAjArAzAAA+\ Aco"0rAf@A;A(RAA2ԿA2Aˆ<*A 9?2AA׽:ABA 9?JAA׽RA٘i)I9f@Yt G J]<JJJJtD&K YT~?yHADŧ77k8)BE[[$@[V~?[>[[[[BZYY i;=) Ii@x8= j))j@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031163.903165 s, next control iter: 1743031164.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031164.303165 s.XķH~,g"AAq= ף6@Aנ/6@AHcV~? AѩA &"AAhNA"AZAbAjArAzAAAYn A)VrAYg@Az@A<AQAA`SӿA@dgA"!<*Ab9?2Ax#׽:ABAb9?JAx#׽RA٘i)I9Yg@Y G J<JJJJD&K YT~?yoǨnHADb7b78)B[[@[H V~?[[[[[BZYY i) @Ii<@8= +8))+8A@*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743031164.323165 s, next control iter: 1743031164.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4663., header.stamp.nsec: 0.0 temperature: 13.388737.* salinity: 33.391483., density: 1025.000000.* values[0]: 0.691796.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031164.723165 s.˷H~,H."AJ"J*J2J:J1?BJ1?nJ95vJA(\7@A`C6@AXV~? AةA}&"AAȶhNA"AZAbAjArAzAAA6#A A.F-rAg@A@ 3<AAGQA`9sҿAAآ<*Aw9?2A ׽:ABAw9?JA ׽RA٘i)I9g@Y# G J<JJJEJD&K YT~?yϨHAD77–8)B[[r@[V~?[)[[[[BZYY i) 9Ii@u9= ))mΦ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031164.763165 s, next control iter: 1743031165.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031165.143165 s.X/ҷH~,*I"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743031165.143333F (some fields omitted in printout)AGz7@A`7@ANV~? A]A&"AAIAD77ɖ8)BE[[8@[U~?[[[[[BZYY i) O:Ii@9= ӆ))ӆZ@y8=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031165.163165 s, next control iter: 1743031165.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031165.563165 s.طH~,t d"AJ"J*J2J:J@1?BJ@1?nJ95vJAffff7@A"M7@ANEV~? AAZ&"AAmhNA"AZAbAjArAzAAA&Z ARrAh@A5A݉A=A`ǰпA:Aޜ<*A~9?2A"ֽ:ABA~9?JA"ֽRAY̿@3y3݉ٓH˿2:?p?(`˿ Ѝ?Q8?`fr\?)̿@ I٘i)I9h@Y G J<J<JJJD&KJx> YT~?yIA3忑 CD77і8)B[[lŎ@[U~?[2[[[[BZYY i) _;Ii@;9= ϡ))ϡg@*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031165.583165 s, next control iter: 1743031165.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4664, header.stamp.nsec: 00 temperature: 13.388516* salinity: 33.391457, density: 1025.000000* values[0]: 0.692919F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031165.983165 s.߷H~,~"AAQ8@AC78@AJ elevatorAngleAction: 0.067008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031166.403265F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp8@Ab1Z8@A3V~? AA2&"AA}hNA"AZAbAjArAzAAA)2 A3)rAi@AY>AAA6ͿA@~FA6j<*A69?2A4ֽ:AfBA69?JA4ֽRAf٘i)I9i@YcG J<JJJJD&K YVzT~?yTJAD77{7kߖ80B)BE[[ޏ@[xU~?[^ [[[[BZYY i) ;IiM@~8= ;));@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031166.423165 s, next control iter: 1743031166.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4665", header.stamp.nsec: 0"0 temperature: 13.388260"* salinity: 33.391441", density: 1025.000000"* values[0]: 0.694014"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031166.823165 s.H~,%"AA\(9@A>9@A+V~? AA@&"AAwphNA"AZAbAjArAzAAA>tVAm΅MrAoj@AIɻAAUnݿA`˿A@lA%<*A9?2A@ֽ:ABA9?JA@ֽRA٘i)I9oj@YG J<JJJJD&K Y-tT~?yJAD7778)ݯB[[k@[U~?[[[[[BZYY i) ;Iin@8= |))|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031166.843165 s, next control iter: 1743031167.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031167.243165 s.H~,X"AJ"J*J2J:JBJnJvJAGz9@Aaz9@A?$V~? AA&"AAdhNA"AZAbAjArAzAAA# A9¤sAj@AU&;AdЂAVڿA ʿA@DA$<*A9?2AX׽:ABA9?JAX׽RA񼙘٘i)I9j@YG J<JJJJD&K YnT~?y KAD778/B)دBE[[B@[U~?[[[[[BZYY inМ=) ;Ii@IE9= w))w=@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031167.263165 s, next control iter: 1743031167.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031167.663165 s.H~,q"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031167.663290F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4666, header.stamp.nsec: 00 temperature: 13.388054* salinity: 33.391418, density: 1025.000000* values[0]: 0.695028F (some fields omitted in printout)A:@A`S9@A@V~? AOA$o&"AAYhNA"AZAbAjArAzAAA{>y]AsATk@Ar"<AtGAؿAkDȿAA<*A9?2Ar4׽:ABA9?JAr4׽RAY5@Q*ؿyEX"<ٓHc>?^c@@du?E?`,N?`?)5@ I٘i)I9Tk@Y:G J<J<JJJD&KKx> YjT~?y dKA*ؿDŧ7b78)կB[[Մ@["U~?[L[[[[BZYY i) ];Ii%@.8= UHs))UHsЦ@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031167.683165 s, next control iter: 1743031168.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031168.083165 s.DH~,S"AJ"J*J2J:JBJnJvJARk:@A;?lQ:@AV~? A#A&"AAiOhNA"AZAbAjArAzAAA )A3% sAk@AE<AaA'vտAwgƿAAkU}<*A9?2A.׽:ABA9?JA.׽RA򼙘٘i)I9k@Y{G Jt<JJJJD&K Y]gT~?yKAD777781B)ӯBE[[@[U~?[%[[[[BZYY i)  elevatorAngleAction: 0.076569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031168.923273F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B;@Atx(;@A\ V~? A%A &"AAE=hNA"AZAbAjArAzAAAL$"A-sAl@AAdžAy[пAְ¿A`6A<*A9?2Aֽ:AՒBA9?JAֽRAՒ٘i)I9l@YG J<JJJJD&K Y`T~?y&kLA/D7l 8)̯B[[+@[U~?[n3[[[[BZYY i) R# Y\T~?y7 MA#˿ED)7ŧ783B)ǯBE[[$E@[U~?[@[[[[BZYY i) B elevatorAngleAction: 0.076569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031170.183279F (some fields omitted in printout)AQ<@A2: k<@AU~? A=A3 &"AA'hNA"AZAbAjArAzAAATAKk#sAm@AÚA&AKȿA@!A @A<*A9?2Aֽ:A@B BA9?JAֽRA@B ٘i)I9m@YG J<JJJJD&K Yw\T~?yy@~MAODb778)ïB[[Ҕ@[dU~?[G[[[[BZYY i) -Q elevatorAngleAction: 0.076569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031171.443290F (some fields omitted in printout)Az=@AAJ=@AU~? AUAv &"AAhNA"AZAbAjArAzAAACwAȰu2sA3mo@AmA<AJA)AT<A XhAt<*A9?2A-6׽:A1 BA9?JA-6׽RA1 ٘i)I9mo@YG Jʔ<JJJJ6D&K Y[T~?yZNAoD77l58,B)B[[y@[ U~?[\[[[[BZYY i?=) $&"AA33333>@ACt>@AU~? A]A;_ &"AAhNA"AZAbAjArAzAAApgA`7sAlo@A,<AɘAA`DA?pA+͛<*A9?2A׽:AVv BA9?JA׽RAVv Y@SyǘR-<ٓH ҵ??aL@PL?Dz? k???)@ I٘i)I9o@YG J<JrJJJAD&K Y]T~?ycNAzD{7<8)B[[O$ȿ[U~?[b[[[[BZYY i)  @A@>@AU~? AfA&"AAChNA"AZAbAjArAzAAA TAT~M elevatorAngleAction: 0.085814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743031172.703274F (some fields omitted in printout)Aףp= ?@A0*>@AU~? AnA9$&"AAhNA"AZAbAjArAzAAA BA:AsAp@AAÌAAۉA@wA<*Aű9?2Aiֽ:A BAű9?JAiֽRA ٘i)I9p@YG J<JJJJVD&K YUbT~?y4uOAD{7j7J8)BE[[ ÿ[U~?[op[[[[BZYY i) Ж))7b>7b>yx=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031172.723165 s, next control iter: 1743031173.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031173.123165 s.=QH~,vG"AJ"J*J2J:JBJnJvJA)\u?@AJ[?@AU~? A%vA&"AAhNA"AZAbAjArAzAAAq©Au(FsA q@A8A5AihAҟa?A xA<*A9?2Ad>ֽ:ACBA9?JAd>ֽRAC٘i)I9q@YG Jȫ<JJJJaD&K YdT~?y}3PAD77R8)B[[[.U~?[>w[[[[BZYY i) V^ elevatorAngleAction: 0.085814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743031173.963301F (some fields omitted in printout)AL@@A=2@@AU~? AIARK&"AAhNA"AZAbAjArAzAAAXNA&ZPsAr@A^绻Au<A"A7f?A@9qAF<*A9?2Aœֽ:AƘBA9?JAœֽRAƘYǕ@xy;0ٓH+?@,q?@U`M?ʴ??@|w?)Ǖ@ I٘i)I9r@YG J<C=JJJJvD&K@x> YklT~?yd QADŧ7b7m`8)B[[Y[U~?[ӄ[[[[BZYY i) xI elevatorAngleAction: 0.085814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199312 time: 1743031175.223265F (some fields omitted in printout)A(\A@AtDKuA@AU~? AnA|s&"AAZhNA"AZAbAjArAzAAA RA/ڿ^sAt@AC<Ao>A6!A?ASA[<*Aw9?2Ae׽:ABAw9?JAe׽RA٘i)I9t@YG J<JJJJD&K Y0|T~?ySZRA CDj7j7u8)B[[l[[U~?[-[[[[BZYY i) x]?`Ѝ=?W? zp?@LPw?)# @ I٘i)I9u@YG J@<JJnJJJD&Kw> Y|T~?yfCSADj7Z7C8)~B[[K[yU~?[[[[[BZYY i)  elevatorAngleAction: 0.085814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743031176.483286F (some fields omitted in printout)AB@ABԷB@AV~? AjA|&"AA(hNA"AZAbAjArAzAAA.WA cmsA)v@AA;PA卡A`?A!A/<*A9?2A?"ֽ:AVBA9?JA?"ֽRAV٘i)I9v@YG J_<JJJJD&K YT~?y©SAD77j7m8.B)zBE[[¯[U~?[f[[[[BZYY i) BZYY i¸>) FhNA"AZAbAjArAzAAAy `A!'z{sAx@AAAhAA?A Av<*A9?2Aֽ:ABA9?JAֽRA٘i)I9x@YbG J<JJJJD&K YT~?yܩ&UADŧ7b78)iB[[ [NU~?[[[[[ZZZZBZYY i) @ YgT~?y?UAD77780B)cBE[[ Ҧ[U~?[,ȩ[[[[ZZZZBZYY i) )HV~? AAA%"AA"hNA"AZAbAjArAzAAA A_,sAk}@Ay(A51AA ?A@KA<*Aq9?2Aֽ:AW <BAq9?JAֽRAW JJJD&Kgx> YT~?y WAQD77˗8)HB[[뒛[V~?[[[[[ZZZZBZYY iq) <*AC9?2Aֽ:AFx<BAC9?JAֽRAFx<٘i)I9}@YLG Jo<JJJJ"D&K Y/T~?ySWA[DZ7Z7ӗ82B)FB'E[[O[&V~?[[[[[ZZZZBZYY i) Qq"A"J*J2J:J?BJ?nJ5vJA3333H@A=#H@ApV~? A!Ai%"AAhNA"AZAbAjArAzAAA$/0SAP ڮsA!}@AA<AX=Aj.zA&n?A`A&*AD9?2AXֽ:A'=BAD9?JAXֽRA'=Y̢@dzy0X=~A<ٓH? {?`F?z \?@ԩ`@3??)̢@ I٘i)I9}@YfG JdzB=J>JJJMD&Kv> Y42U~?y2mWAzDŧ7b785B)GB.E[[4[JV~?[Z [[[[BZYY iHg)  %)A:%"AAriNA"AZAbAjArAzAAAZ݇[!ANI9sA)>|@A>Aҕ=A.dA?A@5A*A;9?2A>ֽ:A =BA;9?JA>ֽRA =٘i)I9>|@YG JJJJJxD&K YqU~?y.PJVAD7777o 87B)UB5E[[u[vtV~?[f"[[[[BZYY i) ;Iib@t= ))yt{ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031184.063165 s, next control iter: 1743031184.443185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743031184.463165 s.WH~,"AAJ@AꗈJ@AnV~? A EA%"AAf&iNA"AZAbAjArAzAAA_AߏqsAľ{@A A꾙=A_A`?A AB*A9?2Aٲֽ:A)` =BA9?JAٲֽRA)` =Y~ @S_y=YS ٓHt?`?@?}b?ٲ3`=@?)~ @ I٘i)I9{@Y8G JJX=JJJD&Kx> YU~?yVUA_Dj7SI78)YB[[[V~?[{([[[[BZYY i) ;Iip^@)\= N߀))N߀N߀wӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031184.483165 s, next control iter: 1743031184.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4683, header.stamp.nsec: 00 temperature: 13.567615* salinity: 33.375031, density: 1025.000000* values[0]: 0.580407F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031184.883165 s.y H~,88"AJ"J*J2J:J?BJ?nJ5vJAQ8K@A9:K@AKV~? AKA+%"AA ;iNA"AZAbAjArAzAAAWe˺A.xsAY5{@AjCAAx=A6ZAo?AAP*A9?2AOhֽ:Aom =BA9?JAOhֽRAom =٘i)I95{@YG JJJJJD&K YU~?y]|UADj788B)_B8E[[s[zV~?[.[[[[BZYY i) mŌ;Ii*[@D = ^o))^o^o֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031184.903165 s, next control iter: 1743031185.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031185.303165 s.YH~,gS"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065910< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743031185.303295F (some fields omitted in printout)Aq= ףK@A㾉K@AV~? ARAN%"AAYPiNA"AZAbAjArAzAAAQaA9ZsAz@Ao;A䶜=AUA9?A ;tA{*A9?2A,ֽ:A. =BA9?JA,ֽRA. =٘i)I9z@YG J~JJJJD&K YϧU~?yrdUA CDb77!8)cB[[$[V~?[4[[[[BZYY i) -];IiFX@kj = |\))|\|\תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031185.343165 s, next control iter: 1743031185.703180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4684*, header.stamp.nsec: 0*0 temperature: 13.567831** salinity: 33.375027*, density: 1025.000000** values[0]: 0.579812*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031185.723165 s.H~,Hn"AJ"J*J2J:Jn?BJn?nJ5vJA(\L@Au7OK@AUV~? AAYAz$%"AARfiNA"AZAbAjArAzAAAclASsA z@A]w=<A=APA?A/AL*A9?2A!ֽ:A =BA9?JA!ֽRA =٘i)I9 z@Y0G JB=JJJJD&K YU~?y5kTAD)7ŧ7)89B)iB;E[[Ϥ{[#V~?[:[[[[BZYY i)  ;IiU@= SJ))SJSJ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031185.743165 s, next control iter: 1743031186.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031186.143165 s.T/"H~,)"AAGzL@AF!`L@AV~? A_At%"AA|iNA"AZAbAjArAzAAA{`AsA)ty@A<A=AjTKA?AA7[*A09?2AwOֽ:AN =BA09?JAwOֽRAN =٘i)I9ty@YG JC=JJJJD&K YU~?yqFTADb77D08:B)nB Y8U~?yxSAED77{7o78;B)tB?E[[#_r[6V~?[FF[[[[BZYY i) ) :IiO@i=  =%)) =% =%ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031186.583165 s, next control iter: 1743031186.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4685, header.stamp.nsec: 00 temperature: 13.568029* salinity: 33.375042, density: 1025.000000* values[0]: 0.579153F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031186.983165 s./H~,"AAQM@A7M@A W~? AlA%"AA/iNA"AZAbAjArAzAAA۰]A0asALx@A;A=AZ@A QQ?ASA*AԴ9?2Aֽ:Ai=BAԴ9?JAֽRAi=٘i)I9Lx@YG J-JJJJD&K YmU~?yB~ySAD{7>8)yBBE[[#m[V~?[ L[[[[BZYY i) 2Ii=L@=  ))  ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031187.023165 s, next control iter: 1743031187.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031187.403165 s.&6H~,"AJ"J*J2J:JBJnJvJA ףpM@A[M@AW~? ArA+%"AAiNA"AZAbAjArAzAAA6A pmsA3w@A6AȂ=AM;A@?AAU*A9?2A׽:A;<BA9?JA׽RA;<٘i)I9w@YG JJJJJD&K YV~?yhSADE8)}B[[i[V~?[Q[[[[BZYY i) h䡺IiI@= ))<˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031187.423165 s, next control iter: 1743031187.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4686", header.stamp.nsec: 0"0 temperature: 13.568251"* salinity: 33.375046", density: 1025.000000"* values[0]: 0.578511"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031187.823165 s.B)BIE[[G_[V~?[][[[[BZYY i) `IIiD@< `))``4ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031188.283165 s, next control iter: 1743031188.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031188.663165 s.JH~,q*"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4687, header.stamp.nsec: 00 temperature: 13.568436* salinity: 33.375057, density: 1025.000000* values[0]: 0.577929F (some fields omitted in printout)AO@A.=N@AQMW~? AAf%"AA5jNA"AZAbAjArAzAAAE +>2׿A2}sA=+v@Aw;A(=AM+AN?AAH*A9?2AEoֽ:Ai<BA9?JAEoֽRAi Y,GV~?y.QA+'DZ7SI7E[8)B[[7Z[W~?[b[[[[BZYY i) ΃Ii?@}< J))̀JJLªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031188.683165 s, next control iter: 1743031189.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031189.083165 s.DQH~,SE"AJ"J*J2J:J?BJ?nJ"5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251562@ elevatorAngleAction: -0.074739< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031189.083289F (some fields omitted in printout)ARkO@A(rQO@AX_W~? AՊAS%"AA6-jNA"AZAbAjArAzAAAAe2ÿA1x sAu@A1(<Aӊ=A&Aq?ADAȝ*A9?2AMֽ:A]><BA9?JAMֽRA]><٘i)I9u@YG JJJJJD&K YJ]V~?yQA2D7ŧ7pb8)BLE[[_EV[KW~?[g[[[[BZYY i) 6Ii.<@< @XS)) @XS@XSYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031189.103165 s, next control iter: 1743031189.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031189.503165 s.WH~,L4`"AAp= O@AyO@AqW~? AA%"AAHjNA"AZAbAjArAzAAA1_Z ?A\sA#u@Am9<A{"=A!A?A`OiA*A9?2A;uս:A=BA9?JA;uսRA=٘i)I9#u@Y3G J&JJJJD&K YfsV~?y#+QA=D77S7i8?B)BOE[[KQ[%W~?[Im[[[[BZYY i) Ii8@< ))YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031189.523165 s, next control iter: 1743031189.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4688, header.stamp.nsec: 00 temperature: 13.568596* salinity: 33.375072, density: 1025.000000* values[0]: 0.577343F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031189.923165 s.<^H~,{"AJ"J*J2J:JBJnJvJA(\BP@ArOWw(P@AW~? A"Aet%"AAdjNA"AZAbAjArAzAAA/?Ay_(sAXt@A;Ai=AA?A`Ae*A79?2Aս:A<BA79?JAսRA<٘i)I9t@YG J*JJJJD&K YV~?yPAGDj7SI7p8)B[[WL[O5W~?[r[[[[BZYY i) [Ii5@< n))nnyj廪YYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031189.943165 s, next control iter: 1743031190.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031190.343165 s. YiV~?yڰPA ]Dj7Z78BB)BVE[[DC[VW~?[|[[[[BZYY i)  Ii /@k< `<))(N~`<`<>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031190.783165 s, next control iter: 1743031191.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031191.183165 s.rH~,k"AAQQ@A&9 kQ@AW~? A.A7%"AAjNA"AZAbAjArAzAAATD5}?A-BsAFs@A=A =A Ar?AgݿACB*A69?2A5ֽ:A'[=BA69?JA5ֽRA'[=٘i)I9Fs@YG JJJJJ/D&K Y1V~?yOAhD77F8)B[[[>[gW~?[쁪[[[[BZYY i) *Ii$+@< (=)) (=(=_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031191.203165 s, next control iter: 1743031191.583183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031191.603165 s.54yH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074739< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743031191.603283F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףQ@Ak*Q@A1W~? AHA/%"AAjNA"AZAbAjArAzAAA1ӑ?AtA9r@A&A=AA@`?A?ݿA*A9?2AFTս:A=BA9?JAFTսRA=٘i)I9r@YG JJJJJ:D&K YV~?y]XOArDŧ77p8)BZE[[9[eyW~?[߆[[[[BZYY i) >+.Ii'@< u=))u=u=7ªYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031191.623165 s, next control iter: 1743031192.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4690 , header.stamp.nsec: 0 0 temperature: 13.568860 * salinity: 33.375088 , density: 1025.000000 * values[0]: 0.576378 F (some fields omitted in printout)*V~?)*] rAdjusting time to match Gazebo time: 1743031192.023165 s.ZH~,|"AA(\R@A:BR@AW~? A@Ao%"AAjNA"AZAbAjArAzAAA*8t?AtAYr@AG߸A=AʟA?A@ܿAM*A]9?2AI7ս:A \=BA]9?JAI7սRA \=٘i)I9Yr@YG JqJJJJED&K YV~?yNA}D778CB)B]E[[4[`W~?[[[[[BZYY i) 8=Ii$@S< `x=))`x=`x=ĪYQYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031192.043165 s, next control iter: 1743031192.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031192.443165 s.AÆH~,h]"AJ"J*J2J:JBJnJvJAzR@A#R@AW~? AA%"AA!kNA"AZAbAjArAzAAA : 1g?A5tAq@Ah<A=A:A?AۿA*Ao9?2A1ս:A =BAo9?JA1սRA =٘i)I9q@Y3G JJJJJOD&K YW~?yêNAD{777ƛ8)B`E[[0[W~?[[[[[BZYY i) T6MIi!@<  G=)) G= G=ǪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031192.463165 s, next control iter: 1743031192.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4691, header.stamp.nsec: 00 temperature: 13.568969* salinity: 33.375092, density: 1025.000000* values[0]: 0.575866F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031192.863165 s.+H~,>7"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074739< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743031192.863281F (some fields omitted in printout)A33333S@A 6uS@AX~? AйA4%"AA8kNA"AZAbAjArAzAAA#=h?Aʜ¸ tAYq@AP><A.=A*A5?AۿA6*A9?2A ]ս:A n =BA9?JA ]սRA n =Y@y=e?<ٓH`u??@? ܿ ?Q꥿QP܇? t?)@ I٘i)I9Yq@YG JJ.<JJJZD&K>u> Y/W~?yǪ=NADŧ7b78)B[[c:+[1W~?[.[[[[BZYY i) }\Ii_@Bp< =))s{==ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031192.883165 s, next control iter: 1743031193.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031193.283165 s.;RH~,R"AJ"J*J2J:JBJnJvJAQS@AsHjS@A'X~? AfADW%"AAYkNA"AZAbAjArAzAAAH@A^,tAp@Ae<A=AVA z?A;ڿA*A9?2A*ս:A' =BA9?JA*սRA' =٘i)I9p@YG J(JJJJeD&K YHW~?y˪MAD{7778)BcE[[d&[W~?[[[[[BZYY i{) kIiU@D<  >))  > >˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031193.303165 s, next control iter: 1743031193.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4692., header.stamp.nsec: 0.0 temperature: 13.569134.* salinity: 33.375114., density: 1025.000000.* values[0]: 0.575347.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031193.703165 s.ۺH~,&m"AAףp= T@A+,S@A))`&>`&>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031193.723165 s, next control iter: 1743031194.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031194.123165 s.8᡹H~,a"AJ"J*J2J:J6?BJ6?nJ]5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031194.123288F (some fields omitted in printout)A)\uT@Ab[T@ARX~? A'ǫAg%"AAkNA"AZAbAjArAzAAAi2S@A^tAo@A]ʻA[=ASѾA ?AeؿA@*AN9?2A8Nս:A) =BAN9?JA8NսRA) =٘i)I9o@YG J͜JJJJzD&K Y={W~?yӪMADŧ7ŧ7q8FB)ǯBjE[[w[W~?[[[[[BZYY i) (Iis@u< 1>))1>1>|ϪY'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031194.143165 s, next control iter: 1743031194.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031194.543165 s.IH~,â"AA{GT@Aȶ 8T@A%iX~? AR˫AzV%"AAkNA"AZAbAjArAzAAA{ G!@AzxhtAIo@A7APl=A! ǾA>?A-׿AC*AI9?2Aڴս:A( =BAI9?JAڴսRA( =٘i)I9Io@YG J#B=JJJJD&K YmW~?yתLAD7778)̯BmE[[#[ W~?[禪[[[[BZYY i) ˌIi@շ< rE>))rE>rE>ytҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031194.563165 s, next control iter: 1743031194.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4693, header.stamp.nsec: 00 temperature: 13.569303* salinity: 33.375103, density: 1025.000000* values[0]: 0.574795F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031194.963165 s.zH~,"AJ"J*J2J:J%?BJ%?nJK5vJALU@A=2U@AX~? AZϫAE%"AAkNA"AZAbAjArAzAAA/zR! @A8Y4tAEn@Ah)Avt=AAmz?AYֿAe*A9?2Aս:A=BA9?JAսRA=Y:@]yQr=)ٓH@:??5-?@ ׿o?Ol ,?):@ II٘i)I9n@YRG JC=J:<JJJD&Ku> YW~?yڪJLA CD{7j7Ƙ8)ЯB[[{[X~?[[[[[BZYY i) LIi @< X>))jyX>X> תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031194.983165 s, next control iter: 1743031195.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031195.383165 s.صH~,D"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243707@ elevatorAngleAction: -0.083756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743031195.383292F (some fields omitted in printout)AQU@ARy;U@AX~? A>ӫAи%"AAlNA"AZAbAjArAzAAA(FJ @A"=tA;n@AuA=A鍲Aෳ?A +ֿA觼*A9?2Aս:A]Q=BA9?JAսRA]Q=٘i)I9;n@YG JuJJJJD&K YW~?y*ުKAD77͘8)կBpE[[ [&X~?[[[[[BZYY i) ΛIi@< l>)) l>l>s۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031195.403165 s, next control iter: 1743031195.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4694&, header.stamp.nsec: 0&0 temperature: 13.569406&* salinity: 33.375118&, density: 1025.000000&* values[0]: 0.574248&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031195.803165 s.}AH~,g"AJ"J*J2J:J?BJ?nJ&5vJAq= #V@A V@AX~? A֫A-n%"AA#lNA"AZAbAjArAzAAA0v!z@A+C,tAm@AH;AL=A5A?APտA*Ap9?2A"Խ:A=BAp9?JA"ԽRA=٘i)I9m@YG JB=JJJJD&K YjW~?yXxKAD)7ŧ7՘8GB)ٯBsE[[[[};X~?[[[[[BZYY i) kPIi/@!< ->))->->ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031195.823165 s, next control iter: 1743031196.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031196.223165 s.gùH~,H"AA(\V@A]EuV@AX~? AګAP&%"AAFlNA"AZAbAjArAzAAAUW@A)vDtANm@A`-<A=A(ԞA"?AԿAA*Ae9?2Af@Խ:A$=BAe9?JAf@ԽRA$=٘i)I9m@YJG JKC=JJJJD&K YW~?yKAD7777Fܘ8)ޯBvE[[[PX~?[ܶ[[[[BZYY i) ЪIi?)< >))>>tY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031196.243165 s, next control iter: 1743031196.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031196.643165 s.wɹH~, *)"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743031196.643273F (some fields omitted in printout)AGV@A"hV@AjX~? A ޫA8%"AA1jlNA"AZAbAjArAzAAAŶt@A/ū!tApwl@A#;7<Aڧ=A<AT?ATӿAt7*A9?2AԽ:A=BA9?JAԽRA=٘i)I9wl@YG JJJJEJD&K YX~?yJADb77q8)ByE[[[]fX~?[[[[[BZYY i) bRIi?< #>))#>#>YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4695, header.stamp.nsec: 00 temperature: 13.569608* salinity: 33.375137Waiting for Gazebo time sync: latest Gz time: 1743031196.663165 s, next control iter: 1743031197.043178 s, wait time: 0.380013 s, density: 1025.000000* values[0]: 0.573652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031197.063165 s.йH~,c D"AAfffffW@AoNLW@A(X~? A[A%"AAlNA"AZAbAjArAzAAA@A-#tAek@Au;Ajߩ=AA`?A@kҿA{*A9?2AEս:A[=BA9?JAEսRA[=Y+q@ȹyީ=yr;ٓH`@? ?`] ?Kп/?`0o5@Xx? ?)+q@ I٘i)I9k@YG JJ<JJJD&Kt> YB3X~?y 4JADj7j78)B|E[[[{X~?['[[[[BZYY i) TIi?< >))&x>>zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031197.103165 s, next control iter: 1743031197.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031197.483165 s.y_׹H~,^"AJ"J*J2J:J?BJ?nJ5vJAW@AԷW@A Y~? AA_%"AAlNA"AZAbAjArAzAAAyםX@AT%tA6k@A3}A]=AWh~A,?A`ѿA[O*A9?2Ahս:AwT=BA9?JAhսRAwT=٘i)I96k@Y'G J JJJJD&K YvNX~?y`IADŧ7b78)B[[=[X~?[[[[[BZYY i) Ii3? < y>)) y>y>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031197.523165 s, next control iter: 1743031197.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4696, header.stamp.nsec: 00 temperature: 13.569785* salinity: 33.375153, density: 1025.000000* values[0]: 0.572995F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031197.903165 s.ݹH~,y"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743031197.903334F (some fields omitted in printout)A ףp=X@AeX#X@AD$Y~? AAR#%"AAlNA"AZAbAjArAzAAAM(X@AO{'tAj@APA=AkiA`?A6пA*A9?2A Խ:A==BA9?JA ԽRA==٘i)I9j@YG J JJJJD&K YiX~?yPIAD77j78HB)BE[[[SX~?[Ī[[[[BZYY i) KȼIi?< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031197.923165 s, next control iter: 1743031198.303182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031198.323165 s.wH~,)"AJ"J*J2J:J?BJ?nJ5vJA\X@A'ݎX@A))}.>}.>Y-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031198.343165 s, next control iter: 1743031198.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4697*, header.stamp.nsec: 0*0 temperature: 13.569996** salinity: 33.375175*, density: 1025.000000** values[0]: 0.572319*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031198.743165 s.*WH~,"AAGzY@A/dX@A&UY~? AA%"AAV mNA"AZAbAjArAzAAA /-@A(+tAHi@AAͰ=A@A@6?AοAtʼ*A 9?2Aս:A=BA 9?JAսRA=٘i)I9Hi@Y G JLǼJJJJD&K YX~?ydlHA)D77{7G8)BE[[˾["X~?[L˪[[[[BZYY i) tּIi?ؚ< ]>))]>]>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031198.783165 s, next control iter: 1743031199.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031199.163165 s.y}H~,q"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092770< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031199.163295F (some fields omitted in printout)J"J*J2J:JBJnJvJAY@APVeY@AmY~? AA%"AAEmNA"AZAbAjArAzAAA.X@Azӑ,tAh@A9A=A ,A@[?A`̿AkѼ*A9?2A"ս:A~=BA9?JA"սRA~=Y@,y=9ٓH *m??}?iſ`?/̎b;`>? ?)@ I٘i)I9h@Y G JZͼJ_<JJJD&Kst> YX~?yGA,3D77r8)BE[[["X~?[;Ϊ[[[[BZYY i) )޼Ii?< !n>))Stw!n>!n>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031199.183165 s, next control iter: 1743031199.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031199.583165 s.H~, S"AARY@AZ)rY@AY~? AAO%"AA&kmNA"AZAbAjArAzAAAXǹ@A 0.tA!g@AT9<Ad=AA@<~?AcʿA8Լ*A9?2A1ս:A=BA9?JA1սRA=٘i)I9g@Y& G JҼJJJJD&K YX~?yX}GA>D7)78)BE[[[Y~?[ Ѫ[[[[ZZ¸BZYY i¸޳=) (ҼIi?cx< >))腾>>tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031199.623165 s, next control iter: 1743031199.983180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4698, header.stamp.nsec: 00 temperature: 13.570176* salinity: 33.375175, density: 1025.000000* values[0]: 0.571606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031200.003165 s.| H~,]4"AJ"J*J2J:JT?BJT?nJp5vJAp= WZ@A;Y~?[Ӫ[[[[ZZBZYY i) )ƼIie?)) >>y)潽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031200.023165 s, next control iter: 1743031200.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031200.423165 s.uH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031200.423290F (some fields omitted in printout)A(\Z@A{Z@AָY~? A\A%"AAmNA"AZAbAjArAzAAA+(@Aki0tAmf@A"<AQ=A)\A@?A NǿA*A9?2Ab$Խ:Ax=BA9?JAb$ԽRAx=٘i)I9mf@Y> G J`JJJJD&K YKY~?yLFASD7777#8SB)B[[[N4Y~?[J֪[[[[ZZBZYY i) )Ii?Fe< >))>>y=YYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031200.443165 s, next control iter: 1743031200.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4699, header.stamp.nsec: 00 temperature: 13.570395* salinity: 33.375195, density: 1025.000000* values[0]: 0.570850F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031200.843165 s. H~,5"AJ"J*J2J:JBJnJvJAHz.[@A;[@AY~? AJA>%"AAmNA"AZAbAjArAzAAAK|@A1tAe@A-:AԘ=AA?A~ſAF}*A9?2AԽ:Ap<BA9?JAԽRAp<٘i)I9e@Y G J|JJJJ&D&K Y+Y~?yFA^Dj7Z7+8RB)&BE[[[LY~?[ت[[[[ZZBZYY i) 8)Ii?<^< w>))w>w>y=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031200.863165 s, next control iter: 1743031201.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031201.263165 s.H~,P"AA[@AzVҊ[@AyY~? AA%"AApnNA"AZAbAjArAzAAA>L@A#pZ2tAXd@A$AcAv=AA?AɨÿA V*A9?2AQս:Af<BA9?JAQսRAf YNGY~?yaEAiD77H28),BE[[Qb[dY~?[ڪ[[[[ZZBZYY i) W墼IiD?CR< ?))w??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031201.283165 s, next control iter: 1743031201.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 47002, header.stamp.nsec: 020 temperature: 13.5706662* salinity: 33.3752212, density: 1025.0000002* values[0]: 0.5699002F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031201.683165 s.lH~,Zk"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241760> elevatorAngleAction: 0.083351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031201.683283F (some fields omitted in printout)AQ\@A+[@AZ~? AA%"AA)nNA"AZAbAjArAzAAAm'^@AF3tAd@AFHA#2=AUCA! ?AA˼*Ax:?2Aս:Aj;BAx:?JAսRAj;٘i)I9d@Y G JJJJJ elevatorAngleAction: 0.083351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031202.943296F (some fields omitted in printout)AzG]@Amē-]@A RZ~? AA9%"AAnNA"AZAbAjArAzAAA3Q!@A-\J6tAb@AT;AA><A`"L?ApAa;*A:?2A~Խ:Ak^yBA:?JA~ԽRAk^y٘i)I9b@Y G JfJJJJ\D&K YY~?yyDAD)7b7N8QB)=BE[[KI[xY~?[[[[[ZZBZYY i) kIio?[-< ?))??(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031202.963165 s, next control iter: 1743031203.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031203.363165 s.5H~,>"AJ"J*J2J:J?BJ?nJ5vJA3333]@Ax!]@AkZ~? AA$%"AAnNA"AZAbAjArAzAAABh0"@AY.6tA>b@A=)<AAF"=AZ?AɱA)߻*A<:?2Ab@Y G JB=JeDJJJgD&Kt> YbY~?yDAD=Dŧ7V8)?BE[[4[Y~?[[[[[ZZBZYY ir=) 8YIiE|?dt!<  ?))bXx ? ?o)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031203.403165 s, next control iter: 1743031203.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4702&, header.stamp.nsec: 0&0 temperature: 13.570937&* salinity: 33.375240&, density: 1025.000000&* values[0]: 0.568788&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031203.783165 s.c;H~,"AAQ^@A0^@A΅Z~? AYAY%"AAnNA"AZAbAjArAzAAA:5"@AVa7tAb@A$2<A AV=A 'g?A@ﰿA>*A:9?2Aս:AtмBA:9?JAսRAtм٘i)I9b@Y G JC=JJJJrD&K YY~?y;DADb77H]8)@BE[[[[Y~?[][[[[BZYY iM=) zGIijk?˪< V!?)) V!?V!?i8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031203.803165 s, next control iter: 1743031204.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031204.203165 s.CH~, "AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743031204.203286F (some fields omitted in printout)Aףp=^@ACX%p^@AğZ~? AA%"AA9oNA"AZAbAjArAzAAAņ]k#@AE7tA!b@A-;An8A;=A`s?AA}g;*A :?2A1 Խ:A/BA :?JA1 ԽRA/뼙٘i)I9!b@Y G J9JJJJ|D&K Y Z~?yDAD77{7rd8)[[s [Z~?[[[[[BZYY i) n5IiP\?% < ~&?))~&?~&?w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031204.223165 s, next control iter: 1743031204.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031204.623165 s.XIH~,a'"AA)\^@Aa^@AŹZ~? A|A%"AA;oNA"AZAbAjArAzAAAt $@A\|8tAGb@AxEA]A=Az?A`ڢA1<*A:?2A6Խ:ABBA:?JA6ԽRAB٘i)I9Gb@Y G Jִ;JJJJD&K YD)Z~?yDADZ7Z7k8PB)>BE[[6:[0Z~?[[[[[BZYY i) bV#IiN?v< ,?)),?,?y4=*Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031204.643165 s, next control iter: 1743031205.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4703 , header.stamp.nsec: 0 0 temperature: 13.570898 * salinity: 33.375229 , density: 1025.000000 * values[0]: 0.568776 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031205.043165 s.PH~,B"AJ"J*J2J:JBJnJvJA{Ga_@Ad .G_@AZ~? AA%"AAcoNA"AZAbAjArAzAAA/$@A9F8tAb@A$Ag{A4D=A.?A`AI]@<*A9?2AnԽ:A}f BA9?JAnԽRA}f ٘i)I9b@Y G J<JJJJD&K YEZ~?ydEA CD77r8) elevatorAngleAction: 0.069973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743031205.463293F (some fields omitted in printout)A_@A_@AZ~? AAj%"AA~oNA"AZAbAjArAzAAA)"cD%@AtKa8tA]b@ACAIωA8>A@z?AASr<*A9?2AԽ:ABA9?JAԽRAY'E@ >ỷ;EDٓH|?`v:?%?h?D6?Jz?)'E@ I٘i)I9b@Y G JX<JFJJJD&Ks> YaZ~?y;cEA >D{7j7y8OB)8BE[[c[eZ~?[[[[[BZYY iGi=) oIi81?; \6?))+z\6?\6?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031205.483165 s, next control iter: 1743031205.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4704, header.stamp.nsec: 00 temperature: 13.570651* salinity: 33.375256, density: 1025.000000* values[0]: 0.569106F (some fields omitted in printout)6aZ~?)6; rAdjusting time to match Gazebo time: 1743031205.883165 s.y]H~,/x"AJ"J*J2J:JBJnJvJAQ8`@Al=C8`@A[~? AA~%"AAoNA"AZAbAjArAzAAAeg%@Awb8tAQc@A)ARՒAa_>AP?A`ݭ|?A4<*Ai9?2Avս:AA2BAi9?JAvսRAA2٘i)I9Qc@YY G J<JJJJD&K Y}Z~?yEAD{78)4BE[[,N[:Z~?[[[[[BZYY i) >vIi ?~; $A?A@?Ar]<*A:?2ALԽ:A0BA:?JALԽRA0٘i)I9c@Y G J|<JJJJD&K YZ~?yFAD77I8NB)0BE[[[Z~?[[[[[BZYY i) lŻIi?g; \A?))\A?\A?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031206.323165 s, next control iter: 1743031206.703178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 47052, header.stamp.nsec: 020 temperature: 13.5703282* salinity: 33.3752782, density: 1025.0000002* values[0]: 0.5696942F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031206.723165 s.kH~,H"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056953< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031206.723275F (some fields omitted in printout)A(\a@A]E`@A;[~? AAi%"AApNA"AZAbAjArAzAAAb'@AJF8tAdTd@AAr <AAdE>A y|?A N?AK<*A:?2Ag$ս:AQ BA:?JAg$սRAQ ٘i)I9Td@Y G J<JJJJD&K YZ~?yxFADb77s8)+BE[[/[Z~?[[[[[BZYY i) khIi;?; JG?))JG?JG?yMi=c*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031206.743165 s, next control iter: 1743031207.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031207.143165 s.[/rH~,*"AAGza@A}>`a@AV[~? AA%"AAa(pNA"AZAbAjArAzAAA]tb'@An7tAd@A/C<An✽ATDZ>Au?Az?AU<*A:?2A}ս:AV BA:?JA}սRAV ٘i)I9d@YM G J<JJJJD&K YZ~?yFAD{7j78MB)&BE[[Q\<[Z~?[[[[[BZYY irχ=) aIi\>d; L?))L?L?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031207.163165 s, next control iter: 1743031207.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031207.563165 s.J "J *J 2J :J ?BJ ?nJ 5vJ xH~,c "AAffffa@A/Qa@Ao[~? AbA%"AAOpNA"AZAbAjArAzAAAjdY(@A"f7tAte@A|<A蛽An>A(l?A ?A ð<*A>":?2Aս:AˣBA>":?JAսRAˣYP\[<Rn>ya曽d<ٓHw ? :Ϳ@h h?@!?w?~??)P\[< I٘i)I9te@Y G J~<J^JJJD&KUu> Y Z~?y=GAn> D77ɝ8)"B[[T&=[Z~?[[[[[BZYY i) ۡRIi>˫; @Q?))'l|@Q?@Q?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031207.603165 s, next control iter: 1743031207.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4706, header.stamp.nsec: 00 temperature: 13.569945* salinity: 33.375298, density: 1025.000000* values[0]: 0.570439F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031207.983165 s.H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246506> elevatorAngleAction: 0.066314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743031207.983283F (some fields omitted in printout)AQb@Ar7b@A[~? AA%"AA!wpNA"AZAbAjArAzAAAj,(@Aדh6tA f@A:A,♽A‡>A`?A@ɻ?A ұ<*Ar":?2A#ս:AlBAr":?JA#սRAl٘i)I9 f@Y G Jr<JJJJD&K Y[~?yGADb78)BE[[Te=[[~?[z[[[[BZYY i) Ii>*~b; `mW?)) `mW?`mW?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031208.003165 s, next control iter: 1743031208.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031208.403165 s.&H~,"AJ"J*J2J:J"?BJ"?nJ;5vJA ףpb@AUWb@Ạ[~? AA="%"AAfpNA"AZAbAjArAzAAA^2)@A:P6tAf@AASAw>AR?A ?A⌲<*A7:?2AzԽ:A9BA7:?JAzԽRA9٘i)I9f@Y\ G Ji<JJJJD&K Y#[~?yHAD77778LB)B¹E[[=["[~?[[[[[BZYY i)  촺Ii>}M>; \?))\?\?e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031208.423165 s, next control iter: 1743031208.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4707", header.stamp.nsec: 0"0 temperature: 13.569526"* salinity: 33.375313", density: 1025.000000"* values[0]: 0.571231"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031208.823165 s.H~,%4"AA\(c@AɊc@A[~? AyA6%"AApNA"AZAbAjArAzAAA썣0*@Aʟ5tA5g@A.=A_AӀ>AB?A:?A+g<*Az8:?2AԽ:A6GBAz8:?JAԽRA6G٘i)I95g@Y G Jױ<JJJJD&K Yw?[~?y|wHA*D77I8IB)BĹE[[j=[q=[~?['[[[[BZYY i) ڻIix>; hb?))hb?hb?y‡=*Y?+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031208.843165 s, next control iter: 1743031209.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031209.243165 s.H~,uO"AJ"J*J2J:JV?BJV?nJr5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031209.243304F (some fields omitted in printout)AGzc@AMdzc@AZ[~? A/A N%"AApNA"AZAbAjArAzAAAD*@A܀ J4tAug@A%AґAo>A/?A?A3 <*AM8:?2ADս:A BAM8:?JADսRA ٘i)I9g@Y G J^<JJJJD&K YZ[~?yuHA5D77t8) BǹE[[P=[X[~?[4[[[[BZYY i) 9IiLN>0; h?))h?h?*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031209.263165 s, next control iter: 1743031209.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031209.663165 s.H~,qj"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4708, header.stamp.nsec: 00 temperature: 13.569143* salinity: 33.375320, density: 1025.000000* values[0]: 0.572028F (some fields omitted in printout)Ad@A.=c@A[~? AAh%"AAqNA"AZAbAjArAzAAA"Dh+@A3tATh@A\A^A>A?A w?ABz<*A7:?2Aս:AqBA7:?JAսRAqY=q>y*\ٓH@,*?kԿ`'(?=?۱?`k@?)= I٘i)I9Th@Yf G J<Jv<JJJD&Ku> Yu[~?y@IA>?Dŧ7b78HB)BʹE[[T>[t[~?[[[[[BZYY i) }:Ii >7: m?))vm?m?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031209.683165 s, next control iter: 1743031210.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031210.083165 s.DH~,S"AJ"J*J2J:JBJnJvJARkd@A5lQd@A \~? A A^%"AAk:qNA"AZAbAjArAzAAA(D6,@A1i2tAh@AM;Av{AM>A?A@?Ac<*Ak6:?2Aoֽ:AR*BAk6:?JAoֽRAR*٘i)I9h@Y G J<JJJJD&K YP[~?yIAJD{7{7ș8GB)B͹E[[(>[I[~?[[[[[BZYY i) H;IiĘ=BC: ;s?)) ;s?;s?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031210.123165 s, next control iter: 1743031210.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031210.503165 s.H~,D4"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031210.503288F (some fields omitted in printout)Ap= d@Aad@A$\~? AYAS%"AAaqNA"AZAbAjArAzAAA896p~,@A1tAZi@A4<ALvA]̿>A`q?At?A%<*AE:?2Arս:ABAE:?JArսRA٘i)I9Zi@YG Jp<JJJJD&K Y[~?yJAUD777ϙ8)B[[-6?>[[~?[?[[[[BZYY i) 8V;Ii <uf9 fx?))fx?fx?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031210.523165 s, next control iter: 1743031210.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4709, header.stamp.nsec: 00 temperature: 13.568759* salinity: 33.375332, density: 1025.000000* values[0]: 0.572763F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031210.923165 s.:H~,"AJ"J*J2J:JBJnJvJA(\Be@A4}v(e@AT=\~? AjAl%"AAqNA"AZAbAjArAzAAAaٜ7-@AZt0tAi@Am6<A鈽Ap >A@?Au?AǴ<*AD:?2ASս:ABAD:?JASսRA󼙘I٘i)I9i@YQG JH<JJJJ(D&K Y[~?y`JA`Dŧ7b7י8FB)BйE[[U>[[~?[[[[[BZYY i) ۉ;II?iNt x~?))x~?x~?*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031210.963165 s, next control iter: 1743031211.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031211.343165 s.A ?AE?Ac"<*AC:?2Aս:ABAC:?JAսRA٘i)I9Pj@YG J<JJJJ3D&K Yd[~?y ުJAjD77Jޙ8EB)BӹE[[l>[[~?[ߪ[[[[BZYY i) ;II?iz d ?))d ?d ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031211.383165 s, next control iter: 1743031211.743178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4710*, header.stamp.nsec: 0*0 temperature: 13.568375** salinity: 33.375355*, density: 1025.000000** values[0]: 0.573449*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031211.763165 s.>H~,<"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031211.763299F (some fields omitted in printout)Af@Awe@Ao\~? AA%"AAqNA"AZAbAjArAzAAA´g.@AJ .tAj@AOTAAL>A?A T?As<*A@:?2Aս:ABA@:?JAսRAYun\>h>y{&TٓH? ڿ8o??LTҰ?j@?)un\> I٘i)I9j@YG JM<JK<JJJ>D&KPv> Y[~?yWڪKAh>uD77{7u8?B)BֹE[[>[[~?[ݪ[[[[BZYY i =) ;I I?iO<  DŽ?))rW DŽ? DŽ?{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031211.803165 s, next control iter: 1743031212.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031212.183165 s.ºH~,k "AAQf@Akf@A|\~? AAJ%"AAqNA"AZAbAjArAzAAA*M.@Ad,tA9Ek@AȞ%A7A?>Ae?AK?A<*Ag>:?2Aս:ABAg>:?JAսRA٘i)I9Ek@Y0G J<JJJJID&K Y\~?y֪uKADj7j78)BٹE[[# >[\~?[=۪[[[[BZYY i) ;Iv I?if:+ ^?)) ^?^?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031212.223165 s, next control iter: 1743031212.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743031212.603165 s.14ɺH~,&"AJ"J*J2J:JBJnJvJA= ףf@A0ҋf@A;\~? AARz%"AArrNA"AZAbAjArAzAAA+SҔ/@A-q+tA&k@A'>A>A>Ag??A )?A<*A?C:?2Anս:A-BA?C:?JAnսRA-٘i)I9k@YzG J<JJJJSD&K YE-\~?yҪKAD778)B[[?>[2\~?[ت[[[[BZYY i)  elevatorAngleAction: 0.077408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743031213.023306F (some fields omitted in printout)A(\g@A|Bg@A͹\~? AfA%"AADrNA"AZAbAjArAzAAA10@A4^)tAr3l@AAA{E>A@?A$>?A<*Aa<:?2APս:A0BAa<:?JAPսRA0٘i)I93l@YG J<JJJJ^D&K YF\~?y9Ϫ*LAD778;B)ٯB۹E[[>['N\~?[ ֪[[[[BZYY i) [@i\~?[ Ӫ[[[[BZYY i) KH"w"AA33333h@A}h@Ac\~? AAY%"AAŎrNA"AZAbAjArAzAAAU! 50@A%tAm@A<A߉ADP ?A )?A+?A<*A-:?2Aֽ:AYBA-:?JAֽRAYY6!>?) ?yމ<ٓHt?.Z`LL?E?`z~8???)6!> I٘i)I9m@YKG JX<JsJJJtD&K0w> Yx\~?yǪLA) ?D777J 89B)ѯBE[[1>[\~?[ Ъ[[[[BZYY i) 1 elevatorAngleAction: 0.077408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743031214.283273F (some fields omitted in printout)J"J*J2J:JBJnJvJAQh@Aϻh@A`]~? AWAY%"AAKrNA"AZAbAjArAzAAA '0@AB#tAm@A_@<AόA?A`X?A~?Ai<*AY&:?2A5ֽ:A+BAY&:?JA5ֽRA+٘i)I9m@YG J<JJJJ~D&K Y\~?yª=MAD{7{7u8)̯BE[[?>[\~?[̪[[[[BZYY i) MA["\~?[Bɪ[[[[BZYY i) P[\~?[Ū[[[[BZYY i) xR` elevatorAngleAction: 0.077408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743031215.543307F (some fields omitted in printout)A{Gi@A*D/i@AI]~? A֫A9 %"AAsNA"AZAbAjArAzAAA1@Ay{tAn@A'AA?A`?Aw?A<*A:?2Aֽ:AaBA:?JAֽRAa٘i)I9n@YnG J<JJJJD&K Y\~?ySNAD{7%87B)BE[[K >[\~?[[[[[BZYY i) oD#?yG@ٓH q?p`? ~?Sס ?`/?)W> I٘i)I9zo@YG J<J^JJJD&Kx> Y\~?yʯNAD#?D77 -83B)BE[[>[]~?[[[[[BZYY i) ~ elevatorAngleAction: 0.077408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031216.803273F (some fields omitted in printout)Aq= #k@A k@Av]~? A7˫Ah%"AABsNA"AZAbAjArAzAAAш2@AUtAp@AR7Av/A~-?A9?AC?A<*A:?2A ׽:AeBA:?JA ׽RAe٘i)I9p@YkG JЧ<C=JJJJD&K Y ]~?yNOADŧ7b7u;82B)BE[[]?[:]~?[ȴ[[[[BZYY i)  elevatorAngleAction: 0.086979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031218.063284F (some fields omitted in printout)Afffffl@A;OLl@Ar]~? A7A%"AAsNA"AZAbAjArAzAAAT^3@AMEetA;r@Aa0<A&Al=?A#q?A i?Ak<*AQ9?2AoV׽:AuBAQ9?JAoV׽RAuY&K?c=?y_$0<ٓH?e~??X6@:? ?-?)&K? I٘i)I9;r@YnG JR<C=J$JJJD&Kx> YC`]~?y䔪PAc=?D777P80B)BE[[?[]~?[[[[[BZYY i) u& elevatorAngleAction: 0.086979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743031219.323293F (some fields omitted in printout)A\m@A>m@A^~? AA %"AALtNA"AZAbAjArAzAAAk |4@AFtA t@A*A!AL?A@"?A?A7<*A9?2A~ֽ:ANBA9?JA~ֽRAN٘i)I9t@YG J<JJJJD&K YΞ]~?yRA6Dvf8+B)BE[[[*?[]~?[[[[[BZYY i) zz Ys]~?yvRA{W?LDŧ7b7t8)B[[j6?[]~?[Љ[[[[BZYY i) F1 elevatorAngleAction: 0.086979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743031220.583323F (some fields omitted in printout)ARn@A8Gnn@AK^~? AAS3%"AAtNA"AZAbAjArAzAAAw4@Al[UsA7u@A:AA\?A)?A?A<*A$9?2A׽:AyBA$9?JA׽RAy٘i)I9u@YG J<JJJJ D&K Y>]~?y pYSAVD777{8)B)yBE[[<*AM9?2AT׽:ABAM9?JAT׽RA٘i)I9v@YG J<JJJJ+D&K Y ]~?y{iSAaD{7{7 8&B)qBE[[B?[Y(^~?[3}[[[[BZYY i)  elevatorAngleAction: 0.086979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743031221.843320F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.p@ACp@A=^~? A!Aq%"AAhuNA"AZAbAjArAzAAA`%ǂ5@AwCsAw@AA<A zACl?A ?A@'?A<<*A9?2Af׽:A:BA9?JAf׽RA:٘i)I9w@YG J<B=JJJJ@D&K Y^~?y[\TAvDb77w8#B)dBE[[DO?[2S^~?[o[[[[ZZZZ¸>BZYY i¸>*)   Y-"^~?y>U3UAq?Dj7Z78)^B[[zaU?[g^~?[h[[[[ZZZZBZYY i) sAPPz@AP=AHAa{?AJ?A@x?A#=*Ay9?2A_ֽ:A¼BAy9?JA_ֽRA¼٘i)I9Pz@YYG J=JJJJ`D&K YGC^~?yG*VAD77{78)LB[[ųa?[^~?[Z[[[[ZZZZBZYY i) ϯB[[n?[O^~?[K[[[[ZZZZBZYY i) "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743031224.363261F (some fields omitted in printout)A3333r@AHr@AI^~? AlAN*%"AAuNA"AZAbAjArAzAAA"/^76@AGCsA|@A;AOܼAą?A?Af?AJ<*A9?2Axֽ:A:BA9?JAxֽRA:YcS?.?yܼc;ٓH?>~}`V??B ޚ?}??)cS? I٘i)I9|@YG J<J>JJJD&Kv> Yr^~?y"1GWA?DS77w8B)7BE[[vMt?[T^~?[C[[[[ZZZZBZYY i؍) nJJJJD&KRx> Y^~?y WAǒ?DL8B)%BE[[ɉ?[_~?[[[[[BZYY ii) J6oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031226.483165 s, next control iter: 1743031226.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4725, header.stamp.nsec: 00 temperature: 13.562840* salinity: 33.375538, density: 1025.000000* values[0]: 0.584562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031226.883165 s.yH~,4"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057119< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031226.883304F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8u@A>u@AxE_~? A\DA,%"AAP)vNA"AZAbAjArAzAAAq7@AkLsA}@Az:9AdW=AWs?A i?A ?A@Ż*A9?2Aֽ:A@<BA9?JAֽRA@<I٘i)I9}@YhG JvJJJJD&K Y^~?yeWADŧ7b7x8)&B[[?['_~?[j[[[[BZYY i)  &G?iȬn)] 1?))1?1?yjẪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031227.763165 s, next control iter: 1743031228.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743031228.143165 s.]/»H~,$* "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743031228.143292F (some fields omitted in printout)AGzv@AF!`v@A l_~? AN/A%"AAdvNA"AZAbAjArAzAAA8 A8@A )sA|@AxM(<AT1=A?A@?A`1?Al늼*Aױ9?2Ak%ֽ:AI=BAױ9?JAk%ֽRAI=٘i)I9|@YG JE}JJJJD&K Y^~?yjVAD77{78B)E[[]?[(N_~?[ [[[[BZYY i) 6;I~+G?inL\ 7:?))7:?7:?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031228.163165 s, next control iter: 1743031228.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031228.563165 s.ȻH~,V $"AJ"J*J2J:JBJnJvJAffffv@A +Tv@Aw_~? A!(AO%"AAcwvNA"AZAbAjArAzAAA`e8@A.vȲsA>|@A?G<A~=A?A?A?A*A³9?2A:/ֽ:A`=BA³9?JA:/ֽRA`=Y/?ȟ?y{=H H<ٓH@^:? Vf?sD? 3V?@v?벿??)/? I٘i)I9>|@YG JHJ:=JJEJD&Kw>  8Y^~? 8yOVAȟ?"D77"8)-B[[f?[Y_~?[[[[[BZYY i) ;IG?i _ lM?))lM?lM?DЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031228.603165 s, next control iter: 1743031228.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4727, header.stamp.nsec: 00 temperature: 13.562932* salinity: 33.375572, density: 1025.000000* values[0]: 0.584117F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031228.983165 s.ϻH~,>"AAQw@A_b,7w@As_~? A A%"AA'vNA"AZAbAjArAzAAAo*8@A_ [sA{@AL;A=A&Q?A`B=?A.?A*A]9?2Asֽ:A+A=BA]9?JAsֽRA+A=٘i)I9{@Y4G JJJJJD&K Y^~?y٩UA-D77M 8B)0BE[[]?[d_~?[[[[[BZYY i) tZ;IG?iP a d?))d?d?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031229.023165 s, next control iter: 1743031229.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031229.403165 s.&ֻH~,Y"AJ"J*J2J:Jw?BJw?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031229.403295F (some fields omitted in printout)A ףpw@Al\w@Ao_~? AAj%"AA2vNA"AZAbAjArAzAAA%C?ͩ8@A^sA){@ABCA0=A?Ai]?A@\b?Abƪ*A_9?2Aֽ:A]=BA_9?JAֽRA]=٘i)I9){@YG JJJJJD&K Yy_~?y]ѩUA8Db77x8)4B[[˟?[n_~?[ܩ[[[[BZYY i) ;IF?iְZb "@))"@"@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031229.443165 s, next control iter: 1743031229.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4728", header.stamp.nsec: 0"0 temperature: 13.563127"* salinity: 33.375549", density: 1025.000000"* values[0]: 0.583530"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031229.823165 s.ܻH~,6t"AA\(x@Aɬx@A_~? A,Al%"AAvNA"AZAbAjArAzAAA΄8@A=/asAz@AKAӮ=AⱧ?A*{?A`^?A1*A9?2A׽:A =BA9?JA׽RA =٘i)I9z@YG J\JJJJ D&K Yl _~?yɩUABD8 B)6BE[[?[bx_~?[ө[[[[BZYY i) [;IF?iN}a O@))O@O@[ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031229.843165 s, next control iter: 1743031230.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031230.243165 s.H~,"AJ"J*J2J:JM?BJM?nJ5vJAGzx@A2dzx@A_~? A AP%"AAvNA"AZAbAjArAzAAAM8@AVGԠsAz@A mHA=AU?A?A ?Ac4*A9?2A׽:Av =BA9?JA׽RAv =٘i)I9z@Y,G J^JJJJD&K Y^_~?yTAMD777 8 B)9BE[[?[!_~?[Xʩ[[[[BZYY i) ;IF?i_ @))@@YڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031230.263165 s, next control iter: 1743031230.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031230.663165 s.H~,q"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743031230.663293F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4729, header.stamp.nsec: 00 temperature: 13.563329* salinity: 33.375572, density: 1025.000000* values[0]: 0.582907F (some fields omitted in printout)Ay@AHQgx@Au_~? A3Ar%"AAvNA"AZAbAjArAzAAA3>9@A6=sAGry@ANGAAϝ=A?A|?A?A ձ*Al9?2A!ֽ:AyP=BAl9?JA!ֽRAyP=Y:Ő?Ѭ?y͝=ٓH? R:? !??? @肿X?):Ő? I٘i)I9ry@YG J~J;JJJ"D&K?x> Y_~?yNTAѬ?XDŧ7b7'8)>B[[;?[$_~?[[[[[BZYY i) #:IF?isa j@))j@j@@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031230.683165 s, next control iter: 1743031231.063195 s, wait time: 0.380030 s rAdjusting time to match Gazebo time: 1743031231.083165 s.EH~,&S"AJ"J*J2J:J9?BJ9?nJy5vJARky@AHN&nQy@A{_~? AA°%"AAvNA"AZAbAjArAzAAAPc* 9@AWk읗sAx@AA:B=A p?A@ҡ?A?A*A9?2A,ֽ:A4=BA9?JA,ֽRA4=٘i)I9x@YvG JBJJJJ-D&K Y_~?y}SAbDj7Z7"/8B)@BE[[na?[k_~?[[[[[BZYY i) :IF?ib @))@@-תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031231.103165 s, next control iter: 1743031231.483184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743031231.503165 s.H~,H4"AAp= y@A\y@A_~? AA-E%"AAQvNA"AZAbAjArAzAAA:9@AsAOCx@A;A=A?A?AB?A*AL9?2A`ֽ:A5=BAL9?JA`ֽRA5=٘i)I9Cx@YG JuJJJJ7D&K Y$_~?y禩{SAmD{7{7M68)EB[[?[_~?[[[[[BZYY i) 4IF?i!;b @))@@8ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031231.523165 s, next control iter: 1743031231.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4730, header.stamp.nsec: 00 temperature: 13.563565* salinity: 33.375568, density: 1025.000000* values[0]: 0.582238F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031231.923165 s.6H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031231.923296F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Bz@Ax(z@A _~? APA%"AAvNA"AZAbAjArAzAAA7_R9@A'/ EsAw@AdC<A`=A?A ?ARh?A.m*A9?2AQֽ:Au=BA9?JAQֽRAu=٘i)I9w@YG JJJJJBD&K Y+_~?yPSAxD)7b7x=8)JB[[謲?[_~?[[[[[BZYY i) ?I F?iNd` W @))W @W @ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031231.943165 s, next control iter: 1743031232.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031232.343165 s.<H~,"AAHzz@Az@A_~? AAq%"AAvNA"AZAbAjArAzAAAv7Y3i9@A+6όsAw@AH*<Ab=A%?A`7?A@ ?AX*A9?2Azֽ:A/Y=BA9?JAzֽRA/Y=٘i)I9w@YaG J}JJJJMD&K YC1_~?yRAD77{7D8B)MBE[[zе?[_~?[ [[[[BZYY i) l InF?iҬ5]  @)) @ @x̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031232.363165 s, next control iter: 1743031232.743175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4731., header.stamp.nsec: 0.0 temperature: 13.563813.* salinity: 33.375561., density: 1025.000000.* values[0]: 0.581534.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031232.763165 s.: H~,,0"AJ"J*J2J:JBJnJvJA{@A Y4_~?yERAٹ?D777K8B)OBE[[?[_~?[t[[[[BZYY i) II[F?iD^ 13 @))13 @13 @aȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031232.783165 s, next control iter: 1743031233.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031233.183165 s.H~,sK"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031233.183281F (some fields omitted in printout)AQ{@A<k{@A_~? AԪA֠%"AAwNA"AZAbAjArAzAAAp39@A@8sAtu@A)A8=Aʁ?A@u~?A`?A\N*A9?2Ab׽:A<BA9?JAb׽RA<٘i)I9u@YG JJJJJbD&K Y7_~?y<QAD7R8)SB[[?[_~?[և[[[[BZYY i) h|I;IF?ik+] M@))M@M@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031233.203165 s, next control iter: 1743031233.583178 s, wait time: 0.380013 s27_~?)2< rAdjusting time to match Gazebo time: 1743031233.603165 s.74H~,f"AJ"J*J2J:JBJnJvJA= ף{@AH{@A_~? AͪA9&"AAwNA"AZAbAjArAzAAAͺX9@AˊP:{sAHwu@A/;As=AP*?A?Ah?AA*A9?2A,-׽:AT<BA9?JA,-׽RAT<٘i)I9wu@YeG J.JJJJmD&K YN;_~?y{QADj7j7#Z8)WB[[=?[M_~?[4~[[[[BZYY i) I6F?i#V\ RP@))RP@RP@YFFF]o:Waiting for Gazebo time sync: latest Gz time: 1743031233.623165 s, next control iter: 1743031234.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4732 , header.stamp.nsec: 0 0 temperature: 13.564048 * salinity: 33.375561 , density: 1025.000000 * values[0]: 0.580881 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031234.023165 s.Z H~,F|"AA(\|@Az7B|@A_~? A7ŪA&"AAF$wNA"AZAbAjArAzAAAJ9@A~FgvsAt@A:AX=A?A`?AH?AC*A9?2A׽:A<BA9?JA׽RA<٘i)I9t@YG JJJJJxD&K Y>_~?yr QADZ7Z7Na8)[B[[`?[K_~?[t[[[[BZYY ij) Iw$F?iΩZY @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031234.043165 s, next control iter: 1743031234.423195 s, wait time: 0.380030 s rAdjusting time to match Gazebo time: 1743031234.443165 s.=&H~,W]"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031234.443311F (some fields omitted in printout)Az|@Aq읭|@A~_~? AIAdn&"AA3,wNA"AZAbAjArAzAAA9@A>gqsA|t@A)A0=ApR?A`?A |?A(*AY9?2Aֽ:AJ<BAY9?JAֽRAJ<٘i)I9|t@YG JHJJJJD&K YB_~?yjPA CD77yh8B)]BE[[?[_~?[j[[[[BZYY i)  X߻IF?imU o@))o@o@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031234.463165 s, next control iter: 1743031234.843183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4733, header.stamp.nsec: 00 temperature: 13.564254* salinity: 33.375587, density: 1025.000000* values[0]: 0.580323F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031234.863165 s.+-H~,>"AA33333}@A ?}@A_~? ARA &"AAW3wNA"AZAbAjArAzAAAV9@AFlsAt@Az`;AgV=A ?AE?A.?A*Ax9?2Aֽ:Au<BAx9?JAֽRAu Y|B_~?y3acPA?Do8)aB[[~?[_~?[Pa[[[[BZYY i) oIF?i]T x@))x@x@ʻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031234.883165 s, next control iter: 1743031235.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031235.283165 s.;R4H~,"AJ"J*J2J:J|?BJ|?nJ5vJAQ}@A(G}@A_~? AVAB&"AA9wNA"AZAbAjArAzAAAj>19@AvtgsAs@A5+<AZ=Ae?AD?A@?A*A9?2Ahֽ:AMM=BA9?JAhֽRAMM=٘i)I9s@Y7G JJJJJJD&K YB_~?yeXPADj7j7v8)eB[[?[_~?[W[[[[BZYY i) nIE?i@WS @))@@y.UǻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031235.303165 s, next control iter: 1743031235.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4734., header.stamp.nsec: 0.0 temperature: 13.564443.* salinity: 33.375584., density: 1025.000000.* values[0]: 0.579756.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031235.703165 s.պ:H~, "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743031235.703277F (some fields omitted in printout)Aףp= ~@Au6}@A:_~? ASApA&"AAE?wNA"AZAbAjArAzAAANRx9@A$#wibsA s@AFD<A`=A:?A }?A`P?A̚*A9?2Asֽ:A8=BA9?JAsֽRA8=٘i)I9 s@YG J푼B=JJJJD&K YsC_~?yOOADb77}8B)gBE[[,?[_~?[N[[[[BZYY i) TI]E?iP @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031235.723165 s, next control iter: 1743031236.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031236.123165 s.8AH~,a"AJ"J*J2J:JBJnJvJA)\u~@Aq5[~@A_~? AKA &"AA DwNA"AZAbAjArAzAAA-y'9@A[ ^sAr@AD};A=Aq?A?A]?Aql*A9?2Aֽ:Az=BA9?JAֽRAz=٘i)I9r@YG JC=JJJJD&K YC_~?yFPOAD7$8)kB[[L?[_~?[|D[[[[BZYY i) J-I.E?i㟿L  @)) @ @ݽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031236.143165 s, next control iter: 1743031236.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031236.543165 s.IHH~,""AA{G~@Aa0~@Am_~? A?Az&"AAHwNA"AZAbAjArAzAAA1:9@A\-W YsAr@AVA,d=AS?A YB_~?y25NA?D77y8)rB[[7?[+_~?[r1[[[[BZYY i) LIϪE?i F @))@@xªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031236.983165 s, next control iter: 1743031237.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031237.383165 s.UH~,+X"AAQ@Ar9@A~_~? AA&"AAMwNA"AZAbAjArAzAAA((:@A1 3HOsA1.q@AMFA=A֡?A3?Av?A_*AR9?2AJ-׽:AZ=BAR9?JAJ-׽RAZ=٘i)I9.q@YG JJJJJD&K Y?_~?yl,7NADb7b78B)uBE[[R?[-_~?['[[[[BZYY i) A\IcE?iĘC nL@))nL@nL@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031237.403165 s, next control iter: 1743031237.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4736", header.stamp.nsec: 0"0 temperature: 13.564869"* salinity: 33.375584", density: 1025.000000"* values[0]: 0.578631"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031237.803165 s.}A\H~,gs"AJ"J*J2J:JBJnJvJAq= #@A @A;`~? A }AMS&"AAOwNA"AZAbAjArAzAAA:@AwZJsAJp@AA}=A4?A`i?Ay?A*A9?2Aֽ:AM=BA9?JAֽRAM=٘i)I9p@YG J폼JJJJD&K Y;=_~?y#MAD77Ρ8)yB[[k?[v_~?[[[[[BZYY i&ڬ) 0kIHE?iĕ? @))@@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031237.823165 s, next control iter: 1743031238.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031238.223165 s.gcH~,H"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743031238.223275F (some fields omitted in printout)A(\@AV|Cu@Aq`~? AtA&"AAOwNA"AZAbAjArAzAAAV0c:@A {VlEsA?7p@A6ACA=A6?AX^A9z?A%*A9?2Aݤֽ:A =BA9?JAݤֽRA =٘i)I97p@Y3G J JJJJD&K Y:_~?yyMAD778)}B[[?[ _~?[2[[[[BZYY i) {IzE?i: d!@))d!@d!@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031238.243165 s, next control iter: 1743031238.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031238.643165 s.J "J *J 2J :J ?BJ ?nJ -5vJ wiH~, *"AAG@Ag@A `~? AlA&"AAOwNA"AZAbAjArAzAAAmo:@A!\~@sA"o@AU;A*=AB?AIA x?A*AF9?2AG_ֽ:A=BAF9?JAG_ֽRA=٘i)I9o@YG JJJJJD&K Yr8_~?yMA$D$8)B[[h?[_~?[ [[[[BZYY i) AI|kE?is4 "@))"@"@$ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031238.663165 s, next control iter: 1743031239.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4737, header.stamp.nsec: 00 temperature: 13.565085* salinity: 33.375576, density: 1025.000000* values[0]: 0.578075F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031239.063165 s.pH~,c "AAfffff@ANPL@AJ_~? AdA_,&"AANwNA"AZAbAjArAzAAAQ9%9@A.3;sA,o@A_F<A;e=A4?AgAs?A٣*A9?2AnJֽ:AV=BA9?JAnJֽRAV=Y??y[b=F<ٓH ǿ@r`K[?@ǿ e?'`?`o?)? I٘i)I9,o@YG JJe<JJJD&Kx> Y53_~?yr LA?.Dŧ7b7O8B)BE[[@?[_~?[[[[[BZYY i) KόI\E?i񊿉U1 iy$@))iy$@iy$@yҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031239.103165 s, next control iter: 1743031239.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031239.483165 s.t_wH~,"AJ"J*JvPublished command to Gazebo (printed only once in a while):2J( dropWeightState: 1:JBJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031239.483304F (some fields omitted in printout)Aс@Arڷ@A_~? A\A&"AAVMwNA"AZAbAjArAzAAA|q[9@A6sAn@A&<AY@=Aus?A޶Al?A\ꦼ*A9?2Arֽ:A=BA9?JArֽRA=٘i)I9n@Y<G JBJJJJD&K Y-_~?yLLA9D77z8B)BE[[5?[_~?[[[[[BZYY i) 7ZIME?i.O. &@))&@&@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031239.503165 s, next control iter: 1743031239.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4738, header.stamp.nsec: 00 temperature: 13.565331* salinity: 33.375599, density: 1025.000000* values[0]: 0.577421F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031239.903165 s.}H~,"AA ףp=@A+WY#@A_~? ATAJg &"AAJwNA"AZAbAjArAzAAABL<9@An1sAn@A|j=;A?3=AZ!?A`!eAc?A*A9?2A:ֽ:A0=BA9?JA:ֽRA0=٘i)I9n@YG J˧JJJJD&K Y(_~?y%KADD77j7ś8)B[[?[U|_~?[t[[[[BZYY i) 囼I?E?idv) '@))'@'@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031239.943165 s, next control iter: 1743031240.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031240.323165 s.sH~,"AJ"J*J2J:J?BJ?nJ5vJA\@A,ݎ@A_~? ALAi &"AAGwNA"AZAbAjArAzAAA9@AZ,sA݆m@A{pAF=AJ?AAV?AXG*A9?2A ׽:A=BA9?JA ׽RA=٘i)I9m@YG JQJJJJD&K Y#_~?y~KANDj7Z7̛8)BE[[?[ys_~?[}[[[[BZYY i) 0qI1E?i,O# )@)))@)@ ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031240.343165 s, next control iter: 1743031240.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4739*, header.stamp.nsec: 0*0 temperature: 13.565619** salinity: 33.375576*, density: 1025.000000** values[0]: 0.576788*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031240.743165 s.WH~,~/"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743031240.743299F (some fields omitted in printout)AGz@Alsc@A_~? ADA7 &"AACwNA"AZAbAjArAzAAA9@A:'sAl@A ;Aos=A(}?A(`A`8H?A5ɭ*A 9?2AS(׽:AT=BA 9?JAS(׽RAT=٘i)I9l@Y8G JJJJJ$D&K YC_~?yKAYDŧ7b7ӛ8)B[[?[i_~?[ި[[[[BZYY i) I$E?is) *@))*@*@^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031240.783165 s, next control iter: 1743031241.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031241.163165 s.~}H~,qJ"AJ"J*J2J:JBJnJvJA@AM^e@A(_~? A<A= &"AA>wNA"AZAbAjArAzAAA# 9@A;A #sA|bl@A4A=A?A_*A`7?A*Aߜ9?2AZ׽:A=BAߜ9?JAZ׽RA=Y??y =v5ٓH#ҿ) 3h-?`KAҿ _?J ``?)? I٘i)I9bl@YG JQB=J<JJJ/D&K!x> Y<_~?yhިJA?dD77%ۛ8)B[["?[__~?[ը[[[[BZYY i) UIE?in d",@))d",@d",@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031241.183165 s, next control iter: 1743031241.563187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743031241.583165 s.昼H~,"Se"AAR냲@A\mу@A%_~? A4A &"AA9wNA"AZAbAjArAzAAA-9@A Yi^~?yjHA?DZ7SI78B)B E[[@[#_~?[[[[[BZYY i) ּI>D?i4@ P3@))P3@P3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031243.283165 s, next control iter: 1743031243.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 47422, header.stamp.nsec: 020 temperature: 13.3871172* salinity: 33.3916402, density: 1025.0000002* values[0]: 0.6942242F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031243.683165 s.lH~,R"AJ"J*J2J:JBJnJvJAQ@AQ녲@A`_~? AF A&"AA%wNA"AZAbAjArAzAAAqz9@A sAoh@A:A=Aܟ?A$ȿA@?Afм*A9?2Aֽ:AAI=BA9?JAֽRAAI=٘i)I9oh@Yw G JѼC=JJJJoD&K  8Y^~? 8ygGADj7Z7%8)B E[[y@[_~?[_[[[[BZYY i) Z!޼I\D?i7] 85@))85@85@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031243.683165 s, next control iter: 1743031244.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743031244.103165 s.H~,̚"AA= ףp@AV@AF_~? AAt&"AAwNA"AZAbAjArAzAAA.=0e9@A"dsA[g@A;A=AW(@A`qʿA|?A$Uм*A 9?2Ab׽:Ac=BA 9?JAb׽RAc=٘i)I9g@Y G JмJJJJzD&K Y^~?yE{GAD77j7P 8)įB[[@[y_~?[b[[[[ZZ¸BZYY i¸=) X!ҼID?i-+޻ 6@))6@6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031244.123165 s, next control iter: 1743031244.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031244.523165 s.J "J *J 2J :J 1?BJ 1?nJ *:5vJ ǼH~,=|!"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083360< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743031244.523309F (some fields omitted in printout)A(܆@A֪]†@A_~? AA &"AAvNA"AZAbAjArAzAAA7N9@AîrAg@A8FAi=A]y@A@p̿AsX?AgѼ*A39?2AW׽:A=BA39?JAW׽RA=٘i)I9g@Y G JмJJJJD&K Y;^~?y#GA CD)7b7{8B)˯BE[[p@[^~?[[[[[ZZBZYY i)  ƼI\D?iK!tλ 98@))98@98@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031244.543165 s, next control iter: 1743031244.923191 s, wait time: 0.380026 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4743, header.stamp.nsec: 00 temperature: 13.387428* salinity: 33.391663, density: 1025.000000* values[0]: 0.692798F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031244.943165 s.WdμH~,>]<"AAzG@AW-@A_~? A#A &"AAvNA"AZAbAjArAzAAA x59@AOrAMf@A{A=A1@A 7οA/?AT*A9?2AFֽ:A<BA9?JAFֽRA<٘i)I9Mf@Y* G JJJJJD&K Y^~?yFAD778)ѯB[[@[N^~?[የ[[[[ZZBZYY i)  ItD?i? l9@))l9@l9@YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031244.963165 s, next control iter: 1743031245.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031245.363165 s.ռH~,>W"AJ"J*J2J:J-1?BJ-1?nJ95vJA3333@AW\@A_~? AA'7&"AA,vNA"AZAbAjArAzAAAIh9@A:\rAUte@AjĹA і=A0@A пA?Aݦ*AП9?2Aֽ:A<BAП9?JAֽRA Y*^~?y>'FA@Dj7j7"8)ٯBE[[sb @[K^~?[B[[[[ZZBZYY i) }ID?i 陲 #6;@))#6;@#6;@y\=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031245.383165 s, next control iter: 1743031245.763178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4744*, header.stamp.nsec: 0*0 temperature: 13.387774** salinity: 33.391693*, density: 1025.000000** values[0]: 0.691252*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031245.783165 s.WۼH~,r"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083360< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743031245.783281F (some fields omitted in printout)AQ@A+/@Aת_~? AA1&"AAvNA"AZAbAjArAzAAA8@Aw*?rA֟d@AC;ALyq=AZI@AпA ?Aj1*A9?2Agֽ:Ai<BA9?JAgֽRAi<٘i)I9d@Y$ G JJJJJD&K Yԥ^~?y|EADb77)8B)BE[[i @[^~?[|[[[[ZZBZYY i) ۢID?i*o o<@))o<@o<@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031245.803165 s, next control iter: 1743031246.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031246.203165 s.H~,"AJ"J*J2J:J0?BJ0?nJS95vJAףp=@A%\#p@A@_~? A}ߩA!^&"AAvNA"AZAbAjArAzAAA{z{28@A[.rAc@A7<AC,=A8@AѿAޯ?ACѼ*A#9?2Ahֽ:AY;BA#9?JAhֽRAY;٘i)I9c@Y G JJJJJD&K Y~^~?y|\EAD7)7%18)B[[JR @[ܷ^~?[{u[[[[ZZBZYY i) 8ID?i"ė  0>@)) 0>@ 0>@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031246.223165 s, next control iter: 1743031246.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031246.623165 s.YH~,e"AA)\@AV)ۈ@A+_~? AةA&"AAȸvNA"AZAbAjArAzAAAjz*8@A8rA* elevatorAngleAction: 0.083360< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031247.043296F (some fields omitted in printout)A{Ga@Avj.G@A_~? AЩA&"AA*vNA"AZAbAjArAzAAA8@AD%rAb@A:A<A1 @A`!ӿA`KQ?AYz*A9?2Af^ֽ:A;yBA9?JAf^ֽRA;y٘i)I9b@Y G JJJJJD&K Y}^~?y4mDAD77{7{?8 B)BE[[(8@[Ŕ^~?[cg[[[[ZZBZYY i) ID?iY f %A@))%A@%A@JYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743031247.063165 s, next control iter: 1743031247.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031247.463165 s.[H~,"AẢ@AxqIJ@A_~? AcɩA&"AAҘvNA"AZAbAjArAzAAA=8@A4 rAcb@AA,Ac| @A@cԿA?A="*A9?2A19ֽ:AoBA9?JA19ֽRAoYZ?T} @yKٓH`Z@?Lą@;?}?)Z? I٘i)I9cb@Y G JUB=JFJJJD&Kv> Ym^~?yeDA} @D)7b7F8 B)BE[[ޭ@[T^~?[z`[[[[ZZBZYY inMz=) mID?i`O ןB@))ןB@ןB@/)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031247.503165 s, next control iter: 1743031247.863179 s, wait time: 0.360014 sm^~?)etReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4746, header.stamp.nsec: 00 temperature: 13.388429* salinity: 33.391701, density: 1025.000000* values[0]: 0.688470F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031247.883165 s.zH~,Y"AJ"J*J2J:J?0?BJ?0?nJ85vJAQ8@Auv28@Av_~? A'©A͝&"AAvNA"AZAbAjArAzAAA _8@AjȟFrA-b@AFAAN @A`=տA?ATa*A9?2Aֽ:AŶBA9?JAֽRAŶ٘i)I9-b@Y G J}C=JJJJD&K Y*^^~?y^DAD{7j7M8)B[[@!@[o^~?[Y[[[[ZZBZYY i_=) OVZID?i*Ұ4 D@))D@D@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031247.923165 s, next control iter: 1743031248.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031248.303165 s.UH~,sg"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071959< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743031248.303273F (some fields omitted in printout)Aq= ף@AT:Ɖ@A j_~? AAc*&"AAuvNA"AZAbAjArAzAAAt)S;8@A*rAb@A1AA @A!ֿAD?AƑ9*A9?2A+ֽ:AtԼBA9?JA+ֽRAtԼ٘i)I9b@Y G J"B=JJJJD&K YUN^~?y=WDADSI7SI7T8 B)BE[[@[N\^~?[-S[[[[BZYY i)  GIѐD?i(h E@))E@E@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031248.323165 s, next control iter: 1743031248.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4747., header.stamp.nsec: 0.0 temperature: 13.388534.* salinity: 33.391716., density: 1025.000000.* values[0]: 0.687937.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031248.723165 s. H~,H."AJ"J*J2J:J0?BJ0?nJ85vJA(\@Ah#M@A]_~? A곩A&"AAucvNA"AZAbAjArAzAAAdC?8@AcrA*b@AA 8Ac@A`ֿA v?AS;*A9?2A.eֽ:A5BA9?JA.eֽRA5켙٘i)I9*b@Y G J;C=JJJJD&K Y>^~?yODA%D)7ŧ7'\8 B)BE[[3@[H^~?[L[[[[BZYY i) 4IyD?ic.k7ߺ G@))G@G@yh)=[w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031248.743165 s, next control iter: 1743031249.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031249.143165 s.S/H~,)I"AAGz@Aȑ`@AP_~? A鬩A?&"AA>PvNA"AZAbAjArAzAAAW7@A1ZOrAQb@A6;A[A@A ׿Ab9?AxJ;*A9?2A ֽ:ABA9?JA ֽRA٘i)I9Qb@Y G J;JJJJD&K Y.^~?yHDA0D77Qc8B)E[[l@[4^~?[F[[[[BZYY i) "ID?i%ڽ ~H@))~H@~H@w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031249.163165 s, next control iter: 1743031249.543174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031249.563165 s.H~,_ d"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071959< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743031249.563334F (some fields omitted in printout)Affff拲@AP̋@ABC_~? AA &"AAT Y^~?yAEA@:D7{j8)B[[@[ ^~?[@[[[[BZYY iYbh=) &ID?ia5 -H))-HI@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031249.583165 s, next control iter: 1743031249.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4748, header.stamp.nsec: 00 temperature: 13.388554* salinity: 33.391727, density: 1025.000000* values[0]: 0.688037F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031249.983165 s.H~,~"AAQ@A7@Ak5_~? A)A]M&"AA'vNA"AZAbAjArAzAAAR3ɛ7@A$rAXb@A(y5<AGA(Y@A`rfٿA`?A^<*A9?2Aֽ:Au BA9?JAֽRAu ٘i)I9b@Y G JC<JJJJD&K Y ^~?y;pEAED77{7q8B)BE[['G@[ ^~?[:[[[[BZYY i) LID?i<ȼ& F))FfK@º*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031250.003165 s, next control iter: 1743031250.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031250.403165 s.&&H~,͙"AJ"J*J2J:J/0?BJ/0?nJ85vJA ףp@A֪]@A"'_~? AkA&"AAqvNA"AZAbAjArAzAAAn9zp7@A/d;rAIc@A";AkA@A1ڿAv?AN<*A9?2A`ֽ:A BA9?JA`ֽRA ٘i)I9Ic@YT G Jx<JJJJD&K Yg]~?yL4EAPD77x8)B[[@[]~?[4[[[[BZYY i) ID?i<9 'GE))'GEL@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031250.423165 s, next control iter: 1743031250.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4749", header.stamp.nsec: 0"0 temperature: 13.388437"* salinity: 33.391705", density: 1025.000000"* values[0]: 0.688501"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031250.823165 s.,H~,-"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031250.823292F (some fields omitted in printout)A\(@Ai@Aj_~? AđAT&"AAuNA"AZAbAjArAzAAA{nC7@A(rAUc@AHA4A@AڿA1?A<*A9?2A7ֽ:AxlBA9?JA7ֽRAxl٘i)I9c@Y G J<JJJJ&D&K YP]~?y-FA[D78B)BE[[ @[]~?[L/[[[[BZYY i4=) E0ŻILD?i==0%d: C))CIN@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031250.863165 s, next control iter: 1743031251.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031251.243165 s.3H~,u"AJ"J*J2J:JBJnJvJAGz@A3bz@AD _~? A5A&"AAuNA"AZAbAjArAzAAA7@AL;rADRd@AX$AOA8'@A`ۿA?AKx<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9Rd@Y G J<JJJJ1D&K Y8]~?y&mFAeD{7{7&8)B[[F|@[;]~?[)[[[[BZYY i) }IiD?iG>wQ: kfB))kfBJO@yh=h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031251.263165 s, next control iter: 1743031251.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031251.663165 s.:H~,q"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4750, header.stamp.nsec: 00 temperature: 13.388239* salinity: 33.391731, density: 1025.000000* values[0]: 0.689341F (some fields omitted in printout)A@Ai5$卲@A^~? AA/U&"AAuNA"AZAbAjArAzAAAK76@Ah˲rAyd@ANb@A͛Ar@AীܿA@?AW=<*A9?2Aֽ:AvBA9?JAֽRAvY{ @<@yʛ(@ٓHpdS?O?`@ t?% ?){ @ I٘i)I9d@YO G J]<B=JJJJ;D&Kw> Y]~?y FA@pDj7R8B)BE[[@[<]~?[$[[[[BZYY i) &lID?ibF>: @))@'Q@y\k=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031251.683165 s, next control iter: 1743031252.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031252.083165 s.DAH~,S"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065970< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743031252.083273F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@A%ptQ@A^~? Aa~A&"AAuNA"AZAbAjArAzAAAa(76@AzrA|e@AA2A@A@dBݿAW?Af<*A|9?2AHbֽ:A) BA|9?JAHbֽRA) ٘i)I9|e@Y G J<C=JJJJFD&K Yث]~?ys>GA{D77|8B)BE[[H!@[]~?[[[[[BZYY i) RIeD?iv>z; 3?))3?R@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031252.103165 s, next control iter: 1743031252.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031252.503165 s.GH~,@4 "AAp= ׎@An@AK^~? AxAM&"AA9uNA"AZAbAjArAzAAAgYu6@A]^$rAf@A:A#ҙA@A :޿A@s ?A5<*Aɭ9?2A7ֽ:ADBAɭ9?JA7ֽRAD٘i)I9f@Y G J<JJJJQD&K Y]~?yLGADZ7SI78)B[[J"@[]~?[[[[[BZYY i) 7IwD?ic>A; >))>T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031252.543165 s, next control iter: 1743031252.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4751, header.stamp.nsec: 00 temperature: 13.388044* salinity: 33.391750, density: 1025.000000* values[0]: 0.690357F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031252.923165 s.CNH~,;"AJ"J*J2J:J0?BJ0?nJP95vJA(\B@Atx(@Ax^~? AqA9&"AAuNA"AZAbAjArAzAAA tQ6@A0TrAf@AD<A%At@A޿A@׺?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9f@Y_ G J<JJJJ\D&K Y|]~?y$HAD7{7ѣ8B)BE[[P $@[s]~?[[[[[BZYY i) p IaD?i>5j; ?<))?<vmU@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031252.943165 s, next control iter: 1743031253.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031253.343165 s. elevatorAngleAction: 0.065970< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743031253.343278F (some fields omitted in printout)AHz@Ap@A>^~? AkAy>&"AAHkuNA"AZAbAjArAzAAA{D86@AA "rA2g@AC<AY#A@Aw߿Ai?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I92g@Y G Js<JJJJfD&K YMo]~?ywHAD8B)BE[[Yh%@[Q\]~?[}[[[[BZYY i) D?i(>?; }H;))}H;8V@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031253.383165 s, next control iter: 1743031253.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4752*, header.stamp.nsec: 0*0 temperature: 13.387821** salinity: 33.391754*, density: 1025.000000** values[0]: 0.691363*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031253.763165 s.7[H~,p"AJ"J*J2J:JBJnJvJA@A@A^~? AeA&"AAPuNA"AZAbAjArAzAAAP5@AU`GrAEg@A"<A0!Ad@AA?AOV<*AS9?2Awֽ:ABAS9?JAwֽRAY@@y<ٓHX!@Ư??  }?F$?B?)@ I٘i)I9g@Y G J<J<JJJqD&K$x> Y6Y]~?yHA@D77'8)B[[&@[E]~?[ [[[[BZYY i) *k9ID?i>Gr; P9))P9e@X@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031253.803165 s, next control iter: 1743031254.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031254.183165 s.bH~,^"AAQ@A lk@A^~? A&`A&&"AA5uNA"AZAbAjArAzAAA05@A׋trAIh@A J:AAS@A mA*?AN<*A9?2Aֽ:AcBA9?JAֽRAc٘i)I9Ih@Y` G JC<JJJJ|D&K YC]~?y>IA CDj7Z7R8B)ݯBݹE[['(@[-]~?[[[[[BZYY i) :IϱD?i?b; v8))v8ĨY@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031254.203165 s, next control iter: 1743031254.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031254.603165 s.54iH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065970< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031254.603274F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@Ad֐@A:^~? ApZAX&"AA`uNA"AZAbAjArAzAAAXty5@ABrAh@AAAmAk @A`hAm?AS<*A˿9?2ASֽ:AxBA˿9?JASֽRAx٘i)I9h@Y G J-<JJJJD&K Y-]~?yIADb7b7|8!B)گBڹE[[)@[%]~?[[[[[BZYY i) h;ID?i?; 7))7&[@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031254.623165 s, next control iter: 1743031255.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4753 , header.stamp.nsec: 0 0 temperature: 13.387624 * salinity: 33.391743 , density: 1025.000000 * values[0]: 0.692324 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031255.023165 s.ZpH~,{"AA(\@A:B@Azn^~? ATA&"AACtNA"AZAbAjArAzAAAw@5@Az5rA`i@Ato?A`A!@AAt?Az<*A9?2AGֽ:ABA9?JAGֽRA٘i)I9`i@Y G J<JJJJD&K Y]~?y JAD7)7ǜ8)֯B[[4*@[\~?[[[[[BZYY i) XU;IzD?i&#?; x5))x5=v\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031255.043165 s, next control iter: 1743031255.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031255.443165 s.?vH~,_]"AJ"J*J2J:JBJnJvJAzǑ@Aؖ@A\[^~? A]OA r&"AAtNA"AZAbAjArAzAAAׁs5@Ap5rAi@A[1$AA/#@AjAy?AP<*Ai9?2AJpֽ:ABAi9?JAJpֽRA٘i)I9i@Y\G Jd<JJJJD&K Y]~?yiJADΜ8$B)կBֹE[[3,@[\~?[K[[[[BZYY i) $;I7D?i!5?s; D4))D4]@k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031255.463165 s, next control iter: 1743031255.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4754, header.stamp.nsec: 00 temperature: 13.387444* salinity: 33.391762, density: 1025.000000* values[0]: 0.693267F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031255.863165 s.+}H~,>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065970< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743031255.863321F (some fields omitted in printout)A33333@Ay@AG^~? AJA&"AA_tNA"AZAbAjArAzAAA!^B4@AVrAjj@AIAHˈA$@A`ڼA?A*<*A9?2Aֽ:ABA9?JAֽRAYR@w$@yˈxIٓHRK?@?ɣ"? i?)R@ I٘i)I9jj@YG J><JW<JJJD&K!x> Y\~?yJA$@Dj7j7՜8%B)үBӹE[[-@[\~?[[[[[BZYY ib=) 8;ID?iK@?"; 2))2>_@i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031255.883165 s, next control iter: 1743031256.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031256.283165 s.J "J *J 2J :J 1?BJ 1?nJ 8:5vJ LRH~,% "AAQ@A3@A4^~? ADA|C&"AAtNA"AZAbAjArAzAAAu4@A^mrAQj@A;AA %@A@ A2?A<*A9?2Auֽ:Av~BA9?JAuֽRAv~󼙘٘i)I9j@YG Jۓ<JJJJD&K YL\~?y  KAD)7ŧ7(ݜ8)ίB[[H.@[q\~?[_[[[[BZYY i) N;ID?i?M?[< }1))}1 `@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031256.303165 s, next control iter: 1743031256.683198 s, wait time: 0.380033 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4755., header.stamp.nsec: 0.0 temperature: 13.387265.* salinity: 33.391762., density: 1025.000000.* values[0]: 0.694157.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031256.703165 s.պH~, -"AAףp= @AL7A@A^~? A?A&"AAUtNA"AZAbAjArAzAAA:l]R4@A"ꡈrA[k@A|7<A/7A/'@AZA F?A<*A9?2A׽:ABA9?JA׽RA٘i)I9[k@Y>G JЋ<B=JJJJD&K Y\~?yHާ|KAD{7Z7T8'B)̯BйE[[_<0@[\~?[.[[[[BZYY i) h;ImD?i[? < 10))10b@ȶ*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031256.723165 s, next control iter: 1743031257.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031257.123165 s.3ᑽH~,LG"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076360< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031257.123278F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A9d[@Ag ^~? A:A &"AAitNA"AZAbAjArAzAAAfN84@A5rAk@AE4<A҆A|(@A+Ai?A<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9k@YG J<C=JJJJD&K Y¡\~?y٧KAD777}8(B)ʯB͹E[[A1@[Ѕ\~?[-[[[[BZYY i)   Yp\~?yЧLA +@D{7Z78)įB[[34@[T\~?[[[[[BZYY i) )! elevatorAngleAction: 0.076360< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031258.383299F (some fields omitted in printout)AQ@A=@A]~? A,AB# &"AAD tNA"AZAbAjArAzAAART3@AU9|rA)m@AD*ApAL,@A yA\5?Aݑ<*A9?2A7Kֽ:AuBA9?JA7KֽRAu٘i)I9)m@YWG J<JJJJD&K  8YW\~? 8y̧LADb7b78-B)ƹE[[o5@[;\~?[ [[[[BZYY i) tD1\~?yȧKMA&Dj7Z7(8.B)B¹E[[6@[1#\~?[[[[[BZYY i) @ elevatorAngleAction: 0.076360< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743031259.643284F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A@A]~? AA#!&"AAsNA"AZAbAjArAzAAA+>2@AwburArn@A:AϒAC0@A@6=A`?A,<*A9?2A1ֽ:A BA9?JA1ֽRA ٘i)I9n@Y<G J<B=JJJJD&K Y \~?yNA Y[~?yhNA1@GD8)B[[:@[[~?[ߧ[[[[BZYY i) n elevatorAngleAction: 0.076360< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031260.903318F (some fields omitted in printout)A ףp=@Ag\#@AE]~? AAz "&"AA?sNA"AZAbAjArAzAAAHn1@ADZmrAs"p@A <AyA34@AXA@>?A]m<*A-9?2Auֽ:A\ BA-9?JAuֽRA\ ٘i)I9"p@Y&G J<JJJEJ(D&K Y[~?ya1OA\D777+84B)BE[[oO=@[˦[~?[ܧ[[[[BZYY iM#=) p@[[~?[*ۧ[[[[BZYY i) dM elevatorAngleAction: 0.085517< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031262.163294F (some fields omitted in printout)J"J*J2J:JBJnJvJA@At e@A\~? A A"&"AAsrNA"AZAbAjArAzAAAR/jr0@ARgrAsq@A?BA1}A8@AࠆA@?A)<*AM9?2A4ֽ:ABAM9?JA4ֽRAY *@8@yQzBٓH@ wпj??f]S@"?`G ?) *@ I٘i)I9q@Y(G J<JFJJJHD&Kw> Yl[~?ydPA8@|Dj7Z7~A89B)BE[["A@["\[~?[ا[[[[BZYY i) ^ elevatorAngleAction: 0.085517< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743031263.423281F (some fields omitted in printout)A(\™@A0Bx@A\~? AAj#&"AA$hrNA"AZAbAjArAzAAA?ָ 0@A7Lw9brAs@A-;AᦽA<@A@ A?A2<*AH9?2Aֽ:ABAH9?JAֽRA٘i)I9s@Y9G J<JJJJhD&K YA[~?yѧQAD)7ŧ7V8;B)BE[[LD@[[~?[֧[[[[BZYY i) ó@A[AV?AL2<*AH9?2A2ֽ:AIpBAH9?JA2ֽRAIpY0@B>@yb} 0<ٓHu༿Ŀ?W?-iiօ??`?)0@ I٘i)I9t@YG Jܸ<JuJJJ~D&Kx> Y-Z~?yRA>@ CD7777Te8=B)BE[[oG@[Z~?[֧[[[[BZYY i)  elevatorAngleAction: 0.085517J< massPositionAction: 0.0000004 buoyancyAction: 0.000500"J*J dt: 0.4200052J:J2 time: 1743031264.683273F (some fields omitted in printout)BJnJvJAQ@A뚲@A{l\~? A0A%$&"AAOqNA"AZAbAjArAzAAA',qT.@Al]rA]u@A;AAs?@A~A`?A0 <*Aʈ9?2Aֽ:ABAʈ9?JAֽRA٘i)I9]u@YVG J<JJJJD&K YXZ~?yRADZ7Z7~l8>B)BE[[H@[cZ~?[է[[[[BZYY i) B)B[[+K@[gZ~?[֧[[[[BZYY i) e elevatorAngleAction: 0.085517< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743031265.943336F (some fields omitted in printout)AzG@A-@A!\~? A A$&"AAfqNA"AZAbAjArAzAAA|mP,@Ay=YrAfw@A?O<ACAC@A@A?A<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9fw@YG J4<JJJJD&K YtZ~?yWRTADb778?B)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #18q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) <)Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031265.983165 s, next control iter: 1743031266.343188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743031266.363165 s.%H~,>"AJ"J*J2J:JBJnJvJA3333@AP@A\~? ANA$&"AA `qNA"AZAbAjArAzAAA Qq+@ANXrAx@A лAFAE@A`JA` (?A<*A~9?2Ahֽ:A}fBA~9?JAhֽRA}fY7@E@yU촽YѻٓH``p?ܙ?`1A?z`?)7@ I٘i)I9x@YG J<J"JJJD&Kx> YXZ~?y˝TAE@DZ7Z7)8@B)BE[[ M@[eZ~?[֧[[[[ZZZZ¸>BZYY i¸> ) VrAtz@AM<A֗A)G@A`<A@5?AA<*Ay:?2AŽ:ABAy:?JAŽRA٘i)I9tz@YoG J=B=JJJJD&K Y:Z~?y)8VADj7j78BB)nBE[[NQ@[Z~?[+٧[[[[ZZZZBZYY i) ȉ YY~?yǛVAGD8)bBE[[S@[#Y~?[_ۧ[[[[ZZZZBZYY iZ) m}?A%`<*A~:?2Aͽ:A:BA~:?JAͽRA:٘i)I9|@YG Jg<JJJJD&K YY~?y'WA(D777*8CB)]BE[[TT@[Y~?[ܧ[[[[ZZZZBZYY i) ( d'@A7TSrAG0}@A>AA{JEAtA խ?AÃ<*Ax:?2A*Ͻ:A_ <BAx:?JA*ϽRA_ <٘i)I90}@YG J<B=JJJJD&K Y:Y~?ybWA2Db77U8)YB[[9(V@[*Y~?[ާ[[[[ZZZZBZYY i) q#JJJD&Ky> Y>Y~?yWARASDj7Н8DB)yE[[Y@[:zY~?[7[[[[BZYY ik) dI5vJA ףp@A+WY@AZ~? AA%&"AAoNA"AZAbAjArAzAAAZB$@AA·A A=*A7:?2A7ս:A=BA7:?JA7սRA=٘i)I9}@YgG JC=JJJJ5D&K YeY~?yNWAhD77*ߝ8)WBsE[[4!\@[LY~?[C[[[[BZYY i) 'G JJJJJ@D&K YNX~?y WAsD)7ŧ7U8)YBpE[[O]@[6Y~?[v[[[[BZYY i) x@V<  `)) `_@ѺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031272.263165 s, next control iter: 1743031272.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031272.663165 s.H~,q*"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4771, header.stamp.nsec: 00 temperature: 13.384526* salinity: 33.391708, density: 1025.000000* values[0]: 0.708223F (some fields omitted in printout)A@AkA墲@AۂZ~? ASA|%&"AA1oNA"AZAbAjArAzAAAY%"@AXwSrA|@A*;A*'=A<:AsA`cAʂ*A%:?2Az׽:A% =BA%:?JAz׽RA% =Y bI@:y$=M;ٓH?a̿1@ `5e`?) bI@ I٘i)I9|@YG JrJ=JJJUD&K{> YX~?yVA:D7778)_B[[_@[ Y~?[:[[[[BZYY i_m) 7;IH?itA@3< %1))%1H@_ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031272.683165 s, next control iter: 1743031273.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031273.083165 s.DH~,SE"AJ"J*J2J:JN5?BJN5?nJ>5vJARk@AbmQ@AhZ~? AAo%&"AAnNA"AZAbAjArAzAAA< "@A(ԛaTrA<|@AEG8AN =AsZ9A`gA"A{w*A":?2A׽:A=BA":?JA׽RA=٘i)I9<|@YG JJJJJ`D&K Y#X~?y/VAD778)cBjE[[`@[ X~?[[[[[BZYY i) A;II?iiD@g< ))@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031273.103165 s, next control iter: 1743031273.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031273.503165 s.H~,D4`"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057952< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031273.503311F (some fields omitted in printout)Ap= ף@An@ANZ~? AA `%&"AA}nNA"AZAbAjArAzAAAUq?!@A裤STrAs{@AmPAg=A8A ZA 붿AUJ*A1%:?2ARֽ:A =BA1%:?JARֽRA =٘i)I9{@Y5G J B=JJJJkD&K  8Y{X~? 8yUADb7b78)gBgE[[b@[X~?[z[[[[BZYY i) z;II?iG@X< ))#@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031273.543165 s, next control iter: 1743031273.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4772, header.stamp.nsec: 00 temperature: 13.384717* salinity: 33.391678, density: 1025.000000* values[0]: 0.707398F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031273.923165 s.;H~,{"AJ"J*J2J:JBJnJvJA(\B@A{(@A!5Z~? AAM%&"AACnNA"AZAbAjArAzAAA|*5 @A(hUrA){@ASu;A=A6A@IA`A4*A+(:?2Asֽ:A?~=BA+(:?JAsֽRA?~=٘i)I9){@YG J쫼C=JJJJuD&K Y`X~?ylUA CD7ŧ7+ 8)lBdE[[-c@[cX~?[C[[[[BZYY i) J;Ii|K@`;= /\))/\ϸ@ymq٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031273.963165 s, next control iter: 1743031274.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031274.343165 s. Y)X~?y^TA,4Db778)uB^E[[e@[X~?[-[[[[BZYY i) x";IiQ@.[= _))_C@VժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031274.803165 s, next control iter: 1743031275.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031275.183165 s.˲H~,k"AAQ@A_k@AY~? A.A%&"AAF(nNA"AZAbAjArAzAAA7`!@AsNXrAYWy@A;A#=A2A`D A¿A*At3:?2Am׽:A "=BAt3:?JAm׽RA "=٘i)I9Wy@YG JCC=JJJJD&K Y X~?y/;TAD8DB)yB\E[[ܩf@[X~?[O[[[[BZYY iψ) r:IiT@ = c))cv@OЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031275.203165 s, next control iter: 1743031275.583177 s, wait time: 0.380012 s. X~?)./ rAdjusting time to match Gazebo time: 1743031275.603165 s.94H~,"AJ"J*J2J:JBJnJvJA= ף@A ֥@AY~? AAL$&"AAnNA"AZAbAjArAzAAAA3C@A(ܸ)YrAtx@AQA"Œ=A1AUA@ĿAFI*A6:?2A~V׽:An<BA6:?JA~V׽RAn<٘i)I9x@YfG JlJJJJD&K YMW~?ySAD&8)~B[[g@[wX~?[[[[[BZYY i) _(:IiW@d = )) @[ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031275.623165 s, next control iter: 1743031276.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4774 , header.stamp.nsec: 0 0 temperature: 13.385257 * salinity: 33.391678 , density: 1025.000000 * values[0]: 0.705207 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031276.023165 s.ZH~,|"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031276.023303F (some fields omitted in printout)A(\@A8B@A9Y~? AAi$&"AAmNA"AZAbAjArAzAAAMC@ANZrA.4x@AA\=A50AA`ƿA*A5:?2A׽:A3<BA5:?JA׽RA3<٘i)I94x@YG J/JJJJD&K YW~?yնkSAD{7j7.8)BYE[[Yh@[cX~?[[[[[BZYY i) Ii;[@.O = ))(@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031276.043165 s, next control iter: 1743031276.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031276.443165 s.J "J *J 2J :J f4?BJ f4?nJ )=5vJ ?ƾH~,_]"AAzǦ@A@AY~? AA\$&"AAmNA"AZAbAjArAzAAA/1@A\B[rAPw@A$3JA=Aa.A\AȿAjE*A4:?2A׽:A3<BA4:?JA׽RA3<٘i)I9w@YG J/JJJJD&K YѾW~?ySAD7{7+58)BVE[[j@[OX~?[K [[[[BZYY i) tIi_@= }))}뿩o0@y4̈CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031276.463165 s, next control iter: 1743031276.843183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4775, header.stamp.nsec: 00 temperature: 13.385520* salinity: 33.391689, density: 1025.000000* values[0]: 0.704165F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031276.863165 s.+;H~,>7"AA33333@AS@AY~? AA.o$&"AAmNA"AZAbAjArAzAAA9ٗV@A \rA/w@A" A=Am-AؓA |ʿA4#*A:3:?2Ay_׽:AM<BA:3:?JAy_׽RAM YW~?yPRA-D77V<8)BSE[[nDk@[#RԾH~,R"AJ"J*J2J:J%4?BJ%4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743031277.283317F (some fields omitted in printout)AQ@AƟ@AiY~? AYAB$&"AAhmNA"AZAbAjArAzAAA&D(@AuAeS^rAVv@AA=ALU,A` pA`O̿A觔*AT1:?2A׽:A,<BAT1:?JA׽RA,<٘i)I9v@Y%G J JJJJD&K YjW~?yKRAD777C8CB)BPE[[jl@[(X~?[[[[[BZYY i) JIic@ү= ))濩gW@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031277.303165 s, next control iter: 1743031277.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4776., header.stamp.nsec: 0.0 temperature: 13.385779.* salinity: 33.391693., density: 1025.000000.* values[0]: 0.703235.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031277.703165 s.ԺھH~,m"AAףp= @A4@A&QY~? AA$&"AABmNA"AZAbAjArAzAAA(i@A )r_rA5v@A<As=A#+A)JAUοAʓ*AM/:?2Aaֽ:A<BAM/:?JAaֽRA<٘i)I95v@YG JB=JJJJD&K YqW~?yħQA Dŧ77J8)B[[m@[X~?[F[[[[BZYY i) bIizf@ԁ= ))俩@췪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031277.723165 s, next control iter: 1743031278.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031278.123165 s.4H~,P"AJ"J*J2J:JBJnJvJA)\u@ADK[@A8Y~? AA<#&"AAlmNA"AZAbAjArAzAAA[@ATa{arAu@ADG<A. =A;)A!AϿA٠*A=-:?2Aֽ:A5<BA=-:?JAֽRA5<٘i)I9u@YG JC=JJJJD&K YXW~?yJȧQAD777Q8)BME[[Gn@[X~?[[[[[BZYY i) mIii@`= P))P⿩{@YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031278.143165 s, next control iter: 1743031278.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031278.543165 s.IH~,â"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199182 time: 1743031278.543300F (some fields omitted in printout)A{Gᨲ@AX6Ǩ@A Y~? AWAث#&"AAW~?y˧7QAD77Y8)BJE[[Co@[>W~?[[[[[BZYY iA) ŀ»IiLm@=  )) ࿩ @ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031278.563165 s, next control iter: 1743031278.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4777, header.stamp.nsec: 00 temperature: 13.385987* salinity: 33.391663, density: 1025.000000* values[0]: 0.702345F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031278.963165 s.vH~,褽"AJ"J*J2J:JBJnJvJAL@A2@AY~? APAls#&"AASlNA"AZAbAjArAzAAAA@AoŲerA*t@A$;A6=AB'A@GA@ѿA*A(:?2A>׽:Au<BA(:?JA>׽RAu Y%W~?yhЧPA')Dj7j7,`81B)BHE[[p@[W~?[ [[[[BZYY i) Iio@= 3ݿ))3ݿΞ@.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031279.003165 s, next control iter: 1743031279.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031279.383165 s.H~,@"AAQ@An;@AX~? ApA7#&"AAlNA"AZAbAjArAzAAAǷ^@AIVfrAp^t@AͻA=A%A٘A <ҿA[*AK":?2A|׽:AL<BAK":?JA|׽RAL<٘i)I9^t@YG JуJJJJD&K Y W~?yԧPA4Dŧ77Wg8)BEE[[r@[W~?[;$[[[[BZYY i) IiJq@Fm= O}ۿ))O}ۿ0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031279.423165 s, next control iter: 1743031279.783181 s, wait time: 0.360016 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4778&, header.stamp.nsec: 0&0 temperature: 13.386219&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.701491&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031279.803165 s.J "J {AH~*J2J:J3?,g"ABJ3?nJN<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031279.803293F (some fields omitted in printout)Aq= #@A( @AX~? A A"&"AAnlNA"AZAbAjArAzAAA~=@AwHhrAs@Av@A=At$A`fAӿA#z*A:?2Aa׽:A'<BA:?JAa׽RA'<٘i)I9s@YzG J/|JJJJ D&K Y6V~?yR٧1PA?D{7{7n8)B[[U?s@[ܹW~?[u([[[[BZYY i) iIis@= 8ٿ))8ٿ@y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031279.823165 s, next control iter: 1743031280.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031280.223165 s.gH~,H"AA(\@ACu@A[X~? A&A&"&"AAxflNA"AZAbAjArAzAAAtv@AÓkrATs@A4A=A&#A P1A@dԿA}*A?:?2Ao׽:A|u<BA?:?JAo׽RA|u<٘i)I9s@Y:G JzJJJJD&K YV~?yݧOAID77u80B)BBE[[I`t@[[W~?[,[[[[BZYY i) 3" Iiv@v= ֿ))ֿ R@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031280.263165 s, next control iter: 1743031280.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031280.643165 s.y H~,*)"AJ"J*J2J:JBJnJvJAG@Aલ@AX~? AAs"&"AABlNA"AZAbAjArAzAAA v@A$5mrAs@AvAW=A[!A A?տAm*A:?2Av%׽:A=BA:?JAv%׽RA=٘i)I9s@YG J‼JJJJ!D&K YwV~?y=OATDb7|8)B?E[[u@[0W~?[$1[[[[BZYY i) L/Iiz@ =tReceived state from Gazebo (printed only once in a while): Կ0 header.stamp.sec: 4779, header.stamp.nsec: 0)0 temperature: 13.386391)* salinity: 33.391640Կ, density: 1025.000000@* values[0]: 0.700781F (some fields omitted in printout)TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031280.683165 s, next control iter: 1743031281.043180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031281.063165 s.H~, D"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743031281.063324F (some fields omitted in printout)Afffff@AaNL@AّX~? AsA,"&"AAlNA"AZAbAjArAzAAAusZ @ACzorA!r@AZ;A =A A(AֿA *A:?2Aֽ:AAp=BA:?JAֽRAAp=Y c@ y=l;ٓH?y@qТzz@Br?`?) c@ I٘i)I9r@YG JJ<<JJJ,D&K]x> YV~?yq$OA _Dj7Z78)B[[[[BZYY i) :^Ii@G#= Ϳ))Ϳ@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031281.943165 s, next control iter: 1743031282.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031282.323165 s.|$H~,>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031282.323313F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@ALU⎬@AMX~? Az"AcF!&"AAkNA"AZAbAjArAzAAA u?i@A\ivrA7q@Ao;A̓=AA AVؿAV*A9?2Aoֽ:A =BA9?JAoֽRA =٘i)I97q@YG J}JJJJLD&K YQiV~?y NADj7j78/B)B7E[[|z@[TW~?[C[[[[BZYY i) ,mIi8@g%= ˿))˿9"@P˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031282.363165 s, next control iter: 1743031282.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4781*, header.stamp.nsec: 0*0 temperature: 13.386828** salinity: 33.391617*, density: 1025.000000** values[0]: 0.699101*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031282.743165 s.W+H~,~"AAGz@Ae@A7X~? A&A &"AAjkNA"AZAbAjArAzAAArQ@ANNmqyrArp@APA=A[AnAbٿA/*A9?2A1C׽:Au+ =BA9?JA1C׽RAu+ =٘i)I9p@YG JJJJJWD&K YRV~?yDMADb778)B[[{@[(EW~?[iH[[[[BZYY i a) !}Ii@U'= |ɿ))|ɿڰ@\ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031282.763165 s, next control iter: 1743031283.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031283.163165 s.v}2H~,q"AJ"J*J2J:JBJnJvJA@Ah$e@A"X~? A4+A &"AA)ukNA"AZAbAjArAzAAA=EtA@A]%)&|rA4p@A!A}5=AA`A1ڿAl.*A9?2As׽:A4s =BA9?JAs׽RA4s =Yj@y3=i!ٓH @u?/Ө@'b~:H1 ?)j@ I٘i)I94p@Y2G JxJi<JJJbD&Kx> Y=V~?y*FMADŧ7b7ק8)B4E[[<|@[5W~?[RM[[[[BZYY i) { IiV@G(= =ǿ))=ǿ^@@WѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031283.183165 s, next control iter: 1743031283.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031283.583165 s.8H~,S"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085634< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031283.583282F (some fields omitted in printout)AR뭲@Alѭ@A X~? A/A$G &"AA\TkNA"AZAbAjArAzAAA/ڰp?Ae~rA3o@A?GAxʚ=AA=AڿAl*AY9?2AUj׽:A =BAY9?JAUj׽RA =٘i)I9o@YG J]JJJJmD&K Y(V~?yLADS778)B0E[[$[}@[S&W~?[MR[[[[BZYY i) 1Ii!@) )= 7ſ))7ſϗ@ԪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031283.603165 s, next control iter: 1743031283.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4782, header.stamp.nsec: 00 temperature: 13.387084* salinity: 33.391628, density: 1025.000000* values[0]: 0.698204F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031284.003165 s.| @H~,]4"AJ"J*J2J:J2?BJ2?nJl;5vJAp= W@A<@AuW~? A{4A&"AA4kNA"AZAbAjArAzAAA`۹Qm?A-ρrA,o@AkAc=AkAASۿAil*A9?2A'׽:A=BA9?JA'׽RA=٘i)I9,o@YG JJJJJwD&K YV~?y zLA CD{7{7-8)B[[x~@[dW~?[ZW[[[[BZYY i) S@Ii@3a*= ¿))¿W^@y=O-٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031284.023165 s, next control iter: 1743031284.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031284.423165 s.uFH~,"AA(\®@AYw@AW~? AQ9A&"AA$kNA"AZAbAjArAzAAAgOyy?AEeÄrAn@A49Ag=A(AOAfܿAd쪼*A%9?2Aֽ:A;=BA%9?JAֽRA;=٘i)I9n@Y<G JJJJJD&K YU~?yLAD77W8)B.E[[G@[W~?[v\[[[[BZYY i) pМIiF@ += ))@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031284.443165 s, next control iter: 1743031284.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4783, header.stamp.nsec: 00 temperature: 13.387323* salinity: 33.391605, density: 1025.000000* values[0]: 0.697264F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031284.843165 s.LH~,5"AJ"J*J2J:J2?BJ2?nJ+;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085634< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031284.843301F (some fields omitted in printout)AHz.@AyT@AW~? AH>A0&"AAjNA"AZAbAjArAzAAA*9l^>?AaQH?ˇrAn@A <A=AA6aA +@ݿA*A,9?2A~ֽ:A=BA,9?JA~ֽRA=٘i)I9n@YG JѮJJJJD&K YU~?yKAD77Ğ8.B)B+E[[XX@[V~?[a[[[[BZYY i) H`Ii@a-= V))VSz@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031284.863165 s, next control iter: 1743031285.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031285.263165 s.TH~,P"AA@A`@AعW~? A_CA&"AAjNA"AZAbAjArAzAAA1h ?A͹rAum@AcJ<A=AIA@A@ݿA*A9?2Alֽ:Ax=BA9?JAlֽRAx=Yp@yk=K<ٓH@ a@?``@'y`ʪ봿PL? ?)p@ I٘i)I9um@YG JJ <JJJD&K,x> YU~?yJ =KADj7j7˞8)ïB[[@[~V~?[f[[[[BZYY i) Ii@,.= S))S@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031285.283165 s, next control iter: 1743031285.663178 s, wait time: 0.380013 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 47846, header.stamp.nsec: 060 temperature: 13.3875426* salinity: 33.3916056, density: 1025.0000006* values[0]: 0.6962156F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031285.683165 s.lZH~,ck"AJ"J*J2J:JBJnJvJAQ@A믲@AW~? AHA~i&"AAsjNA"AZAbAjArAzAAAL?A@-rAl@A<A =AKA`7A ޿A*A9?2A|ֽ:Au=BA9?JA|ֽRAu=٘i)I9l@Y%G JJJJJD&K YU~?y&JADZ7SI7Ҟ8)ǯB(E[[t@[V~?[=l[[[[BZYY i) aIi@n.= 㹿))㹿喚@YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031285.683165 s, next control iter: 1743031286.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743031286.103165 s.aH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085634< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743031286.103326F (some fields omitted in printout)A= ףp@AKV@AtW~? AMA&"AAjNA"AZAbAjArAzAAA@W̿'?AXrA{5l@A;At=AAqA|n߿Aq*AE9?2Aֽ:AU%=BAE9?JAֽRAU%=٘i)I95l@YG JJJJJD&K YU~?yX-\JAD77ڞ8)̯B[[@[dV~?[q[[[[BZYY i) qIi@0= k))k$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031286.123165 s, next control iter: 1743031286.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031286.523165 s.gH~,t|"AJ"J*J2J:JBJnJvJA(ܰ@A;°@AJW~? AeSA&"AA?|jNA"AZAbAjArAzAAAx?C?A%{宔rA8k@AݻA4=AAAA*A9?2A;׽:A=BA9?JA;׽RA=٘i)I9k@Y`G JB=JJJJD&K YU~?y3IADb7b7.8)үB&E[[<@[WV~?[w[[[[BZYY i) Ii@P1= v))v7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031286.543165 s, next control iter: 1743031286.923196 s, wait time: 0.380031 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4785, header.stamp.nsec: 00 temperature: 13.387841* salinity: 33.391602, density: 1025.000000* values[0]: 0.695111F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031286.943165 s.VdnH~,:]"AAzG@A${-@AlW~? AXAF-&"AAx_jNA"AZAbAjArAzAAAubcx?A70rA^j@A@=CA=ADAA@jA+ļ*AD9?2AP׽:Ak=BAD9?JAP׽RAk=٘i)I9j@YG J üC=JJJJD&K Y&U~?yh:{IAD7j7Y8)֯B#E[[+@[V~?[|[[[[BZYY i) ')ɼIi@2= B))B&?@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031286.983165 s, next control iter: 1743031287.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031287.363165 s.uH~,>"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085634< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031287.363292F (some fields omitted in printout)A3333@AD @AZW~? A^A%&"AA@CjNA"AZAbAjArAzAAA(Lv#˿A)rAEHj@A0AT=A# A@~pA@Aɼ*Aò9?2AL#׽:AC=BAò9?JAL#׽RAC=Yw@ y=d1ٓHC ?. 9@blW D?)w@ I٘i)I9Hj@YG JƼJbY<JJJD&Kgx> YxzU~?yAIA D)7)78)ۯB[[@[2V~?[0[[[[BZYY i) \мIi@13=  )) ̜@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031287.403165 s, next control iter: 1743031287.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4786&, header.stamp.nsec: 0&0 temperature: 13.388131&* salinity: 33.391579&, density: 1025.000000&* values[0]: 0.693957&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031287.783165 s.W{H~,"AAQ@A@A HW~? AdAN&"AA'jNA"AZAbAjArAzAAAJ5:=ۿA rAi@A:1AsǴ=A AwAA.Ѽ*A9?2Aֽ:A6=BA9?JAֽRA6=٘i)I9i@Y-G J,ͼJJJJD&K YiU~?yHHA D{7{78-B)B E[[7@[V~?[ׇ[[[[BZYY i) P׼Iiv@3= ׮))׮Y@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031287.803165 s, next control iter: 1743031288.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031288.203165 s.H~,C "AJ"J*J2J:J1?BJ1?nJ:5vJAףp=@AaTR'p@Ac6W~? AnjA0&"AA jNA"AZAbAjArAzAAAOA>rAih@Aء;A{-=A"t A~߿AeAݏؼ*A۪9?2Ajֽ:A]=BA۪9?JAjֽRA]=٘i)I9h@Y G JԼJJJJD&K YYU~?yOHAD778)B[[ń@[LV~?[[[[[BZYY i) ޼Ii@m4= C))C @XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031288.243165 s, next control iter: 1743031288.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031288.623165 s.XH~,a'"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085634< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743031288.623285F (some fields omitted in printout)A)\@A۲@A %W~? AxpAyg&"AA iNA"AZAbAjArAzAAA9:ޅAzVmrA51h@A8<AG=A/ A`޿A̵A4޼*Av9?2A?;ֽ:A=BAv9?JA?;ֽRA=٘i)I91h@YQ G JNۼJJJJD&K  8YnHU~? 8yVGA Dŧ7ŧ78)BE[[Q@[܇V~?[M[[[[ZZ¸BZYY i¸Ū=) (ҼIi@5= Wp))Wps@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031288.643165 s, next control iter: 1743031289.023181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4787 , header.stamp.nsec: 0 0 temperature: 13.388418 * salinity: 33.391563 , density: 1025.000000 * values[0]: 0.692728 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031289.043165 s.H~,B"AJ"J*J2J:JBJnJvJA{Ga@A/G@AAW~? AvA&"AA&iNA"AZAbAjArAzAAAs?CuA%-rAug@As?<A͋=AA ޿A`wAzZ*Aa9?2APֽ:AVO=BAa9?JAPֽRAVO=٘i)I9ug@Y GnHU~?)V Ju߼JJJJD&K Y7U~?y]#GA*D7777. 8)B[[!ޅ@[|V~?[[[[[ZZBZYY i) ƼIi@6= >))>@AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031289.063165 s, next control iter: 1743031289.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031289.463165 s.UH~,]"AA̳@A-`@AW~? A|Aw&"AA߾iNA"AZAbAjArAzAAAz\½AWrAf@A?;AV=AhAMLݿAOA*A 9?2AYֽ:AQ<BA 9?JAYֽRAQ Yv)U~?yreFA5Dŧ7)7Y8)BE[[j@[qV~?[[[[[ZZBZYY i) #ƺIi@$7=  )) @VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031289.483165 s, next control iter: 1743031289.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4788, header.stamp.nsec: 00 temperature: 13.388738* salinity: 33.391552, density: 1025.000000* values[0]: 0.691403F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031289.883165 s.yH~,Mx"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743031289.883303F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@Al<@AV~? A4A&"AA;iNA"AZAbAjArAzAAA2uAR=ݱrAe@AmDIAd=An3A@ܿA`AH<*A39?2Aֽ:A/<BA39?JAֽRA/<٘i)I9e@Y G JJJJJD&K Y-U~?ym7FA@D778)B[[@[~gV~?[館[[[[ZZBZYY i) HϮIia@j7= أ))أ@y%=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031289.903165 s, next control iter: 1743031290.283183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031290.303165 s.RH~,fg"AAq= ף@Ad‰@A'V~? AA&"AA9iNA"AZAbAjArAzAAAXGA͵rANd@A/AF\u=AAۿA`A*A9?2A0ֽ:A[<BA9?JA0ֽRA[<٘i)I9d@YW G JJJJJD&K Y U~?ytEAKD!8)BE[[Q@[[]V~?[䪨[[[[ZZBZYY i) עIi܏@!$8= ;));L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031290.323165 s, next control iter: 1743031290.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4789., header.stamp.nsec: 0.0 temperature: 13.389105.* salinity: 33.391529., density: 1025.000000.* values[0]: 0.689870.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031290.723165 s.H~,H"AJ"J*J2J:J0?BJ0?nJ/95vJA(\@A;4,F@AV~? A3A?&"AAviNA"AZAbAjArAzAAAΘxAl;l̹rA5d@A VA~1=A`AڿA>-A̼*Af9?2Aֽ:Ao#;BAf9?JAֽRAo#; I٘i)I95d@Y G JWJJJJ#D&K YT~?y2|LEAUD)7ŧ7(8) B[[@[SV~?[갨[[[[ZZBZYY i) ߖIi@8= t))t2@AyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031290.763165 s, next control iter: 1743031291.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031291.143165 s.V/H~,*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031291.143277F (some fields omitted in printout)AGz@A`@A6V~? AזA&"AA#`iNA"AZAbAjArAzAAANnIiA~ڽrAc@AcAw<AGAZ7ڿA`sAR*A9?2Aֽ:A$BA9?JAֽRA$٘i)I9c@Y G JJJJJ.D&K YQT~?yȃDA`Db7708)B[[@[$JV~?[[[[[ZZBZYY i) K犼Ii_@:= D))D@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031291.163165 s, next control iter: 1743031291.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031291.563165 s.H~,N "AJ"J*J2J:JBJnJvJAffff浲@Ah\W̵@AV~? AA&"AAJiNA"AZAbAjArAzAAA At8rAc@AٚA۷<AApkٿA@ٷAZ*A9?2Aֽ:ALBA9?JAֽRALY@y۷<{ۚٓH |ڿ?Ԛn (ڿ-`綃4[3?)@ I٘i)I9c@Y3 G JJu9JJJ9D&Kx> YT~?yϋDAkD{7{7/78)BE[[)@[@V~?[[[[[ZZBZYY i؄=) IiO@9= s))s~K@pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031291.583165 s, next control iter: 1743031291.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4790, header.stamp.nsec: 00 temperature: 13.389387* salinity: 33.391537, density: 1025.000000* values[0]: 0.688592F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031291.983165 s.H~,"AAQ@A5E7@AV~? AgAy&"AA4iNA"AZAbAjArAzAAAz~4a`Aڍ!rAΰb@Ap<A˻A_AWؿA A ?*Aſ9?2Aֽ:A{BAſ9?JAֽRA{٘i)I9b@Y G JUkJJJJDD&K YT~?y֓DAvD777Y>8.B)BE[[K@[.8V~?[Oè[[[[ZZBZYY i&ܙ=) RnIio@(:= Sޘ))SޘFآ@Q(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031292.023165 s, next control iter: 1743031292.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031292.403165 s.&ƿH~,"AJ"J*J2J:J,0?BJ,0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031292.403287F (some fields omitted in printout)A ףp@A?-W@AV~? AQA&"AAiNA"AZAbAjArAzAAAʂ_A=+ZrA]pb@AC<AǧA?A l׿A:Azϻ*Ar9?2Aֽ:A-fBAr9?JAֽRA-f٘i)I9pb@Y G JrJJJJND&K YT~?yܛDADŧ7ŧ7E8*B)BE[[C@[/V~?[ɨ[[[[ZZBZYY i) ZIi@:= s))sd@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031292.423165 s, next control iter: 1743031292.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4791, header.stamp.nsec: 00 temperature: 13.389570* salinity: 33.391510, density: 1025.000000* values[0]: 0.687898F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031292.823165 s.̿H~,)4"AA\(@A=b@AV~? AQAk&"AA iNA"AZAbAjArAzAAA|-uA!)rARb@ATx<AwA)AwֿA@ wANպ*A9?2Atֽ:A-ɼBA9?JAtֽRA-ɼ٘i)I9Rb@Y G JʌJJJEJYD&K Y5T~?y㣨DADb77L8)B[[ϊ@['V~?[Ϩ[[[[BZYY i) FIi=@/;= ;y));y@y;=z3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031292.863165 s, next control iter: 1743031293.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031293.243165 s.ӿH~,iO"AJ"J*J2J:JBJnJvJAGz@A#fz@AV~? AeA`&"AAhNA"AZAbAjArAzAAAL&uAJrAUb@Ae:A3AEA:$ֿA {AK;*A9?2Asֽ:AB1BA9?JAsֽRAB1꼙٘i)I9Ub@Y G Jw9B=JJJJdD&K YmT~?y뫨DAD7777S8)[[[@[V~?[֨[[[[BZYY i) 3Ii@ <= G))G}@=q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031293.283165 s, next control iter: 1743031293.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031293.663165 s.ڿH~,qj"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031293.663278F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4792, header.stamp.nsec: 00 temperature: 13.389630* salinity: 33.391502, density: 1025.000000* values[0]: 0.687769F (some fields omitted in printout)A@A已@AwV~? AAxW&"AAhNA"AZAbAjArAzAAAs4AҏOrAxb@AlAYAA@MտA gA;*A֨9?2A.ֽ:ABA֨9?JA.ֽRAYL@yBYPٓHoԿ@J?ԟ?A ˟Կ)?>8?{} 2?)L@ I٘i)I9xb@Y G J;C=J(JJJoD&K w> YST~?yCDAD{7j7[8)B)BE[[.@[wV~?[vܨ[[[[BZYY ig=) l"Ii@r;= ))) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031293.683165 s, next control iter: 1743031294.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031294.083165 s.DH~,S"AJ"J*J2J:JBJnJvJARk@AYnQ@A|kV~? AǩA&"AAhNA"AZAbAjArAzAAA`MA~݁rAb@Aw/JAfyAFAtԿA1A*7<*A9?2Aֽ:Aq BA9?JAֽRAq ٘i)I9b@Y G J/<JJJJyD&K Y:T~?y&EA CD77/b8)B[[t@[jV~?[[[[[BZYY i) Ii@];= o卿))o卿@ި*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031294.103165 s, next control iter: 1743031294.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031294.503165 s.H~,34"AAp= ׸@A3@A``V~? AϩAL=&"AAhNA"AZAbAjArAzAAAT/krZ A C@.rAMc@A@a4AΈAAӿA9SAIip<*A9?2A5ֽ:A2BA9?JA5ֽRA2٘i)I9c@Y1 G JR<B=JJJJD&K YT~?yĨoEADSI7SI7Zi8)B[[@[ V~?[D[[[[BZYY iV6=) "7Iiɒ@;= ))"@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031294.523165 s, next control iter: 1743031294.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4793, header.stamp.nsec: 00 temperature: 13.389519* salinity: 33.391487, density: 1025.000000* values[0]: 0.688235F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031294.923165 s.:H~,"AJ"J*J2J:J00?BJ00?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743031294.923305F (some fields omitted in printout)A(\B@A|~(@AUV~? Ar֩A&"AAHhNA"AZAbAjArAzAAA*\ AzírA<}c@A*AA&9A ҿAAF<*A9?2Aֽ:A hBA9?JAֽRA h٘i)I9}c@Yt G J<C=JJJJD&K YT~?yNͨEADb77p8) B[[@[^V~?[[[[[BZYY i) pIi@N<= ))@y YT~?y:ިhFAD{7{7~8)B[[@[U~?[[[[[BZYY i) uIi8@=q<= #))#Ƨ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031295.783165 s, next control iter: 1743031296.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031296.183165 s.H~,g #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743031296.183271F (some fields omitted in printout)AQ@A|k@A8V~? AA&"AA=hNA"AZAbAjArAzAAAo AhrAd@A?<AớATBA@пA`AfU<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9d@Y] G JS<JJJJD&K YF{T~?yFAD77778)B[[ 1@[U~?[8[[[[BZYY i)  Ii@)<= K))K󂿩S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031296.203165 s, next control iter: 1743031296.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031296.603165 s.84 H~,&#AJ"J*J2J:JBJnJvJA= ף@A\ֺ@A-0V~? AAd&"AAwhNA"AZAbAjArAzAAAk A|rAމe@AA;AA\AFοA87A<*AE9?2AIֽ:A BAE9?JAIֽRA ٘i)I9e@Y G J<JJJJD&K YtT~?yb7GAD{7/8)B[[!@[U~?[ [[[[BZYY i) QIi@<= €))€ߨ@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031296.623165 s, next control iter: 1743031297.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4795 , header.stamp.nsec: 0 0 temperature: 13.389132 * salinity: 33.391449 , density: 1025.000000 * values[0]: 0.690179 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031297.023165 s.ZH~,|A#AA(\@A\;QB@A(V~? A9A&"AAjhNA"AZAbAjArAzAAA+ A2lʦrAf@AIASrA2޿A`+{̿A7]AE<*A9?2Adֽ:A\ BA9?JAdֽRA\ ٘i)I9f@Y G J<JJJJD&K YnT~?yGAD77Z8'B)BE[[5I@[ U~?[_[[[[BZYY i) "Ii@xO<= U%}))U%}0k@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031297.043165 s, next control iter: 1743031297.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031297.443165 s.AH~,h]\#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031297.443306F (some fields omitted in printout)Azǻ@A&䃞@A_ V~? AAl9&"AA^hNA"AZAbAjArAzAAAOSjA*֭rsATf@A?*A*AۿAʿAA<*A9?2AS8ֽ:AM BA9?JAS8ֽRAM ٘i)I9f@Yi G J!<B=JJJJD&K YMhT~?yHAD77j78)B[[6Ր@[U~?[[[[[BZYY i) VIis@]<= Mx))Mx1@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031297.463165 s, next control iter: 1743031297.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4796, header.stamp.nsec: 00 temperature: 13.388885* salinity: 33.391430, density: 1025.000000* values[0]: 0.691355F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031297.863165 s.+H~,>w#AA33333@A&B@A8V~? A AM&"AAShNA"AZAbAjArAzAAAvg A/sALg@AgDHA AٿAȿAɢAD<*A9?2AFֽ:A./ BA9?JAFֽRA./ Yϋ@ؿy HٓH i??C I V??c ?)ϋ@ I٘i)I9Lg@Y G J<C=JA :JJJD&K!x> YdT~?yH kHAؿ D8)B[[a@[ U~?[[[[[BZYY i) Iiߒ@;= ft))ft@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031297.883165 s, next control iter: 1743031298.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031298.283165 s.1R$H~,#AJ"J*J2J:J&1?BJ&1?nJ95vJAQ@A|Y@AV~? AAI &"AA2IhNA"AZAbAjArAzAAAq\Aa sA;g@AIA_oAjֿAƿA~A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9g@Y! G J<JJJJD&K YOaT~?yHADb77ک8)BE[[@[U~?[@$[[[[BZYY i) 5(:Ii{@\;= ]p))]p@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031298.303165 s, next control iter: 1743031298.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4797., header.stamp.nsec: 0.0 temperature: 13.388603.* salinity: 33.391418., density: 1025.000000.* values[0]: 0.692584.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031298.703165 s.׺*H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743031298.703303F (some fields omitted in printout)Aףp= @AbQ+@At V~? A\Aoq&"AA}?hNA"AZAbAjArAzAAA"_A)usAVth@A :AAѺӿA@4ſAA1o<*A29?2Aֽ:A%BA29?JAֽRA%٘i)I9th@Yy G J<JJJJD&K Y]T~?y9IA!Dŧ778)B[[Py@[U~?[*[[[[BZYY i) 4:IiE@:;= }k))}kK@X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031298.723165 s, next control iter: 1743031299.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031299.123165 s.<1H~,q#AJ"J*J2J:JBJnJvJA)\u@A̷>[@AV~? A?#A &"AA6hNA"AZAbAjArAzAAATAbsAh@A<AxA ѿA<ÿAAq,<*A<9?2A׽:ArBA<9?JA׽RAr٘i)I9h@Y G J><JJJJD&K YQZT~?y|#IA,D708)߯B[[@[U~?[1[[[[BZYY i) q;Ii?@2;= Bg))Bg'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031299.143165 s, next control iter: 1743031299.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031299.543165 s.I8H~,#AA{Gὲ@Az0ǽ@AV~? A++Av= &"AAq.hNA"AZAbAjArAzAAAv(Aq6dsAli@AmL<AҎASjοAYA@/A<*A9?2Ah׽:A$BA9?JAh׽RA$٘i)I9i@YG J<JJJJD&K YVT~?y8,JA7D777Z8)ۯB[[‘@[gU~?[R8[[[[BZYY i) KDU;Iig@Xf;= b))b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031299.563165 s, next control iter: 1743031299.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4798, header.stamp.nsec: 00 temperature: 13.388342* salinity: 33.391396, density: 1025.000000* values[0]: 0.693774F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031299.963165 s.x>H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743031299.963287F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A12@A5U~? A3A| &"AA'hNA"AZAbAjArAzAAA%F_Am:?sAdj@A<AՌA˿AA(A<*A&9?2Aֽ:AvBA&9?JAֽRAvY@˿yԌ$<ٓHҖ ?@9 Y0VT~?y5eJA˿ADZ7Z7Ɵ8)ׯBE[[@[iU~?[?[[[[BZYY i동=) ;Ii@p:= ^))^?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031299.983165 s, next control iter: 1743031300.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031300.383165 s.EH~,8#AAQ@A:@A+U~? A;A &"AA hNA"AZAbAjArAzAAA) A‡"sA;j@AR:AAxNɿAK1A;AHn<*A)9?2Aֽ:AToBA)9?JAֽRATo٘i)I9j@YG Jh<JJJJD&K YUT~?y=JALD77{7͟8)ӯB[[@[U~?[E[[[[BZYY i) Z;Ii@9= =Z))=Z̭@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031300.403165 s, next control iter: 1743031300.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4799", header.stamp.nsec: 0"0 temperature: 13.388118"* salinity: 33.391411", density: 1025.000000"* values[0]: 0.694846"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031300.803165 s.xALH~,g3#AJ"J*J2J:J1?BJ1?nJ:5vJAq= #@AH¾ @AU~? ACAj &"AAhNA"AZAbAjArAzAAAYnhA8'sA k@A#AsAƿAeqAKAb4<*A9?2Ajֽ:AIBA9?JAjֽRAI٘i)I9k@Y G J+<JJJJ%D&K YTT~?yF"KAWD{7j7ԟ8)ϯB[[6@[U~?[L[[[[BZYY i) 6;Ii@99=  U)) UX@*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031300.823165 s, next control iter: 1743031301.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031301.223165 s.gSH~,HN#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743031301.223317F (some fields omitted in printout)A(\@A)Ju@AU~? A!KAj &"AAhNA"AZAbAjArAzAAA[n Ar+sAIk@A#HA]8A5ĿAGA YA<*A9?2AcZֽ:ABA9?JAcZֽRA٘i)I9k@YWG J<<B=JJJJ0D&K YLTT~?yqOKAbD7777ܟ8)˯B[[SÕ@[U~?[FS[[[[BZYY i) ;Ii@R8= eTQ))eTQN@yx=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031301.243165 s, next control iter: 1743031301.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031301.643165 s.rYH~,)i#AJ"J*J2J:JBJnJvJAG@AG࿲@A+U~? A,SA1 &"AAhNA"AZAbAjArAzAAA[A /0sAl@Ah,A{NA4A༯ASeA<*A9?2A΀ֽ:ABA9?JA΀ֽRA٘i)I9l@YG J5<C=JJJJ;D&K YST~?y>XKAlD{7j708(B)ǯBE[[O@[ U~?[ Z[[[[BZYY i) ;y?q;?` k_?)S@ I٘i)I9{l@YG JԐ<J[Z;JJJFD&K:x> YUT~?ya elevatorAngleAction: 0.074982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031302.483303F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Aַ@AU~? AKcA&"AA hNA"AZAbAjArAzAAA?Ʉ&ARo0:sAl@AT߸;A4AO;A@WA`tA2ȋ<*A9?2A׽:ABA9?JA׽RA٘i)I9l@Y5G JK<JJJJPD&K Y'XT~?yiLAD8)B[[eƿ[6U~?[g[[[[BZYY i) }!<AAےABAxA9<*A]9?2A-׽:ABA]9?JA-׽RA٘i)I9gm@Y}G J2<JJJJ[D&K YeZT~?yrLAD778)BE[[cgĿ[U~?[Vn[[[[BZYY i) 1 elevatorAngleAction: 0.074982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743031303.743304F (some fields omitted in printout)AGz²@Ah8e@AU~? A{A&"AAhNA"AZAbAjArAzAAA-B3A;pIsAVn@A;ADAXlA?A xAM<*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Vn@YG Je<JJJJqD&K  8Y^T~? 8y%MA CD778)B[[['U~?[{[[[[BZYY i) P YcT~?yΌNAޱDj7Z718)B[[ʽ[U~?[[[[[BZYY i) D_ elevatorAngleAction: 0.083844< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031305.003284F (some fields omitted in printout)Ap= Wò@A<ò@AwU~? AAVE&"AA hNA"AZAbAjArAzAAAhfIAA6d5XsAo@AFAOGAĬA`X?AfAˣ<*Ae9?2ATֽ:Aʉ BAe9?JATֽRAʉ ٘i)I9o@YG JR<JJJJD&K Y&nT~?y!NAD778)B[[_[vU~?[-[[[[BZYY i) }1= A%))A%A%*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031305.443165 s, next control iter: 1743031305.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4804, header.stamp.nsec: 00 temperature: 13.570380* salinity: 33.374973, density: 1025.000000* values[0]: 0.574134F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031305.843165 s.ݜH~,u#AJ"J*J2J:JBJnJvJAHz.IJ@Ai-IJ@AU~? AʣA- &"AAhNA"AZAbAjArAzAAAtEzmA0bsAp@AD:A9ؙANlA`S?AMA倠<*A9?2Aֽ:ArBA9?JAֽRAr٘i)I9p@YG J <JJJJD&K YTxT~?ysOAD7777*8-B)[[[U~?[[[[[BZYY i) % elevatorAngleAction: 0.083844< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743031306.263279F (some fields omitted in printout)AIJ@AhIJ@AU~? A˫An&"AAhNA"AZAbAjArAzAAAٟA fsAxq@A<AAA(?A e=A8Ҡ<*A9?2A ׽:A BA9?JA ׽RA Y|ט@0դyi<ٓH`O? ?E#``???S? ?)|ט@ I٘i)I9xq@YG Jn<JH/JJJD&KTx> Y6T~?y淩PAդDj7Z728)BE[[ѻ[*U~?[e[[[[BZYY i) ~AOA?A`*A&<*A9?2Aֽ:ABA9?JAֽRA٘i)I9r@YG J<JJJJD&K YT~?yȩPAD7)7\@8)B[[K[U~?[ϱ[[[[BZYY i) 橤 elevatorAngleAction: 0.083844< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743031307.523330F (some fields omitted in printout)A(Ų@AOjŲ@AV~? AêA&"AAA+hNA"AZAbAjArAzAAAAHǮpyusA s@A'9AAAW?A@A<*A}9?2Aֽ:AfBA}9?JAֽRAf٘i)I9 s@YG J<JJJJD&K YݗT~?yAѩAQADŧ7b7G8/B)BE[[O[EU~?[[[[[BZYY i)  +#AJ"J*J2J:JBJnJvJA3333Ʋ@AhƲ@AtV~? AiӪAdg&"AA;hNA"AZAbAjArAzAAAb vA&"sA[t@AIA<AAkd?AAE<*A9?2A "ֽ:AXVBA9?JA "ֽRAXVY@їyꍪRJٓH?@?;ڎ`??nK?@J:@?)@ I٘i)I9[t@YG J<J؅JJJD&Kw> YWT~?yRAїD77U8)B[[񝧿[U~?[ũ[[[[BZYY i)  elevatorAngleAction: 0.083844< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743031308.783318F (some fields omitted in printout)AQDz@A}XDz@AV~? A;۪AO%"AADhNA"AZAbAjArAzAAA(\'AKfG܃sAu@A=&AxEAQA=?AA"<*A9?2ArPֽ:AAMBA9?JArPֽRAAM٘i)I9u@YG J<JJJJD&K YT~?yRA#D]80B)BE[[c[V~?[j̩[[[[BZYY i) M elevatorAngleAction: 0.083844< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743031310.043321F (some fields omitted in printout)A{GaȲ@A ;GȲ@AQ-V~? AiA)%"AAehNA"AZAbAjArAzAAA٠0AƴjsAv@AA<ANABA?A`=A<*A9?2A׽:ABA9?JA׽RA٘i)I9v@YNG J<B=JJJJD&K YT~?y{SACD)7ŧ7r81B)yB#E[[g[V~?[+[[[[BZYY i%=) @ YT~?yA ^TAʊMD77{7y8)tB[[;n[ V~?[[[[[BZYY i) xV~? AAG%"AAWhNA"AZAbAjArAzAAA\B A^$*IsAPJx@A;A%A"Au?A?A<*A29?2APֽ:ABA29?JAPֽRA٘i)I9Jx@YG J:<B=JJJJ'D&K YT~?yTAXDZ7Z7ހ82B)oB$E[[/[#V~?[[[[[ZZZZ¸>BZYY i¸>=) 6y YQ&U~?y0VA{D{7j784B)XB+E[[+'[FV~?[[[[[ZZZZBZYY i) (:#AAQ˲@A_Z7˲@ArV~? A&AF %"AAchNA"AZAbAjArAzAAAY(Ad>)ϱsA6|@AijG;A2A*ivA@?A`;A%<*A9?2Aeֽ:AjʻBA9?JAeֽRAjʻ٘i)I96|@YG JZ<JJJJ]D&K Y5U~?y8VAD7785B)SB.E[[7㎿[LPV~?[ [[[[ZZZZBZYY i) }@A"<A6;ALfA$?A'HA:.<*A:9?2ATֽ:Au<BA:9?JATֽRAu<٘i)I9}@YfG JjZ<JJJJ}D&K YeU~?yNWAD7738)HB[[[oV~?[[[[[ZZZZBZYY i) TnJJJD&Kx> YwU~?yTWAaDŧ7b7^87B)5E[[;[zV~?[%[[[[ZZZZBZYY ilr) 9\V~?[1[[[[BZYY i) 8H~,#AJ"J*J2J:JBJnJvJA(\Bβ@AE|(β@AV~? AWAP%"AANViNA"AZAbAjArAzAAA0ACzmsAP}@AA[=AUQAd?A>BA*A9?2Aךֽ:Ari<BA9?JAךֽRAri<٘i)I9}@YG JJJJJD&K YU~?y?iiWAD)7ŧ7֠8)IB[[W}[V~?[7[[[[BZYY i) s% Y(U~?y@vVAGD{738;B)PB?E[[Gpt[HV~?[C[[[[BZYY i®h) M`AAMsA9|@A3N<A_=ABA ?A@jA:*A9?2Arս:As=BA9?JArսRAs=٘i)I9|@YG JJJJJD&K Y>U~?yq|VADŧ7b7^8)SB[[co[V~?[uI[[[[BZYY i) ;IiQ@-=  ))  ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031317.203165 s, next control iter: 1743031317.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031317.603165 s.94YH~,f#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031317.603270F (some fields omitted in printout)A= ףϲ@A\ϲ@AZW~? ApAU%"AAiNA"AZAbAjArAzAAAAY#sAg|@A:<A`=Ak=A[?AFA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9g|@YG JږJJJJD&K YTU~?y8VAD{7{78)XBBE[[)k[iV~?[0O[[[[BZYY i) ;Ii}N@'= `h))`h`hfҪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031317.623165 s, next control iter: 1743031318.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4816 , header.stamp.nsec: 0 0 temperature: 13.567286 * salinity: 33.375057 , density: 1025.000000 * values[0]: 0.580929 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031318.023165 s.Z`H~,{#AA(\в@AoBв@AW~? AvA%"AAiNA"AZAbAjArAzAAAˌ!AsA{@A;Aʛ=A8A ?A@Aq*Am9?2ATnֽ:A*=BAm9?JATnֽRA*=٘i)I9{@YJG JrJJJJD&K YjV~?yԈUADb778)]B[[/}f[V~?[T[[[[BZYY i) Z;IiK@`= j))j뽩jyhh֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031318.043165 s, next control iter: 1743031318.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031318.443165 s.6fH~,:]#AJ"J*J2J:J?BJ?nJ5vJAzв@Ad[в@A*0W~? A }Ad%"AAuiNA"AZAbAjArAzAAA6}APssAK{@A AG=A2AB?A ~AJ/*A 9?2Acֽ:A  =BA 9?JAcֽRA  =٘i)I9K{@YG J B=JJJJD&K  8Y#V~? 8yUAD8#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031318.863324F (some fields omitted in printout)A33333Ѳ@A"Ѳ@AAW~? AAo%"AAjNA"AZAbAjArAzAAAGA CsAz@A@A =AeV-A ?A,A+*Ay9?2Aֽ:A=BAy9?JAֽRA=YZ@-y=AٓH ?8 ?^?X?`?`D\@?)Z@ I٘i)I9z@YG JC=J<JJJD&K$x> Y9V~?yUA-$Dŧ7 8>B)hBIE[[_%][V~?[_[[[[BZYY i) \;Ii-E@b<  ))f  ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031318.903165 s, next control iter: 1743031319.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031319.283165 s.0RtH~,#AJ"J*J2J:J~?BJ~?nJ5vJAQѲ@AeѲ@ASW~? AۈAz%"AA|jNA"AZAbAjArAzAAAL sҿAsAU(z@AzHA=A;(AV?AAf*A9?2A7ֽ:A=BA9?JA7ֽRA=٘i)I9(z@YAG J JJJJD&K Y{OV~?yTA/D777748)mB[[kxX[W~?[fe[[[[BZYY i)  ;IihA@< v)) vvҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031319.303165 s, next control iter: 1743031319.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4818., header.stamp.nsec: 0.0 temperature: 13.567677.* salinity: 33.375050., density: 1025.000000.* values[0]: 0.579726.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031319.703165 s.ٺzH~,#AAףp= Ҳ@A<,Ѳ@AeW~? AA %"AA6jNA"AZAbAjArAzAAASYAacWsAy@AλA і=A\#A@S?AA˫*A9?2Aս:Al=BA9?JAսRAl=٘i)I9y@YG JB=JJJJ D&K YzeV~?yGTA:D77_8)rBLE[[+S[W~?[j[[[[BZYY i) G:Ii>@G;< 5+))5+5+ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031319.743165 s, next control iter: 1743031320.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031320.123165 s.6H~,X#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743031320.123281F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\uҲ@A[Ҳ@AxW~? A8A%"AARjNA"AZAbAjArAzAAA{ׅq?AF!YsAy@AE&?;Af=A'A/?A`,A *A9?2Azս:A=BA9?JAzսRA=٘i)I9y@YG JC=JJJJD&K Yv{V~?ySADD78?B)wBOE[[O[-W~?[p[[[[BZYY i)  :Ii;@*g< ))yw̪Y'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031320.163165 s, next control iter: 1743031320.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031320.543165 s.IH~,"#AA{GҲ@Ad7Ҳ@AW~? AA-%"AAdojNA"AZAbAjArAzAAA@ ?A9I#sAxwx@AL-<Ahő=A!A S?Aѫ߿A;骼*A9?2Anս:AF=BA9?JAnսRAF=٘i)I9wx@Y9G JJJJJD&K YtV~?ywSAODŧ7b7%8@B)|BRE[[FJ[=W~?[Xu[[[[BZYY i) (Iio8@<  ))  ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031320.583165 s, next control iter: 1743031320.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4819, header.stamp.nsec: 00 temperature: 13.567877* salinity: 33.375069, density: 1025.000000* values[0]: 0.579138F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031320.963165 s.{H~,=#AJ"J*J2J:JB?BJB?nJv5vJALӲ@AV}2Ӳ@AW~? AA%"AAtjNA"AZAbAjArAzAAAݦS?A,msA,w@AɨO<A(=AAҤ?A޿A*A9?2Aս:Aܥ=BA9?JAսRAܥ=Y@{y6=*P<ٓH`Q?{?ta?k?@l@۱?a?)@ I٘i)I9w@YG JmJjeJJJ)D&Ku> YV~?yoSAZD777,8)B[[E[}NW~?[rz[[[[BZYY i) Ii4@< _<))^}_<_<ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031320.983165 s, next control iter: 1743031321.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031321.383165 s.ؕH~,QX#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247432@ elevatorAngleAction: -0.066185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031321.383325F (some fields omitted in printout)AQӲ@ASHӲ@AW~? AdAZ%"AA jNA"AZAbAjArAzAAA]' ?Ar(]sAL_w@A!?<AKH=AA?A@޿A|*A9?2Aս:AU<BA9?JAսRAU<٘i)I9_w@YG JB=JJJJ4D&K YV~?y>RAdDb77 48BB)BVE[[K@[n_W~?[~[[[[BZYY i) <Ii#0@u< =)) ==\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031321.423165 s, next control iter: 1743031321.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4820", header.stamp.nsec: 0"0 temperature: 13.568034"* salinity: 33.375076", density: 1025.000000"* values[0]: 0.578540"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031321.803165 s.xAH~,gs#AJ"J*J2J:J?BJ?nJL5vJAq= #Բ@A; Բ@AW~? AA$%"AA/jNA"AZAbAjArAzAAA! 4?AtAv@A=+WA߉=Aj AF?AˀݿA*AM9?2A'ս:AI <BAM9?JA'սRAI <٘i)I9v@Y>G JC=JJJJ?D&K YvV~?y WRAoDŧ7b74;8)BZE[[ <[pW~?[w[[[[BZYY i) TLIi,@i< 3P=))3P=3P=9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031321.823165 s, next control iter: 1743031322.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031322.223165 s.gH~,H#AA(\Բ@ABuԲ@AW~? AAב%"AAjNA"AZAbAjArAzAAAB* ?Ay[`tA_v@AaA=Au.A@v?A@$ܿA󌐼*A9?2AYս:A<BA9?JAYսRA<٘i)I9_v@YG JJJJJJD&K YV~?yٽQAzDj7Z7_B8CB)B]E[[?7[W~?[^[[[[BZYY i) mIij)@< `=))`=`=aY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031322.243165 s, next control iter: 1743031322.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031322.643165 s.yЩH~,*#AJ"J*J2J:J?BJ?nJ%5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743031322.643325F (some fields omitted in printout)AGԲ@A&Բ@AW~? ApA1%"AAkNA"AZAbAjArAzAAA0K ?A߾&tAu@A%SA=A"A?A ܿAꋼ*A9?2Aս:AH<BA9?JAսRAH< I٘i)I9u@YG J&JJJJTD&K YW~?yªQAD{7j7I8)B[[gk2[W~?[1[[[[BZYY i) 7Ii&@P< #=))#=#=zYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4821, header.stamp.nsec: 00 temperature: 13.568176]:* salinity: 33.375065, density: 1025.000000* values[0]: 0.577971F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743031322.663165 s, next control iter: 1743031323.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031323.063165 s.H~,V #AAfffffղ@ANLղ@AX~? A2A%"AA%kNA"AZAbAjArAzAAAvf?AN tAru@AZA䫅=AA@!?A "BۿA޶*A9?2A$ս:A<BA9?JA$սRA Y W~?yƪ=QADj7Z7P8)B`E[[-[ߦW~?[ܒ[[[[BZYY iC) »Ii("@׏< Z=))GzZ=Z=0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031323.083165 s, next control iter: 1743031323.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031323.483165 s.v_H~,#AJ"J*J2J:JBJnJvJAղ@Aڷղ@A:X~? AҼAv%"AAEkNA"AZAbAjArAzAAAͳ@Adu tA t@AA =AAf?A|ڿA*A9?2Aս:AX<BA9?JAսRAX<٘i)I9t@YG JJJJJjD&K Y:W~?yʪPA CDb7b7W8)BcE[[([W~?[u[[[[BZYY i) ?Ii@O< >)) >>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031323.503165 s, next control iter: 1743031323.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4822, header.stamp.nsec: 00 temperature: 13.568311* salinity: 33.375107, density: 1025.000000* values[0]: 0.577490F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031323.903165 s.ȽH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077443< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743031323.903292F (some fields omitted in printout)A ףp=ֲ@AlX#ֲ@A/X~? AOA%"AAHfkNA"AZAbAjArAzAAAAHdL@A;LtA3t@A;A=A߾Az?A ٿA*A}9?2A/;Խ:A<BA}9?JA/;ԽRA<٘i)I9t@YG J"JJJJuD&K YSW~?yΪPAD77 _8DB)BfE[[7#[W~?[[[[[BZYY i) (IiZ@m< R>))R>R>QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031323.923165 s, next control iter: 1743031324.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031324.323165 s.H~,`#AJ"J*J2J:JBJnJvJA\ֲ@Amֲ@AEX~? AūAF%"AAJkNA"AZAbAjArAzAAAI,@A. tA|t@A))p'>p'>y\Y4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031324.343165 s, next control iter: 1743031324.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4823*, header.stamp.nsec: 0*0 temperature: 13.568417** salinity: 33.375137*, density: 1025.000000** values[0]: 0.577019*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031324.743165 s.WH~,y/#AAGzײ@Abcֲ@A\X~? AɫA[s%"AAkNA"AZAbAjArAzAAASտ@AXjtAƟs@A/4<A2=A\˾A*?AؿA,*A9?2AԽ:AZX=BA9?JAԽRAZX=٘i)I9s@YFG JJJJEJD&K YRW~?y֪OADj7_m8FB)BjE[[2[W~?[[[[[BZYY i) mIi(@⣽< u;>))u;>u;>}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031324.763165 s, next control iter: 1743031325.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031325.163165 s.y}H~,qJ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077443< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031325.163285F (some fields omitted in printout)J"J*J2J:JBJnJvJAײ@A eײ@ArX~? AͫA "%"AAkNA"AZAbAjArAzAAA9J@A+atA+s@Aeho;A=AAg?A`nM׿A8*A9?2Aہս:A=BA9?JAہսRA=Y@\y=o;ٓH@?`?HH?u׿R?@0`m?v?)@ I٘i)I9+s@YG J鉼J ;JJJD&Kt> YW~?yڪzOADb77t8)BmE[[{X[X~?[ꨪ[[[[BZYY i) /Ii@< N>))^WxN>N>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031325.183165 s, next control iter: 1743031325.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031325.583165 s.H~, Se#AARײ@AǷwײ@A)) mb>mb>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031325.603165 s, next control iter: 1743031325.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4824, header.stamp.nsec: 00 temperature: 13.568552* salinity: 33.375130, density: 1025.000000* values[0]: 0.576572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031326.003165 s.x H~,L4#AJ"J*J2J:JBJnJvJAp= Wز@Ag<ز@A))!v>!v>4ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031326.023165 s, next control iter: 1743031326.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031326.423165 s.uH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077443< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743031326.423315F (some fields omitted in printout)A(\ز@A_|ز@A{X~? AZ٫AD?%"AAy2lNA"AZAbAjArAzAAA`j@ASAtA2q@ABAn=Aq}A ?A`mԿAL*A9?2Aս:A5=BA9?JAսRA5=٘i)I9q@Y,G J6JJJJD&K YnW~?yeNAD 8)B[[_[EX~?[㴪[[[[BZYY i) j^Ii@< >))>>XɪY+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031326.443165 s, next control iter: 1743031326.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4825, header.stamp.nsec: 00 temperature: 13.568657* salinity: 33.375145, density: 1025.000000* values[0]: 0.576101F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031326.843165 s.H~,#AJ"J*J2J:JBJnJvJAHz.ٲ@Ai-ٲ@AX~? AܫA>%"AAUlNA"AZAbAjArAzAAAQѶ@ACXa!tAUq@A A=ArAH?A jӿA)*Ay9?2A*ս:A =BAy9?JA*սRA =٘i)I9Uq@YG JJJJJD&K YX~?y NAD58)BvE[[[$[X~?[[[[[BZYY i) mIi!@I< 8>))8>8>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031326.863165 s, next control iter: 1743031327.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031327.263165 s.H~,#AAٲ@A]pٲ@AX~? A8A%"AAylNA"AZAbAjArAzAAA.@Aʜ)#tAp@A˓o;Ar=AnAy?A ӿA"*A9?2A*!ս:A.=BA9?JA*!սRA.=Y8@ Kyr=>p;ٓH6?zt??@cѿ a?\ um?B?)8@ I٘i)I9p@YG JJe<JJJD&Krt> Y#X~?ypMAKDj7Z7`8)ByE[[P[pX~?[J[[[[BZYY i) |Ii?H< )Ϙ>))xv)Ϙ>)Ϙ>ѪYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743031327.283165 s, next control iter: 1743031327.663174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 48262, header.stamp.nsec: 020 temperature: 13.5687822* salinity: 33.3751532, density: 1025.0000002* values[0]: 0.5756142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031327.683165 s.lH~,c#AJ"J*J2J:J[?BJ[?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241049@ elevatorAngleAction: -0.077443< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031327.683295F (some fields omitted in printout)AQڲ@A΍ ٲ@AX~? AoAu%"AAlNA"AZAbAjArAzAAA7@AC=%tAgIp@A4<A˚=AMA`H?A;ҿA*A9?2A>ս:A$=BA9?JA>սRA$=٘i)I9Ip@Y>G JJJJJD&K Y?X~?y))>>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031327.683165 s, next control iter: 1743031328.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743031328.103165 s.H~,#AA= ףpڲ@A'Vڲ@AY~? AAB8%"AAlNA"AZAbAjArAzAAAv" 7@A+b&tAo@AZN<A)=AbrA`?A`TѿA~^*A:?2Aӽ:A%=BA:?JAӽRA%=٘i)I9o@YG JJJJJD&K Y2ZX~?y<LAD778HB)ʯBE[[[[X~?[6ê[[[[BZYY i) ^wIi?AՔ< ì>)) ì>ì>תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031328.123165 s, next control iter: 1743031328.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031328.523165 s.H~,{!#AJ"J*J2J:JG?BJG?nJn5vJA(ڲ@A-ͭڲ@A.Y~? AhA%"AAlNA"AZAbAjArAzAAA$0]@A?N(tA(o@A);Ae=A]AG?A xпA*A:?2A<Խ:AV2=BA:?JA<ԽRAV2=٘i)I9(o@YG JOJJJJD&K Y]uX~?yoLAD{7{7ୡ8JB)ЯBE[[YF۾[X~?[ƪ[[[[BZYY iݱ) Ii?f< ]ٶ>))]ٶ>]ٶ>N٪YLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031328.543165 s, next control iter: 1743031328.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4827, header.stamp.nsec: 00 temperature: 13.568928* salinity: 33.375164, density: 1025.000000* values[0]: 0.575024F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031328.943165 s.\dH~,S]<#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086849< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031328.943298F (some fields omitted in printout)AzG۲@Ax-۲@AlGY~? A+A6%"AA mNA"AZAbAjArAzAAA~@At*tAn@A)A!,=AHA"-?A -ϿA*A:?2AԽ:AOd=BA:?JAԽRAOd=٘i)I9n@Y6G JJJJJD&K YX~?y LA&D777 8)կBE[[!Ѿ[X~?[ɪ[[[[BZYY i) Ii?p< >))>>ڪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031328.963165 s, next control iter: 1743031329.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031329.363165 s.H~,>W#AJ"J*J2J:JBJnJvJA3333۲@AÖ۲@A`Y~? AA%"AA0mNA"AZAbAjArAzAAAtr@A5g ,tAn@AA =A83A`S?A`aͿAY*A9?2A ս:A~=BA9?JA սRA~=Yl@z3y=23ٓHh?I? 2?Pƿy?9q e?)l@ I٘i)I9n@YG JJ(<JJJD&K7t> YTX~?yKA30Dj7j768)ٯB[[YǾ[X~?[̪[[[[BZYY i) QIi?ap< ]>))v]>]>ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031329.383165 s, next control iter: 1743031329.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4828", header.stamp.nsec: 0"0 temperature: 13.569098"* salinity: 33.375206", density: 1025.000000"* values[0]: 0.574434"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031329.783165 s.YH~,r#AAQܲ@A^ܲ@AxY~? A;A`%"AAJVmNA"AZAbAjArAzAAAIQ@AECU-tAwm@APAz1=A'Aw?Aฐ˿A*Ay9?2Aֽ:AV=BAy9?JAֽRAV=٘i)I9wm@YG JJJJJ D&K YX~?y1KA;D77{7`á8)ޯBE[[[X~?[Ϫ[[[[BZYY i) zIih?< -#>)),-#>-#>y̱BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031329.803165 s, next control iter: 1743031330.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031330.203165 s.#H~,#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260101@ elevatorAngleAction: -0.086849< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031330.203308F (some fields omitted in printout)Aףp=ܲ@APs'pܲ@AY~? AA1%"AA|mNA"AZAbAjArAzAAAՋW @As.tAl@AA4 =A" A`?A ɿA*A3:?2A1Խ:A=BA3:?JA1ԽRA=٘i)I9l@Y.G JJJJJJD&K YX~?yJAFD7ʡ8)BE[[ʲ[Y~?[PҪ[[[[BZYY i) tIi?*w< )U>)) )U>)U>kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031330.223165 s, next control iter: 1743031330.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031330.623165 s.Z)H~,i#AA)\ܲ@A ܲ@AY~? AA0%"AAmNA"AZAbAjArAzAAAMx]\>@A]@0tALl@AqEA=ArA 4?AǿAw*A:?2ADԽ:A|=BA:?JADԽRA|=٘i)I9Ll@YG JRJJJJ!D&K YX~?y0YJAPDѡ8)BE[[[j'Y~?[Ԫ[[[[BZYY i) &`Ii?n< >))>>8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031330.643165 s, next control iter: 1743031331.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4829 , header.stamp.nsec: 0 0 temperature: 13.569230 * salinity: 33.375195 , density: 1025.000000 * values[0]: 0.573837 F (some fields omitted in printout)X~?)0 rAdjusting time to match Gazebo time: 1743031331.043165 s.0H~,#AJ"J*J2J:JBJnJvJA{Gaݲ@A7n1Gݲ@A@Y~? AA%"AA!mNA"AZAbAjArAzAAA^Sp@AA` gv1tAOk@A<A8Ы=A>ƽA`+?A)ƿA̘¼*A9?2A4Խ:A& =BA9?JA4ԽRA& =٘i)I9k@YpG J㽼JJJJ,D&K Y~Y~?yIA[Db77ء8)BE[[2[?Y~?[oת[[[[BZYY i) Ii}?Dg< 1>))1>1> Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031331.063165 s, next control iter: 1743031331.443182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031331.463165 s.Q7H~,Ӥ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086849< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743031331.463318F (some fields omitted in printout)Aݲ@Aݲ@AY~? A{A7%"AAymNA"AZAbAjArAzAAA/E6@Ap2tA/k@A kP<AD=A oAT?A ZĿAt:ɼ*A@9?2ANԽ:A:=BA@9?JANԽRA:=Y@.6y/A=,Q<ٓH`??`q?P%? l3 ? ?)@ I٘i)I9k@Y G JżJ<JJJ6D&Ks> Y7Y~?ydxIA6fDj7Z7 8)BE[[ [WY~?[٪[[[[BZYY i) ɼIi?Z< ">))v">">lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031331.483165 s, next control iter: 1743031331.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4830, header.stamp.nsec: 00 temperature: 13.569411* salinity: 33.375195, density: 1025.000000* values[0]: 0.573192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031331.883165 s.y=H~,4#AJ"J*J2J:J?BJ?nJ5vJAQ8޲@A;޲@AY~? A(Aʕ%"AAnNA"AZAbAjArAzAAAޱ,@A>Ȍ3tA\j@AaT/<A\=AfA ?Aׁ¿A(̼*A9?2A6%ս:Aa=BA9?JA6%սRAa=٘i)I9\j@YG J-˼JJJJAD&K YSY~?yIAqD7768)BE[[['pY~?[۪[[[[BZYY i) ZмIi[?O< 7?));7?7?OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031331.903165 s, next control iter: 1743031332.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031332.303165 s.RDH~,fg #AAq= ף޲@A޲@AZ~? AAv%"AA;nNA"AZAbAjArAzAAA? @AS4tAi@ARG;A<=AYA\#?A ABμ*A:?2Aӽ:A}u=BA:?JAӽRA}u=٘i)I9i@Y9G JͼJJJJLD&K YoY~?yHA{D7a8)B[[3~[Y~?[ݪ[[[[BZYY i) ׼Ii?E< h ?)) h ?h ?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031332.323165 s, next control iter: 1743031332.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4831*, header.stamp.nsec: 0*0 temperature: 13.569611** salinity: 33.375206*, density: 1025.000000** values[0]: 0.572478*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031332.723165 s.KH~,H. #AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086849< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200642 time: 1743031332.723323F (some fields omitted in printout)A(\߲@AD޲@A]*Z~? AA|Z%"AAbnNA"AZAbAjArAzAAA"x @Af Y5tAi@ArH˻A=AN3|A`6?AuAμ*AO:?2AvԽ:A=BAO:?JAvԽRA=٘i)I9i@Y G JμJJJJWD&K YY~?ydHAD78RB) BE[[[i[Y~?[ߪ[[[[BZYY i) ޼Ii?M<< D?))D?D?bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031332.743165 s, next control iter: 1743031333.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031333.143165 s.^/RH~,(*I #AAGz߲@Ag`߲@A DZ~? A6A}A%"AAnNA"AZAbAjArAzAAAF@?!@A6tASh@ANFA=A;AG?A¹Aм*A9?2A7ս:A=BA9?JA7սRA=٘i)I9Sh@Yf G JϼJJJJaD&K Y%Y~?yGAD{7j78)BE[[cT[\Y~?[[[[[BZYY i) q(Ii?-5< ?))??YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031333.183165 s, next control iter: 1743031333.543179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031333.563165 s.XH~,p d #AJ"J*J2J:Jw?BJw?nJ5vJAffff߲@ADQO߲@A]Z~? A>A+%"AAnNA"AZAbAjArAzAAA2R!@A206tAg@A ?AT=AB<AbV?A  Aռ*AU9?2Agս:A=BAU9?JAgսRA=Yq@H  8YWY~? 8y)GA< CDb7778QB)BE[[?[Y~?[3[[[[ZZ¸BZYY i¸?=) PڼIi?~)< Z?))vZ?Z?XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031333.603165 s, next control iter: 1743031333.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4832, header.stamp.nsec: 00 temperature: 13.569812* salinity: 33.375214, density: 1025.000000* values[0]: 0.571752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031333.983165 s._H~,~ #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240947> elevatorAngleAction: 0.083618< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743031333.983289F (some fields omitted in printout)AQ@A7@AwZ~? AA%"AAnNA"AZAbAjArAzAAA My"@AH*=7tAf@AfA P=Ax8=A gb?A@"QACۼ*A9?2A|ս:A\}=BA9?JA|սRA\}=٘i)I9f@Y G J׼JJJJwD&K YY~?yFAD77{7 8)BE[[*[ Y~?[[[[[ZZBZYY i) μIiw?%< pW?))RpW?pW?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031334.003165 s, next control iter: 1743031334.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031334.403165 s.&fH~,͙ #AJ"J*J2J:JBJnJvJA ףp@Af\@AȑZ~? AAJ %"AA nNA"AZAbAjArAzAAA#@A 7tA; f@A;AB=Ab?=A@l?A欿A*A:?2Aӽ:A=BA:?JAӽRA=٘i)I9 f@Y G JJJJJD&K YY~?yk2FADŧ7b778) BE[[[Z~?[[[[[ZZBZYY i)  Iig?XI< #?)) #?#?GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031334.423165 s, next control iter: 1743031334.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4833", header.stamp.nsec: 0"0 temperature: 13.570036"* salinity: 33.375259", density: 1025.000000"* values[0]: 0.570980"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031334.823165 s.lH~,: #AA\(@A稣@AZ~? A_A%"AA^&oNA"AZAbAjArAzAAA}P#@AM8tA:e@A*)5<A=Aj=A@s?A4A,*A :?2A6ӽ:A+a<BA :?JA6ӽRA+a<٘i)I9:e@Y G JJJJJD&K YZ~?y4EAD77b8PB)'BE[[i[!Z~?[[[[[ZZBZYY i) ٵIi Z? < ^(?))^(?^(?yԛ=تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031334.863165 s, next control iter: 1743031335.223181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743031335.243165 s.sH~,i #AJ"J*J2J:J ?BJ ?nJ%5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083618< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743031335.243283F (some fields omitted in printout)AGz@Acz@AZ~? AAz%"AAMoNA"AZAbAjArAzAAARr?Q$@A,ݟT>8tAy[d@AoB<Anz=A=Ax?AૐA*A$':?2AjԽ:Acw<BA$':?JAjԽRAcw<٘i)I9[d@Y G JJJJJD&K Y5Z~?y Y-QZ~?yDA=D7'8OB)3BE[[Fd[WVZ~?[[[[[ZZBZYY i=) Ii;?; R3?))>fxR3?R3?7~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031335.683165 s, next control iter: 1743031336.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031336.083165 s.DH~, S #AJ"J*J2J:J?BJ?nJ5vJARk@A@7nQ@AZ~? AA%"AAoNA"AZAbAjArAzAAAu_%@AarnAm8tAb@ANAl<A>A e?A3 W?AE2*AX(:?2A&`ս:ABAX(:?JA&`սRA٘i)I9b@Y G J7ǼJJJJD&K Y>mZ~?yDAD77{7.8)8B[[u[pZ~?[R[[[[ZZBZYY i) }!Ii*?; &9?)) &9?&9?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031336.103165 s, next control iter: 1743031336.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031336.503165 s.H~,U4 #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073501< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743031336.503314F (some fields omitted in printout)Ap= @Ay@A[~? AA@%"AAoNA"AZAbAjArAzAAA[O+&@AX'(^8tAUjb@Ap6A#<A<(>A ?A`?A%}*ARA:?2Anӽ:ABARA:?JAnӽRA٘i)I9jb@Y G JJJJJD&K YOZ~?yDAD{7 68)?))j>?j>?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031336.523165 s, next control iter: 1743031336.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4835, header.stamp.nsec: 00 temperature: 13.570518* salinity: 33.375252, density: 1025.000000* values[0]: 0.569268F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031336.923165 s.9H~,; #AJ"J*J2J:J?BJ?nJ5vJA(\B@A4}v(@A-[~? AA%"AAoNA"AZAbAjArAzAAA@&@AZQ58tAb@ASy^AOA^<>A@7?Aǟ?A'**A$=:?2A GԽ:ABA$=:?JA GԽRA٘i)I9b@Y G J'ZJJJJD&K YaZ~?yHDAD)7ŧ77=8)>BE[[X[UZ~?[[[[[ZZBZYY iؼ=) |Iia??; C?))C?C?y4=0(Y.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031336.943165 s, next control iter: 1743031337.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031337.343165 s.Ay?A`[?A3*A5:?2AԽ:AKBA5:?JAԽRAK٘i)I9a@Yq G J B=JJJJD&K YuZ~?y DADj7j7bD8NB)?BE[[n:[iZ~?[[[[[ZZBZYY i) vNgIi?; YI?))YI?YI?yoZ=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031337.363165 s, next control iter: 1743031337.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4836&, header.stamp.nsec: 0&0 temperature: 13.570602&* salinity: 33.375267&, density: 1025.000000&* values[0]: 0.568889&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031337.763165 s.8H~,#p #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082880< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743031337.763290F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AW;@Aa[~? AA%"AA{:pNA"AZAbAjArAzAAANҽ(@A"/7tAa@A AJ|Ae>Ap?A`_?A*A&:?2A3sս:A-˼BA&:?JA3sսRA-˼Y;e>yJ| ٓHr.?̿>W|?a2?|? յ!@?); I٘i)I9a@Y` G JWC=JB8JJJD&Kt> Y Z~?y7DAe>Db7b7K8MB)@BE[[i<[8Z~?[[[[[BZYY i3k=) UIi>pW; >N?))z>N?>N?y@Ӫ=**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031337.783165 s, next control iter: 1743031338.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031338.183165 s.ˢH~,R #AAQ@Ac#k@A{[~? AAF %"AAapNA"AZAbAjArAzAAAxO(@A%7tAVa@AB<A.A0"{>Ae?AB?A:*Aj:?2Aֽ:ABAj:?JAֽRA輙٘i)I9a@Y^ G J͹JJJJD&K YZ~?ybDAD{7j7R8)?BE[[3=[AZ~?[[[[[BZYY i=) SDIi>,v; AT?)) AT?AT?y=j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031338.203165 s, next control iter: 1743031338.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031338.603165 s.14H~, #AJ"J*J2J:JBJnJvJA= ף@Aˢ@A˕[~? AAL%"AA'pNA"AZAbAjArAzAAA^?T0?)@Aݔ6tA6a@A5P<AiUAI>AX?A.?A";*A`*:?2A6Խ:ABA`*:?JA6ԽRA٘i)I9a@Yn G J;JJJJD&K Y7[~?yDADZ7Z7Y8LB)>B¹E[[j=[v[~?[B[[[[BZYY i) [2Ii>Q; HY?))HY?HY?yog=*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031338.623165 s, next control iter: 1743031339.003174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4837 , header.stamp.nsec: 0 0 temperature: 13.570504 * salinity: 33.375290 , density: 1025.000000 * values[0]: 0.568874 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031339.023165 s.ZH~,{ #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031339.023292F (some fields omitted in printout)A(\@AlB@A[~? AA{-%"AA_pNA"AZAbAjArAzAAA)@A1L5tAb@Ae"<AJtA>A`I?A Ӻ?A?Q$<*A#%:?2A;Խ:AsBA#%:?JA;ԽRAs I٘i)I9b@Y G J <B=JJJJD&K Y/[~?yDA'D{7 a8JB):BE[[0=[-[~?[[[[[BZYY i) Y!IiJ>1; U_?))U_?U_?yos=K*YoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031339.043165 s, next control iter: 1743031339.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031339.443165 s.7öH~,>] #AJ"J*J2J:J?BJ?nJ5vJAz@A4c@Ah[~? AAC%"AA}pNA"AZAbAjArAzAAAs%x*@AuU05tAWb@A:AyA|>A6?A{?Am]<*A!:?2A ս:Aљ BA!:?JA սRAљ ٘i)I9Wb@Y G J><C=JJJJD&K YfK[~?yDA2D7ŧ78h8IB)7BĹE[[=[QI[~?[[[[[BZYY i)  Ii)i>w9; ~d?))~d?~d?[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031339.463165 s, next control iter: 1743031339.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4838, header.stamp.nsec: 00 temperature: 13.570295* salinity: 33.375336, density: 1025.000000* values[0]: 0.569193F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031339.863165 s.+H~,> #AA33333@AcB%@A[~? A`A]%"AA}pNA"AZAbAjArAzAAA6+@AF]W4tAkb@A-A؏A< >A "?Ac?A <*At:?2Aս:A}BAt:?JAսRA}Y=Q>y׏ٓHl@?dԿĢ`=`?T?`_,? ~ ?)= I٘i)I9b@Y G JRt<B=JwJJJ D&Kt> Y,f[~?yDEAQ>[md[~?[[[[[BZYY irj=) rIi4#>: Puj?))I}Puj?Puj?[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031339.883165 s, next control iter: 1743031340.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031340.283165 s.8RH~, #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247960> elevatorAngleAction: 0.057238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743031340.283302F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A-@A[~? AA}y%"AAY%qNA"AZAbAjArAzAAA38+@A)f3tAy7c@AQAӇAF>A ?A?An~<*A-:?2AZս:AeBA-:?JAZսRAe٘i)I97c@YI G J+<C=JJJJD&K Y[~?yEAGD77{7v8HB).BʹE[[>[[~?[[[[[BZYY i) TIi2=À: Xp?)) Xp?Xp?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031340.303165 s, next control iter: 1743031340.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 48392, header.stamp.nsec: 020 temperature: 13.5699752* salinity: 33.3753322, density: 1025.0000002* values[0]: 0.5697602F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031340.703165 s.ӺH~,- #AAףp= @A@Û5@A*\~? A A%"AALqNA"AZAbAjArAzAAAJI,@Ak\2tAc@A;AfA>A`?A ?A\§<*A1:?2AԽ:ABA1:?JAԽRA٘i)I9c@Y G J<B=JJJJ#D&K Y[~?yGFARD77}8GB))B͹E[[_2>[[~?["[[[[BZYY i) FûIiR5=f9 u?))u?u?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031340.723165 s, next control iter: 1743031341.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031341.123165 s.7H~,]G #AJ"J*J2J:JBJnJvJA)\u@AJ[@A/\~? ACA̻%"AArqNA"AZAbAjArAzAAAPs,@A%81tANd@AAsAO%>A?Ah?Ars<*At5:?2AmPս:Avz BAt5:?JAmPսRAvz ٘i)I9Nd@Y G J<C=JJJJ.D&K Yw[~?yxfFA]Db7ŧ7™8FB)$BйE[[mH>[[~?[[[[[BZYY i) 碌II?i=ŷ dM{?))dM{?dM{?yqj=*Y YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031341.143165 s, next control iter: 1743031341.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031341.543165 s.IH~,b #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031341.543292F (some fields omitted in printout)A{G@AR8@AH\~? A=A%"AAqNA"AZAbAjArAzAAAb7|-@AD1]/tAed@A,;ACA3>A `?A`~?A <*Aa9:?2Aս:AjBAa9:?JAսRAj٘i)I9d@YL G J<B=JJJJ8D&K Y>[~?yߪFAgD77j78)BӹE[[u_>[[~?[[[[[BZYY i) h8I@I?i*`Xڹ  r?)) r? r?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031341.563165 s, next control iter: 1743031341.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4840, header.stamp.nsec: 00 temperature: 13.569603* salinity: 33.375351, density: 1025.000000* values[0]: 0.570513F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031341.963165 s.{H~,} #AJ"J*J2J:J ?BJ ?nJ%5vJAL@A+N2@Aa\~? AA %"AA)qNA"AZAbAjArAzAAAi4.@AuX.tAise@A3bE<AǠAJ>A@?A W?Ad<*A<:?2Apֽ:ASBA<:?JApֽRASY=S>e>yE<ٓHT?|~ڿ``^?`r ?a9? ? ?)=S> I٘i)I9se@Y G J<C=J-'JJJCD&Kv> Y[~?yܪ-GA>rD{788)B[[Jv>[[~?[ު[[[[BZYY i) OI I?i1۽H (-?))(-?(-?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031342.003165 s, next control iter: 1743031342.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031342.383165 s.H~,4 #AAQ@AQ}>@Az\~? AA6%"AAqNA"AZAbAjArAzAAA+7.@AS9-tAf@AP=K<A'AU>A jt?AA+?A`<*A4@:?2Aֽ:AKBA4@:?JAֽRAK٘i)I9f@Y G J֫<JJJJND&K Y\~?ybتGA}D77c8EB)BֹE[[ǃ>[G\~?[ܪ[[[[BZYY i=) 8I I?i)jyغ ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031342.403165 s, next control iter: 1743031342.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4841&, header.stamp.nsec: 0&0 temperature: 13.569193&* salinity: 33.375362&, density: 1025.000000&* values[0]: 0.571260&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031342.803165 s.AH~,g #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031342.803305F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@AIL @A\~? A7Ae%"AA rNA"AZAbAjArAzAAA;,ʦB/@A+tAҒf@A;AבA>AyO?A?A|<*AQ:?2A{ս:AvBAQ:?JA{սRAv٘i)I9f@YT G JT<JJJJYD&K Y^\~?yԪGADŧ7b78DB)BٹE[[S>[}#\~?[1ڪ[[[[BZYY i) 2II?i] } ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031342.823165 s, next control iter: 1743031343.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031343.223165 s.gH~,H #AA(\@AqrCu@AS\~? AAٗ%"AAX0rNA"AZAbAjArAzAAAs¼/@A:a*tAg@A,rJA) A>A`(?A?A9<*A2Q:?2Aս:AaBA2Q:?JAսRAa٘i)I9g@Y G J<JJJJcD&K Y8\~?yѪ`HA CD)7ŧ78CB) BܹE[[|>[>\~?[ת[[[[BZYY i) bչII?i~) ?))??*Yh!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031343.243165 s, next control iter: 1743031343.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031343.643165 s.zH~,* #AJ"J*J2J:Jr?BJr?nJ5vJAG@A=@A\~? AA%"AAUrNA"AZAbAjArAzAAA8>60@A[%^(tACg@AH1AA?A ?Aj?AXơ<*AO:?2AVս:Al}BAO:?JAVսRAl}٘i)I9g@Y G Jң<JJJJnD&K YQ\~?yyͪHADj7Z7㯢8?B)B޹E[[>[Y\~?[Ԫ[[[[BZYY i) F<:II?i UA jd?))jd?jd?y=$*YFFF]}:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4842Waiting for Gazebo time sync: latest Gz time: 1743031343.663165 s, next control iter: 1743031344.043180 s, wait time: 0.380015 s, header.stamp.nsec: 00 temperature: 13.568802* salinity: 33.375378, density: 1025.000000* values[0]: 0.572062F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031344.063165 s.H~,V  #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031344.063296F (some fields omitted in printout)Afffff@A1"QL@A\~? AA %"AAzrNA"AZAbAjArAzAAAj00@AiM&tA /h@AaPRA(A]?A`?A`?A(<*AgM:?2Aս:A)BAgM:?JAսRA)Y>+?yKRٓH@/?Lp??F?I \?)> I٘i)I9/h@YO G J@<J<JJJyD&Kv> Y7j\~?y ɪ"IA?Dŧ778)B[['>[t\~?[Ѫ[[[[BZYY i) 3:IH?ii -?))-?-?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031344.083165 s, next control iter: 1743031344.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031344.483165 s.z_H~, #AJ"J*J2J:J?BJ?nJ5vJA@A=~oӷ@A-\~? AA@%"AA7rNA"AZAbAjArAzAAA0T0@AYƪ$tA5h@A_VA*A ?A£?A?A{$<*AJ:?2Aoֽ:AYBAJ:?JAoֽRAY٘i)I9h@Y G J<JJJJD&K Y\~?yĪ}IADb7788>B)BE[[S(>[V\~?[Ϊ[[[[BZYY i) r_;IUH?iҾΆ p?))p?p?`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031344.503165 s, next control iter: 1743031344.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4843, header.stamp.nsec: 00 temperature: 13.568425* salinity: 33.375378, density: 1025.000000* values[0]: 0.572768F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031344.903165 s.' H~,%9 #A\~?)ĪA ףp=@Aip[#@A ]~? Ap߫A~%"AArNA"AZAbAjArAzAAA4P1@Aʙ9"tAd(i@Ax:AA:p?Aq?Ah?A7<*A H:?2Aֽ:AHQBA H:?JAֽRAHQ񼙘٘i)I9(i@Y G J@<JJJJD&K Y \~?y-IADcŢ8=B)BE[[>[\~?[G˪[[[[BZYY i) D\;IH?i꾉1 ֖?))֖?֖?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031344.923165 s, next control iter: 1743031345.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031345.323165 s.xH~,-T #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743031345.323287F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A@4@A$]~? AܫA%"AArNA"AZAbAjArAzAAA Y1@Au tAi@A.n<AA>?A`=?A!I?Ag<*A"E:?2A?׽:AHIBA"E:?JA?׽RAHI٘i)I9i@Y-G J<JJJJD&K Yw\~?y3JAD77{7̢8[\~?[Ǫ[[[[BZYY i) z;I,H?i6 뵙?))뵙?뵙?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031345.363165 s, next control iter: 1743031345.723178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4844., header.stamp.nsec: 0.0 temperature: 13.568062.* salinity: 33.375397., density: 1025.000000.* values[0]: 0.573434.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031345.743165 s.#WH~,o #AAGz@Aqo@A%<]~? AwثA%"AAP sNA"AZAbAjArAzAAAٰh1@AS1ltA.j@AU<AA8?A?A &?A<*A B:?2AZ׽:AP?BA B:?JAZ׽RAP?켙٘i)I9j@YoG J><B=JJJJD&K Y\~?yPJADŧ77Ӣ8)B[[w^>[\~?[ê[[[[BZYY i=) 9;IH?iy ?))??կ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031345.783165 s, next control iter: 1743031346.143187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743031346.163165 s.t}"H~,q #AJ"J*J2J:J?BJ?nJ5vJA@Ac{-e@AUS]~? AԫAI%"AA.sNA"AZAbAjArAzAAAGF`1@A#(tAsj@A?<A[AC!?A`|?A :?Ac<*A ?:?2Am<׽:AWBA ?:?JAm<׽RAWY">!?yd<ٓH@w?@x@E?`R??@? ^?)"> I٘i)I9sj@YG J<C=J;JJJD&K y> Y\~?y!JA!?D77ڢ87B)BE[[>[\~?[鿪[[[[BZYY i) ,;IH?i^x !q?))!q?!q?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031346.203165 s, next control iter: 1743031346.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031346.583165 s.(H~,S #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075975< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031346.583278F (some fields omitted in printout)AR@A{m@AEj]~? AЫA%"AAQsNA"AZAbAjArAzAAAis+2@AtA7j@Aګ:A)A>Z&?A ?A`?A䤀<*A7:?2AGֽ:AFBA7:?JAGֽRAF٘i)I9j@YG J<JJJJD&K Y\~?y;KAD77783B)ܯBE[[>[]~?[[[[[BZYY i) ;IH?iE#л AO?))AO?AO?s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031346.623165 s, next control iter: 1743031346.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4845, header.stamp.nsec: 00 temperature: 13.567752* salinity: 33.375412, density: 1025.000000* values[0]: 0.574012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031347.003165 s.w 0H~,H4 #AJ"J*J2J:JBJnJvJAp= W@Af<@A]~? A̫A%"AA5tsNA"AZAbAjArAzAAA%p2@AÙNN^tALk@AA'Am+?AOW?A?AՃ<*A0:?2AHֽ:AXBA0:?JAHֽRAX٘i)I9Lk@Y5G J<JJJJD&K Yh]~?y§KADj7SI7982B)دBE[[__?[,]~?[U[[[[BZYY i) Œ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075975< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743031347.843292F (some fields omitted in printout)AHz.@A@A]~? AīA]%"AA-sNA"AZAbAjArAzAAAV.2@AR;tAm-l@ASm6AdA5?A?ArH?A<*A":?2Aֽ:ABA":?JAֽRA٘i)I9-l@YG JB<JJJJD&K Y>]~?yc?LAD7781B)ЯBE[[V?[V_]~?[뭪[[[[BZYY i)  %Z ?))??<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031347.863165 s, next control iter: 1743031348.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031348.263165 s.DH~, #AA@A0 @AZ]~? AA%"AAsNA"AZAbAjArAzAAAWk93@A=yۉtAl@AkA;߉A/;?A@?A?AB<*A:?2Ay0׽:Ae:BA:?JAy0׽RAe:YD&?>;?y߉NlٓH?2^}ݪ`QS??`v 8?xmd?)D&? I٘i)I9l@YG J<J")JJJD&Kx> Y S]~?yLA>;?D77780B)˯BE[[J?[x]~?[[[[[BZYY i) :4 elevatorAngleAction: 0.075975< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743031349.103283F (some fields omitted in printout)A= ףp@A,V@A$]~? A׶A%"AAtNA"AZAbAjArAzAAA{zӹ3@Aiq tAm@A|F<AA~E?A<?A٬?A<*A:?2AК׽:ABA:?JAК׽RA٘i)I9m@YG J<JJJJD&K Y,}]~?yUMA(Db7b7 8,B)BE[[Q!?[ب]~?[h[[[[BZYY i) SDb77d8)B[[9v-?[n]~?[ [[[[BZYY i)=) ;r #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743031350.363307F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A_x%@A+^~? AA%"AAOytNA"AZAbAjArAzAAARw4@AjٯStAn@AkyAٗABU?A D"?A?A<*AH:?2Aֽ:ABAH:?JAֽRAY;?TU?yؗvLzٓHWu? ܭ8͞?@&?` ?`3oo?);? I٘i)I9n@YqG J<B=JJJJD&KUx> Y7]~?ysytNATU?ID77{7"8*B)BE[[D3?[x]~?[[[[[BZYY i) ހ elevatorAngleAction: 0.085244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031351.623301F (some fields omitted in printout)A)\@A׼@Af^~? AA%"AA7tNA"AZAbAjArAzAAAk77)5@ApzsAp@AxA=Ad?A.?A`??Ak<*A 9?2Aֽ:A@BA 9?JAֽRA@٘i)I9p@YoG J<JJJJ:D&K Y*]~?yeOAiDb7788$B)BE[[E?[|2^~?[&z[[[[BZYY i) \H?i‰U0 ?))??H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031351.643165 s, next control iter: 1743031352.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4850 , header.stamp.nsec: 0 0 temperature: 13.566113 * salinity: 33.375496 , density: 1025.000000 * values[0]: 0.577217 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031352.043165 s.H~,#AJ"J*J2J:JBJnJvJA{Ga@AQ0G@Ay^~? AkAE%"AAtNA"AZAbAjArAzAAA-ib5@AhVsA)q@A:AuA@j?A?A~a?A1<*A9?2A:׽:AMBA9?JA:׽RAM٘i)I9)q@YG J#<JJJJED&K Y'^~?yd_ PAsD77:?8)B[[L?[G^~?[ts[[[[BZYY i) " Y^~?yOX{PApo?~D7eF8#B)BE[[ R?[\^~?[l[[[[BZYY i) 儦 elevatorAngleAction: 0.085244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031352.883332F (some fields omitted in printout)AQ8@A:@A(^~? A솫A#%"AA/(uNA"AZAbAjArAzAAA9[5@A sA(Nr@A{S<AcAt?A N'?A ?AZo<*A=9?2Ao׽:AJBA=9?JAo׽RAJ٘i)I9Nr@YyG J<JJJJ[D&K Y'^~?y:QPADM8)B[[HX?[Tq^~?[e[[[[BZYY i) 0;6@AUiYsA]s@Ao+:AfA)?A`%?A@{?A=<*A9?2Aֽ:A}BA9?JAֽRA}٘i)I9s@Y7G J<C=JJJJpD&K Y)I^~?yCQAD77[8)B[[d?[Ә^~?[ W[[[[BZYY i)  elevatorAngleAction: 0.085244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743031354.143293F (some fields omitted in printout)AGz@A=`@A ^~? AtAD%"AAwuNA"AZAbAjArAzAAA)Bn6@A(˚sA-t@AvA;A ?Aw+?A`d?A<*Am9?2A2mֽ:A)BAm9?JA2mֽRA)٘i)I9-t@YG JK<JJJJ{D&K YY^~?y;7RAD77c8B)|B E[[j?[ǫ^~?[O[[[[BZYY i)  YCh^~?yi4RA?D7;j8)wB[[xq?[^~?[G[[[[BZYY i) D elevatorAngleAction: 0.085244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743031355.403272F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AJ\@At_~? AaAu%"AA,uNA"AZAbAjArAzAAA~m7@Aj5sAG@v@AAAnFA?A[?A@;?Ae<*A9?2Aֽ:ABA9?JAֽRA٘i)I9@v@YG J<JJJJD&K Y^~?yE%SADj7Z7x8)gB[[ό}?[ ^~?[8[[[[BZYY i) G elevatorAngleAction: 0.085244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743031356.663291F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4855, header.stamp.nsec: 00 temperature: 13.564130* salinity: 33.375553, density: 1025.000000* values[0]: 0.581368F (some fields omitted in printout)A@AB@A._~? AMA#s%"AAvNA"AZAbAjArAzAAA17@AW?>sAcVx@A5A<A^A?A ?A?A*<*A'9?2A&%׽:A)BA'9?JA&%׽RA)YZ{k?ɑ?y+A<ٓHҭ?,@n??`B϶? &??)Z{k? I٘i)I9Vx@Y%G Jr<JJJEJD&KNx> Yv^~?y$UAɑ?Dŧ7ŧ78B)RBE[[(?[_~?[`[[[[ZZZZ¸>BZYY i¸>멽)  u5sAºz@A38A!A|?A?Ai?A=*A9?2ASSֽ:AqBA9?JASSֽRAq٘i)I9z@YG J=JJJJD&K Y^~?y/xVA D78B)?A?Af<*A9?2Aeֽ:A'oBA9?JAeֽRA'o٘i)I9{@Y G J=JJJJD&K Y^~?y3VAD8B)2BE[[?[G_~?[[[[[ZZZZBZYY i) ʫ Y^~?y.WAÞ?D{7j7汣8),B[[?[S_~?[[[[[ZZZZBZYY i') N6.#sA|@A1V;AtѼA\?A ?A ?A[x<*Ak9?2A~ֽ:A`2;BAk9?JA~ֽRA`2;٘i)I9|@YG JW<JJJJD&K Y^~?yݩiWA*D77778)'B[[ ?[2__~?[[[[[ZZZZBZYY i) .77#AA33333@Ag*#@As_~? A:A%"AAvNA"AZAbAjArAzAAA8@AAsAK$~@AN8AF=Aʫ?A`m?A?A:*A9?2ALֽ:A<BA9?JALֽRAJJJ'D&K x> Y_~?y仩WAʫ?UD77գ8 B)BE[[?[R_~?[ũ[[[[BZYY ihi) 8Z>9@Ar((sA}@As#A)t=Aը?A~?AX?A&*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9}@YzG JC=JJJJGD&K Y:$_~?ykWAuDj7<8)B[[23?[_~?[ [[[[BZYY i) 5%bF?i᳿}?f ? @))? @? @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031362.563165 s, next control iter: 1743031362.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4861, header.stamp.nsec: 00 temperature: 13.562530* salinity: 33.375561, density: 1025.000000* values[0]: 0.584800F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031362.963165 s..H~,#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067062< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743031362.963305F (some fields omitted in printout)AL@A9w2@A_~? AߪA%"AAvvNA"AZAbAjArAzAAAf@'l9@A:+tsAD}@A#;A=A1?A@?A&?A*A֯9?2Az0ֽ:A@=BA֯9?JAz0ֽRA@=Yq?ȸ?y=6!;ٓH@1? pߐ?ɩ?,M?I? P0??)q? I٘i)I9}@Y G JzvJ=JJJ]D&Kyw> Y:._~?yȐVAȸ? CD7ŧ78)B[[?[)_~?[ڕ[[[[BZYY iawi) O YE=_~?y eTA?D77h8).B[[B?[_~?[e[[[[BZYY i) b;IE?i o^ q>@))q>@q>@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031365.083165 s, next control iter: 1743031365.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031365.483165 s.{_WH~,^#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031365.483309F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A6׷@A_~? AA[f&"AAL2wNA"AZAbAjArAzAAAa9@AU isAy@AqMAp=A?Al?A 9?A!֩*A9?2A׽:AmS<BA9?JA׽RAmS<٘i)I9y@Y G J.JJJJD&K Y=_~?y>\TAD777$8)3B[[2g?[_~?[[[[[[BZYY iㄇ) (%;IE?i] =@))=@=@`ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031365.503165 s, next control iter: 1743031365.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4864, header.stamp.nsec: 00 temperature: 13.563123* salinity: 33.375587, density: 1025.000000* values[0]: 0.583062F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031365.903165 s.]H~,y#AA ףp=@ATY#@A_~? AA\&"AA+8wNA"AZAbAjArAzAAA ̜9@AGBdsACy@AzλA@9=A?A`?AJ?APz*AD9?2Aֽ:A<BAD9?JAֽRA<٘i)I9Cy@YG JcJJJJD&K Y>_~?yqS)TAD77+8)7B[[J?[?_~?[6R[[[[BZYY i) :IE?i)Z \@))\@\@<ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031365.923165 s, next control iter: 1743031366.303182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031366.323165 s.~dH~,G#AJ"J*J2J:JBJnJvJA\@A*q@A_~? AAО&"AA@=wNA"AZAbAjArAzAAAf?49@As`sAطx@ALS;A_=Ac?A`+?ApY?A,~*A9?2AÊֽ:A<BA9?JAÊֽRA<٘i)I9x@Y`G JB=JJJJD&K Yi?_~?yJSAD{7j728B):BE[[p?[ɭ_~?[H[[[[BZYY i) B1:IyE?i󧿉KV @))@@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031366.343165 s, next control iter: 1743031366.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4865*, header.stamp.nsec: 0*0 temperature: 13.563389** salinity: 33.375580*, density: 1025.000000** values[0]: 0.582427*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031366.743165 s.WkH~,q#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031366.743302F (some fields omitted in printout)AGz@A>j@AE_~? AA;&"AAAwNA"AZAbAjArAzAAA9@AȈxn[sA /x@Adw4<Al=A'?Af?Ae?Ap*A9?2Aaֽ:A<BA9?JAaֽRA<٘i)I9/x@Y G J͢C=JJJJD&K Y @_~?yA]SADb77:8)>B[[?[_~?[?[[[[BZYY i) VHIݦE?iͣQ f|@))f|@f|@yz?@P?`!Zd ?<ٰད?@?)8϶? I٘i)I9w@YG JJ+JJJD&KRx> Y=_~?y9SA?Dj7Z7=A8)BB[[?[_~?[r5[[[[BZYY i) IYE?i=P ; @)); @; @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031367.183165 s, next control iter: 1743031367.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031367.583165 s.!xH~,*S#AAR@An@A_~? AbA?[W_~?[[[[[BZYY i) LIrbE?i2_E  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031368.443165 s, next control iter: 1743031368.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4867, header.stamp.nsec: 00 temperature: 13.563864* salinity: 33.375603, density: 1025.000000* values[0]: 0.581221F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031368.843165 s.݌H~,5#AJ"J*J2J:J?BJ?nJ5vJAHz.@A]@A_~? A%pAhO&"AAJwNA"AZAbAjArAzAAA5+9@AU@LzBsA:u@AMXAC=Amd?AaA`}?A}*A9?2AF9׽:A<BA9?JAF9׽RA<٘i)I9u@YG JJJJJD&K YT5_~?yQA D{7{7]8)PB[[T?[~_~?[[[[[BZYY i>) ꣻIfRE?i3> @"@))@"@@"@ŰYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031368.863165 s, next control iter: 1743031369.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031369.263165 s.H~,'P#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743031369.263300F (some fields omitted in printout)A@AMg'@An_~? AhA4&"AAwJwNA"AZAbAjArAzAAA $;9@A3S"=sAlu@A# A!=A"?AyAy?A}*A9?2A ׽:Ax8<BA9?JA ׽RAx8 YP0_~?yA BQA?+Dj7j7e8B)RBE[[*n?[_~?[^[[[[BZYY i) sûIBE?i< #@))#@#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031369.283165 s, next control iter: 1743031369.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 48682, header.stamp.nsec: 020 temperature: 13.5640392* salinity: 33.3755762, density: 1025.0000002* values[0]: 0.5807312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031369.683165 s.lH~,^k#AJ"J*J2J:JBJnJvJAQ@A.o@AD_~? A_A&"AA"IwNA"AZAbAjArAzAAA_9@AօՔ8sAu@AA=AG?AФAt?A2 ~*A9?2Ajֽ:A)<BA9?JAjֽRA)<٘i)I9u@YG J|JJJJ D&K YL+_~?yPA6D777>l8B)WBE[[?[_~?[ [[[[BZYY i) I2E?iѐt^9 5V%@))5V%@5V%@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031369.683165 s, next control iter: 1743031370.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743031370.103165 s.H~,#AA= ףp@AKV@A_~? AWA}( &"AAGwNA"AZAbAjArAzAAAp\9@A3sAjt@A1<AG=A! ?A]A`k?A2*A9?2A_zֽ:AFD<BA9?JA_zֽRAFD<٘i)I9t@YG JJJJJD&K YI&_~?yPAADŧ7b7hs8)ZB[[?[_~?[[[[[BZYY i) PEI#E?i4 Y&@))Y&@Y&@y%aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031370.123165 s, next control iter: 1743031370.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031370.523165 s.H~,{#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743031370.523355F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A@A]_~? AOA &"AADwNA"AZAbAjArAzAAAx9@Af.sA"(t@AdTU<AC=A?A A*a?A*Ar9?2Adeֽ:A\?=BAr9?JAdeֽRA\?=٘i)I9(t@YG J:B=JJJJD&K YE!_~?y=@PAKDz8)^B[[?[v_~?[[[[[BZYY i)  I#E?iOy. Yl(@))Yl(@Yl(@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031370.543165 s, next control iter: 1743031370.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4869, header.stamp.nsec: 00 temperature: 13.564282* salinity: 33.375576, density: 1025.000000* values[0]: 0.580206F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031370.943165 s.ZdH~,J]#AAzG@A-@A_~? AGAb &"AA_@wNA"AZAbAjArAzAAA{`Y9@AH)sAs@AÓ7<A=Ab9?A õAS?A6*A9?2Aֽ:Av"=BA9?JAֽRAv"=I٘i)I9s@YUG JC=JJJJ)D&K YB_~?yOAVD78)aBE[[?[m_~?[[[[[BZYY i)  IE?i' ;)@));)@;)@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031370.963165 s, next control iter: 1743031371.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031371.363165 s.H~,>#AJ"J*J2J:JBJnJvJA3333@AL!@A\_~? A?A &"AA;wNA"AZAbAjArAzAAAa֤9@Ac4$sABGs@Af;A=A?AIA5D?A *A9?2AVֽ:A'=BA9?JAVֽRA'=YG??y= Yr_~?yOA?aD7鈤8)dB[[?[c_~?[٨[[[[BZYY i) Z0IUD?i9# }+@))}+@}+@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031371.383165 s, next control iter: 1743031371.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4870&, header.stamp.nsec: 0&0 temperature: 13.564479&* salinity: 33.375591&, density: 1025.000000&* values[0]: 0.579679&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031371.783165 s.YH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031371.783292F (some fields omitted in printout)AQ@Ae@A_~? A7A &"AA6wNA"AZAbAjArAzAAA/C!9@A2 sAr@AĻAu=A?A iA1?A*A9?2A%׽:Af=BA9?JA%׽RAf=٘i)I9r@YG JJJJJ>D&K Y _~?y٨2OAlD)7ŧ78B)jBE[[R?[Y_~?[QШ[[[[BZYY i) ?ID?i2y| -@))-@-@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031371.823165 s, next control iter: 1743031372.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031372.203165 s.H~, #AJ"J*J2J:JBJnJvJAףp=@A$p@A=_~? A/A7 &"AAi0wNA"AZAbAjArAzAAAF>9@AN>sA|er@AťIA=A+@?A*A?A7*AU9?2AdD׽:A=BAU9?JAdD׽RA=٘i)I9er@YG JՆJJJJID&K Y_~?y.ѨNAvDj7Z7>8)mB[[?[M_~?[Ǩ[[[[BZYY i) QjOID?i7pC .@)).@.@SĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031372.223165 s, next control iter: 1743031372.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031372.623165 s.XH~,a'#AA)\@A@Ac_~? A'A$ &"AA})wNA"AZAbAjArAzAAAN_*7O9@A"xfsASq@AbFA=A?A}¿A?Ar{*Af9?2A%׽:Az=BAf9?JA%׽RAz=٘i)I9q@Y@G JGJJJJTD&K Y^~?yȨzNADb7b7i8)qB E[[?[A_~?[[[[[BZYY i) ^ID?i7e 0@))0@0@xȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031372.663165 s, next control iter: 1743031373.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4871 , header.stamp.nsec: 0 0 temperature: 13.385424 * salinity: 33.391628 , density: 1025.000000 * values[0]: 0.701755 F (some fields omitted in printout)>^~?)>Ȩ rAdjusting time to match Gazebo time: 1743031373.043165 s.H~,B#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743031373.043314F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@A.;1G@A_~? A Am &"AA!wNA"AZAbAjArAzAAA!9@ASsAwq@AAW=Ae?A\YĿA@ ?A^*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9wq@YG JːJJJJ_D&K Y2^~?y@NA CD778B)vB[[!@[x5_~?[[[[[BZYY iG) {nID?i7X` 1@))1@1@g̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031373.083165 s, next control iter: 1743031373.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031373.463165 s.SH~,ۤ]#AA@Aep@A#_~? A(A&"AAKwNA"AZAbAjArAzAAAyS39@A9^_ sAp@AP;Ad=Ae?A0ƿAJ?A*A9?2A{ֽ:A =BA9?JA{ֽRA =Y??y=r;ٓH׿@U? ׿? aݲ Jp??)? I٘i)I9p@YG J)B=J…<JJJiD&Kw> Y^~?yMA?D7{78B)|B E[[t@[X(_~?[^[[[[BZYY i) }IɻD?iQS Q3@))Q3@Q3@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031373.503165 s, next control iter: 1743031373.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4872, header.stamp.nsec: 00 temperature: 13.385661* salinity: 33.391647, density: 1025.000000* values[0]: 0.700725F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031373.883165 s.zH~,bx#AJ"J*J2J:Jb3?BJb3?nJ<5vJAQ8@A;@A_~? ATA0&"AA wNA"AZAbAjArAzAAAx9@AsA{pp@A6;<Al=A r?AOȿA?A 㢼*AA9?2A7Fֽ:AE=BAA9?JA7FֽRAE=٘i)I9pp@YVG J(C=JJJJtD&K Y%^~?y诨SMAD77鳤8)B E[[@[_~?['[[[[BZYY i) FfID?iI ֠4@))֠4@֠4@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031373.903165 s, next control iter: 1743031374.283185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743031374.303165 s.RH~,fg#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085098< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743031374.303283F (some fields omitted in printout)Aq= ף@Aa@A_~? AA9&"AAwNA"AZAbAjArAzAAAb>c9@AP=sAo@A=S<A=A ?A@0ɿA ?A3ᦼ*Aw9?2AcQֽ:Aq=BAw9?JAcQֽRAq=٘i)I9o@YG JǤJJJJD&K Y^~?yLAD{7{78)B[[ht@[k _~?[[[[[BZYY i) ID?i4? #6@))#6@#6@y1,֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031374.323165 s, next control iter: 1743031374.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4873., header.stamp.nsec: 0.0 temperature: 13.385895.* salinity: 33.391644., density: 1025.000000.* values[0]: 0.699623.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031374.723165 s.H~,H#AJ"J*J2J:JBJnJvJA(\ @A0E@At_~? AA[&"AA5vNA"AZAbAjArAzAAAŜMzM9@A{rdrA Yo@A[;AT͞=Ad@A`˿Am?Aè*Aί9?2Aֽ:A^x=BAί9?JAֽRA^x=٘i)I9Yo@YG JѧJJJJD&K Y^~?yLADŧ7b7?¤8B)BE[[@[^~?[+[[[[BZYY i) ID?i2 ȥ7@))ȥ7@ȥ7@OڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031374.743165 s, next control iter: 1743031375.123181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031375.143165 s.U/H~,*#AAGz @A` @A_~? AAh&"AAvNA"AZAbAjArAzAAA ؛|59@AqrAn@A(׺A=A3@ALͿA`VG?AUʩ*Ax9?2Aֽ:A&=BAx9?JAֽRA&=٘i)I9n@YUG JKJJJJD&K Y^~?yg#LAD7ŧ7iɤ8)B[[j@[v^~?[k[[[[BZYY i) "I7D?i$Bһ }&9@))}&9@}&9@@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031375.163165 s, next control iter: 1743031375.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031375.563165 s.H~,V #AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085098< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031375.563288F (some fields omitted in printout)Affff @AߤiP @A_~? AwA&"AAIvNA"AZAbAjArAzAAAq^9@A'rA;n@A}#A=A@A ZϿA?A|۫*Am9?2AZ/׽:Al=BAm9?JAZ/׽RAl=Y?~~@y=xC$ٓHMݿgPc Yr^~?yKA~@D7777Ф8)BE[[$ @[^~?[[[[[BZYY i) IƋD?iȻ :@)):@:@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031375.603165 s, next control iter: 1743031375.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4874, header.stamp.nsec: 00 temperature: 13.386179* salinity: 33.391670, density: 1025.000000* values[0]: 0.698444F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031375.983165 s.H~,#AAQ @A:w7 @A2_~? AAv&"AA,vNA"AZAbAjArAzAAAVQ9@A>YrAm@AUA=A;@A ѓпA?A򎰼*A9?2A+׽:A=BA9?JA+׽RA=٘i)I9m@YG JJJJJD&K YQ^~?y҇FKAD7פ8B)BE[[a @[0^~?[0[[[[BZYY i) 뫼IكD?iv& G$<@))G$<@G$<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031376.003165 s, next control iter: 1743031376.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031376.403165 s.'H~,#AJ"J*J2J:JBJnJvJA ףp @A 1^ @Aǡ_~? A\A&&"AANvNA"AZAbAjArAzAAA_gU8@AK50rAm@AVAK=AE%@AvѿA?A.*A_9?2Aֽ:A+=BA_9?JAֽRA+=٘i)I9m@YIG JJJJJD&K Y1^~?yJADb77ޤ8)B[[ @[Y^~?[w[[[[BZYY i) PI|D?i ==@))==@==@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031376.423165 s, next control iter: 1743031376.803192 s, wait time: 0.380027 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4875", header.stamp.nsec: 0"0 temperature: 13.386456"* salinity: 33.391663", density: 1025.000000"* values[0]: 0.697260"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031376.823165 s. H~,-4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085098< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743031376.823297F (some fields omitted in printout)A\( @A @Aߗ_~? AکAa&"AAvNA"AZAbAjArAzAAA_'L8@AyarAtl@A A=Acf@AqUҿA`#?Az*A{9?2Aֽ:Af=BA{9?JAֽRAf=٘i)I9tl@YG JPJJJJD&K Y^~?y>xiJAD77778 B)BE[[O@[^~?[p[[[[BZYY i) 崺IuD?iɜ ?@))?@?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031376.843165 s, next control iter: 1743031377.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031377.243165 s.H~,uO#AJ"J*J2J:JU2?BJU2?nJ:5vJAGz @A;bz @A|_~? AөAI&"AA[vNA"AZAbAjArAzAAAF]Φ8@A. rAk@AH <A=A@A 1ӿA@Zg?A9ʼ*A9?2A-ֽ:A=BA9?JA-ֽRA=٘i)I9k@YG JżJJJJD&K Y~^~?ytpIAD7#8?8)B[[@[t^~?[i[[[[BZYY i) ¼I3pD?i7־ b@@))b@@b@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031377.263165 s, next control iter: 1743031377.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031377.663165 s.H~,qj#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4876, header.stamp.nsec: 00 temperature: 13.386730* salinity: 33.391674, density: 1025.000000* values[0]: 0.695964F (some fields omitted in printout)A @A6v @A_~? A+̩Aj&"AAJvNA"AZAbAjArAzAAAS7߅8@Ag@ucrA$"k@AU<A=A @A ԿA>4?AxRм*A9?2Aֽ:A=BA9?JAֽRA=Y? @y1=xV<ٓH袿?զRR?) $?@?)? I٘i)I9"k@YG JFͼJ{s<JJJD&Kw> YYo^~?y iIA @Dj7j7j8 B)BE[[8@[+^~?[b[[[[BZYY i) RɼIjD?iľ{ dB@))dB@dB@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031377.683165 s, next control iter: 1743031378.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031378.083165 s.D!H~,S#AJ"J*J2J:J*2?BJ*2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085098< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031378.083312F (some fields omitted in printout)ARk @A\vQ @AIw_~? AĩAg&"AAvNA"AZAbAjArAzAAA ic8@AzrAqj@A0<A=A> @AԿA`?AҼ*Au9?2AHֽ:Ao=BAu9?JAHֽRAo=٘i)I9qj@YG JѼJJJJD&K Y_^~?ya IA D77{78)B[[@[yu^~?[[[[[[BZYY i) мI/fD?i` C@))C@C@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031378.103165 s, next control iter: 1743031378.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031378.503165 s.'H~,;4#AAp= @A?4 @Ayk_~? AA&"AAwvNA"AZAbAjArAzAAA?8@AbƑrAi@As;;AW=A @AnտA5?AҼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9i@YDG JӼJJJJD&K  8Y,P^~? 8ywZHAD{7j78)B[[@[jb^~?[ @AUֿA]?A/YѼ*Aڊ9?2Aֽ:A-+=BAڊ9?JAֽRA-+=٘i)I9i@Y G J$ҼJJJJD&K Y@^~?y"SHA"D77{7 8B)ƯBE[[@[O^~?[N[[[[BZYY i) i޼I^D?iis }F@))}F@}F@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031378.943165 s, next control iter: 1743031379.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031379.343165 s.<5H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085098< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743031379.343296F (some fields omitted in printout)AHz @A @AoR_~? AA &"AARvNA"AZAbAjArAzAAA7@ABcrA)`h@A۱LAE*=ACI@Au׿A`hN?AJѼ*A9?2AX׽:A=BA9?JAX׽RA=٘i)I9`h@Ym G J\ѼJJJJD&K Y0^~?yKGA-DZ7SI78B)̯BE[[@[U;^~?[H[[[[BZYY i) r6Iy\D?i$2 G@))G@G@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031379.363165 s, next control iter: 1743031379.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4878&, header.stamp.nsec: 0&0 temperature: 13.387384&* salinity: 33.391712&, density: 1025.000000&* values[0]: 0.693147&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031379.763165 s.9;H~,'#AJ"J*J2J:Jr1?BJr1?nJ:5vJA@A# @A8E_~? AA]&"AA(?vNA"AZAbAjArAzAAAK7@AmrA>g@AܨBA#=A@A`gGؿA?APԼ*A9?2ANֽ:A=BA9?JANֽRA=Y ~@3@y=JnCٓH8@K@ư`B?SE?? QT?) ~@ I٘i)I9g@Y G JҼJ;JJJ D&K.x> Y^~?yE,GA@7D77@8B)ԯBE[[h@['^~?[hB[[[[ZZ¸BZYY i¸6=) (ڼIZD?i  nH))nHGhI@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031379.783165 s, next control iter: 1743031380.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031380.183165 s.BH~,| #AAQ@Agk@A7_~? AơA?&"AA*vNA"AZAbAjArAzAAALB7@A4hނrAf@AA=A@AٿA?Ap_ټ*Aʄ9?2A ֽ:AG=BAʄ9?JA ֽRAG=٘i)I9f@Y G JyּJJJJD&K Y6 ^~?y6>FABD7k8B)ۯBE[[@[h^~?[m<[[[[ZZBZYY i) μIUYD?iOSp RCG))RCGcJ@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031380.203165 s, next control iter: 1743031380.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031380.603165 s.=4IH~,Ț&#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743031380.603282F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A@As)_~? AAn&"AAvNA"AZAbAjArAzAAAϋw7@A;U`rAo0f@Ai;A=A@AMٿA w?Am*A9?2A_@ֽ:Aj<BA9?JA_@ֽRAj<٘i)I90f@Y G JGJJJJ D&K YR]~?yj78FAMD77j7&8)B[[?@[]~?[6[[[[ZZBZYY i)  ¼IXD?i!ι SE))SEbOL@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031380.623165 s, next control iter: 1743031381.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4879 , header.stamp.nsec: 0 0 temperature: 13.387702 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.691726 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031381.023165 s.ZPH~,|A#AA(\@AB@A_~? ARA"&"AA'vNA"AZAbAjArAzAAAoK7@AļLrAgOe@Aր;<At=A\@AڿA G?A*A9?2A#ֽ:A<BA9?JA#ֽRA<٘i)I9Oe@Y G JJJJJ+D&K Yn]~?y0EAWD77-8B)BE[[@[Z]~?[1[[[[ZZBZYY i) UIYD?i<Q9 ^D))^D/M@y=[ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031381.043165 s, next control iter: 1743031381.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031381.443165 s.PVH~,]\#AJ"J*J2J:JBJnJvJAz@AK8@A _~? AA|&"AAuNA"AZAbAjArAzAAA77@A^NYGrA)ud@A5>G<A3s=As@AiۿA@P?A*A9?2A[8ֽ:An<BA9?JA[8ֽRAn<٘i)I9ud@Y G JJJJJ6D&K Y]~?y)DEAbD{7{748B)BE[[ @[]~?[+[[[[ZZBZYY i) IAZD?i=Ec: AB))ABt1O@ߩYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031381.463165 s, next control iter: 1743031381.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4880, header.stamp.nsec: 00 temperature: 13.388106* salinity: 33.391724, density: 1025.000000* values[0]: 0.690035F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031381.863165 s.+]H~,>w#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743031381.863326F (some fields omitted in printout)A33333@A+2: @A^~? A=AL$&"AAuNA"AZAbAjArAzAAA=Űd6@APrA*c@A;AI.=AL@A~/ܿA?Ao`Ѽ*A9?2ATֽ:AD;BA9?JATֽRAD;Yt@@yp.=;ٓH[~???`ϥ`8y?`h?)t@ I٘i)I9c@Y G J$JJJJAD&Kv> Yw]~?y# EA@mD77<8B)BE[[v@[]~?[D&[[[[ZZBZYY ix=) (I\D?iX>צ: }A))}AP@UuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031381.883165 s, next control iter: 1743031382.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031382.283165 s.:RdH~,#AJ"J*J2J:Jn0?BJn0?nJ95vJAQ@Aܘ@A^~? A؀A@&"AA:uNA"AZAbAjArAzAAAnn6@A -HirAPc@A`A<A5L@A;ܿAq?Aئ*A9?2AcTֽ:ABA9?JAcTֽRA٘i)I9c@Y1 G JJJJJKD&K Yh]~?ycDAxD77@C8B)BE[[J @[]~?[![[[[ZZBZYY i) aaIk^D?ic3>: @))@R@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031382.303165 s, next control iter: 1743031382.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4881., header.stamp.nsec: 0.0 temperature: 13.388459.* salinity: 33.391727., density: 1025.000000.* values[0]: 0.688507.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031382.703165 s.ߺjH~,6#AAףp= @AL*@A^~? AzAL&"AAuNA"AZAbAjArAzAAAah>36@A*}NrA7b@A,=ABF<A;@AݿA _&?Aq*A9?2A=ֽ:ABA9?JA=ֽRA٘i)I9b@Y G JB=JJJJVD&K YV]~?y+DA CDŧ77kJ8)B[[?B"@[F]~?[%[[[[ZZBZYY i) &IaD?ik>{; S>))S>bS@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031382.723165 s, next control iter: 1743031383.103188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743031383.123165 s.4qH~,P#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031383.123297F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A]S [@A^~? AYtAb&"AAuNA"AZAbAjArAzAAAkI[6@AV;ɨrAx=b@A|cAiλA5@Ao޿A@G?AXA*A9?2A2ֽ:AmBA9?JA2ֽRAm٘i)I9=b@Y G JNC=JJJJaD&K YE]~?yYDADb7Q8B) BE[[e#@[y]~?[][[[[ZZBZYY iը=) t}IeD?iە>?; 1=))1=T@y3'=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031383.143165 s, next control iter: 1743031383.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031383.543165 s.IxH~,#AA{G@A:#/@A̺^~? ABnAr&"AApuNA"AZAbAjArAzAAAH=(6@AT|rAb@AABhA1@A)߿A@?A竻*A$9?2A_Nֽ:A]BA$9?JA_NֽRA]٘i)I9b@Y G JJJJJlD&K Y5s]~?y DAD77X8B) BE[[f%@[b]~?[[[[[ZZBZYY i) RhIjD?ic>Lm; U;))U;`YV@yL=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031383.583165 s, next control iter: 1743031383.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4882, header.stamp.nsec: 00 temperature: 13.388661* salinity: 33.391747, density: 1025.000000* values[0]: 0.687591F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031383.963165 s.J "J *J 2J w~H~:J0?BJ0?nJ85vJ,#AAL@Am½2@AW^~? AGhAg&"AAjVuNA"AZAbAjArAzAAAO澒5@AߕxjrAa@A'a8A`IA@A߿A 7?AȺ*AӤ9?2Aֽ:APʼBAӤ9?JAֽRAPʼY{@@y`Iz8ٓH`u"??"Ւsh?$??){@ I٘i)I9a@Y G JnB=J5JJJvD&Kw> Y5]]~?y/KDA@D777_8B)BE[[=f&@[K]~?[M[[[[BZYY ij=) žVI-pD?i]>; [:))[:W@y=.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031383.983165 s, next control iter: 1743031384.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031384.383165 s.؅H~,8#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057268< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031384.383299F (some fields omitted in printout)AQ@A>@A^~? AibA2&"AA;uNA"AZAbAjArAzAAAyFA5@A>՝rAka@A<A 1AG@ArIA[?A\;*AҚ9?2Aֽ:ABAҚ9?JAֽRA缙٘i)I9a@Y J8C=JJJJD&K Y7G]~?ywDAD77g8 B)BݹE[['@[(4]~?[ [[[[BZYY i=) +EIpvD?i>; 8))8.Y@yt=m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031384.403165 s, next control iter: 1743031384.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4883", header.stamp.nsec: 0"0 temperature: 13.388742"* salinity: 33.391750", density: 1025.000000"* values[0]: 0.687300"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031384.803165 s.vAH~,wg3#AJ"J*J2J:JBJnJvJAq= #@Ac @AD^~? A\Ak&"AA_ uNA"AZAbAjArAzAAAo<5@ArRrA b@A8V<AWA8& @AAa?Aa;*AM9?2A{ֽ:AيBAM9?JA{ֽRAي٘i)I9 b@Y G J;JJJJD&K Y91]~?yDAD77j7@n8)B[[$)@[]~?[[[[[BZYY i) B3I}}D?i$?ܧ; 7))74Z@yc=f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031384.823165 s, next control iter: 1743031385.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031385.223165 s.gH~,HN#AA(\@A"^Fu@Ar^~? AWA&"AA|uNA"AZAbAjArAzAAAGHM5@A)rA8Fb@A0$<AuAp!@A@A`95?A7)<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Fb@Y G J" <JJJJD&K Y9]~?yDAD77ku8"B)ڹE[[a*@[]~?[[[[[BZYY i) D"IlD?i? ; 6))60\@y)-=Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031385.243165 s, next control iter: 1743031385.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031385.643165 s.ЙH~,0*i#AJ"J*J2J:J/?BJ/?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743031385.643329F (some fields omitted in printout)AG@Ah @A_^~? AQA(H&"AA tNA"AZAbAjArAzAAA5@A9UrAOb@Av:A4#A"@A@HA?Ayb<*A9?2AZֽ:A1 BA9?JAZֽRA1 ٘i)I9b@Y G JjC<JJJJD&K Y:]~?yDAD77|8&B)BֹE[[+@[+\~?[@[[[[BZYY i)  IVD?i%?O<; &4))&4f]@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4884, header.stamp.nsec: 07*0 temperature: 13.388709* salinity: 33.391743, density: 1025.000000* values[0]: 0.687465F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031385.663165 s, next control iter: 1743031386.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031386.063165 s.H~,_ #AAfffff@AaNL@A_L^~? ALA&"AA tNA"AZAbAjArAzAAAwh24@A\$*t7rAc@AA\AP#@A<A?AE<*A9?2Aֽ:AIBA9?JAֽRAIY3@X$@yt[7ٓHp?w?@ ?@h?)3@ I٘i)I9c@Y( G Jx<JvJJJD&Kow> Y\~?y)\EA$@D7778'B)BӹE[[4-@[\~?[[[[[BZYY i%j=) 9{IܗD?i31?F; 7T3))7T3~^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031386.083165 s, next control iter: 1743031386.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031386.483165 s.r_H~,#AJ"J*J2J:JBJnJvJA@ANMӷ@A8^~? AFAL&"AAtNA"AZAbAjArAzAAAOʑ4@A YrAz{c@AfWA喽A>%@A iAO?A<<*A+9?2Aս:ABA+9?JAսRA٘i)I9{c@Yr G J <JJJJD&K Y\~?yWEAD)7ŧ7능8&B) B[[T.@[\~?[:[[[[BZYY i) IID?ic>?; 1))1/`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031386.503165 s, next control iter: 1743031386.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4885, header.stamp.nsec: 00 temperature: 13.388610* salinity: 33.391743, density: 1025.000000* values[0]: 0.688092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031386.903165 s. ȭH~,ι#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743031386.903320F (some fields omitted in printout)A ףp=@A8d#@A$^~? AAAI&"AA~tNA"AZAbAjArAzAAAI`4@Al$ىrAd@A}>AŠAC&@A6A`*?AL<*Aʡ9?2AJ'ֽ:AEBAʡ9?JAJ'ֽRAEI٘i)I9d@Y G Jp<B=JJJJD&K YN\~?yFAD{7j78'B)BйE[[N/@[f\~?[[[[[BZYY i)  ŻI&D?i]M?n< 0))0a@c*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031386.943165 s, next control iter: 1743031387.303179 s, wait time: 0.360014 sN\~?) rAdjusting time to match Gazebo time: 1743031387.323165 s.rH~,#AJ"J*J2J:JBJnJvJA\@A W@AZ^~? A<A&"AAptNA"AZAbAjArAzAAA:#4@A䏝džrAҔd@AAdAW'@A@߃A$?A5<*A9?2APֽ:A5 BA9?JAPֽRA5 ٘i)I9d@Y G Jt<C=JJJJD&K Y\~?yۧFAD77A8)B)B͹E[[f81@[\~?[[[[[BZYY i) 'ID?i^?"< */))*/b@ybj=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031387.343165 s, next control iter: 1743031387.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4886*, header.stamp.nsec: 0*0 temperature: 13.388410** salinity: 33.391754*, density: 1025.000000** values[0]: 0.688998*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031387.743165 s.WH~,#AAGz@A c@A]~? A7AE&"AAQtNA"AZAbAjArAzAAA?3Պ3@AVPtʃrA'e@A;AĚA>)@A`bA5?A{<*A9?2Aֽ:ARBA9?JAֽRAR٘i)I9'e@Yw G J8<JJJJD&K Y \~?y֧FADb7b7l8*B)BʹE[[2@[s\~?[[[[[BZYY i) ZFID?ip?h< -))-Td@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031387.763165 s, next control iter: 1743031388.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031388.163165 s.r}H~,q #AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743031388.163285F (some fields omitted in printout)A@AZe@A]~? A2A?&"AAN2tNA"AZAbAjArAzAAA9$3@AKrA?e@AK<A3A*@AA@I?A<*A|9?2A` ׽:ABA|9?JA` ׽RAYa~@*@y.L<ٓHpXWݿ@ic?`P?o ?@q??)a~@ I٘i)I9e@Y G J<JiJJJD&K,x> Yu\~?yҧFGA*@D778)B[[]3@[Z\~?[P[[[[BZYY i) \TID?i&|?t`!< k,))k,e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031388.203165 s, next control iter: 1743031388.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031388.583165 s.H~,S%#AAR@Aݰm@A_]~? AX.A &"AACtNA"AZAbAjArAzAAADd3@A4~rAJf@AO8O<A{A@+@A`_A?AaĪ<*A9?2Aֽ:A9~BA9?JAֽRA9~٘i)I9Jf@Y( G J<JJJEJD&K Y\\~?yΧGAD778-B)BƹE[[05@[-B\~?[[[[[BZYY iHׇ=) ID?i?)< Y +))Y +\g@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031388.623165 s, next control iter: 1743031388.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4887, header.stamp.nsec: 00 temperature: 13.388213* salinity: 33.391769, density: 1025.000000* values[0]: 0.690019F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031389.003165 s.w H~,H4@#AJ"J*J2J:JBJnJvJAp= W@A\<@A»]~? A)ALY &"AAsNA"AZAbAjArAzAAAL"3@A;c0P{rAf@A;AA&-@AAw?A}<*A9?2Aֽ:AbBA9?JAֽRAb٘i)I9f@Y G JT<JJJJD&K YC\~?yʧHA#D77{7쵥8.B)B¹E[[V6@[c)\~?[Z[[[[BZYY i) 6UID?iO?3< ))))*qh@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031389.023165 s, next control iter: 1743031389.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031389.423165 s."uH~,[#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066329< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743031389.423323F (some fields omitted in printout)A(\@AQ@Aܥ]~? A~%A &"AAsNA"AZAbAjArAzAAAGKW2@AE`xrAfg@A^AA^i.@ARA`?A䓥<*A9?2Apֽ:AwBA9?JApֽRAw٘i)I9fg@Y G J<B=JJJJD&K Y*\~?yƧyHA.D{7j780B)BE[[+7@[\~?["[[[[BZYY i) (IE?i?a_>< Q())Q(i@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031389.463165 s, next control iter: 1743031389.823186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4888, header.stamp.nsec: 00 temperature: 13.388011* salinity: 33.391758, density: 1025.000000* values[0]: 0.691020F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031389.843165 s.H~,u#AJ"J*J2J:JBJnJvJAHz.@A|@A]~? AE!A!&"AAksNA"AZAbAjArAzAAA(2@Aɭ|vrATg@A7A|AV/@A $A?Aǡ<*Ao9?2A|Hֽ:A!BAo9?JA|HֽRA!٘i)I9g@Y) G J֣<C=JJJJ D&K Y\~?y§HA9D)7ŧ7Bĥ8)B[[$9@[[~?[[[[[BZYY i) 79IE?i? YX[~?yo;IA1@CDj7Z7l˥81B)BE[[h:@[[~?[/[[[[BZYY i) :I#E?iӣ?Q< T%))T%al@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031390.283165 s, next control iter: 1743031390.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 48892, header.stamp.nsec: 020 temperature: 13.3878292* salinity: 33.3917582, density: 1025.0000002* values[0]: 0.6919882F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031390.683165 s.lH~,g#AJ"J*J2J:J&1?BJ&1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066329< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031390.683303F (some fields omitted in printout)AQ@A @Ab]~? A?Aq!&"AAgksNA"AZAbAjArAzAAA k?&2@A".qrAh@AmAdńAM2@A`מAv?Aʓ<*AM9?2A2ֽ:ACBAM9?JA2ֽRAC٘i)I9h@Y G J[<JJJJ"D&K Y[~?y4IAND77ҥ82B)BE[[;@[[~?[rާ[[[[BZYY i) [;I5E?i?DZ< {B$)){B$:m@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031390.683165 s, next control iter: 1743031391.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743031391.103165 s.H~,#AA= ףp@A 2V@AK]~? AtA!&"AAHsNA"AZAbAjArAzAAAs{1@Ak;nrAni@AS:AA3@AAB?A<*A9?2A@ֽ:ABA9?JA@ֽRA9٘i)I9ni@YG Jя<JJJJ-D&K Y[~?yIAYD7٥84B)BE[[<@[Ѭ[~?[ܧ[[[[BZYY i) X;IHE?i?c< "))".6o@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031391.123165 s, next control iter: 1743031391.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031391.523165 s.H~,|#AJ"J*J2J:JC1?BJC1?nJ95vJA(@A @AQ4]~? AA7"&"AA%sNA"AZAbAjArAzAAA΁[1@ADXlrAi@AB!<AkA4@AA?AÃ<*A9?2A""׽:ABA9?JA""׽RA뼙٘i)I9i@YWG J<JJJJ8D&K Y[~?yKJAdD785B)BE[[G>@[[~?[zۧ[[[[BZYY i) g{;I ]E?iy?n< ʓ!))ʓ!p@A*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743031391.543165 s, next control iter: 1743031391.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4890, header.stamp.nsec: 00 temperature: 13.387645* salinity: 33.391766, density: 1025.000000* values[0]: 0.692851F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031391.943165 s.bdH~,l]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066329< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031391.943284F (some fields omitted in printout)AzG@AH-@A]~? AOA}"&"AArsNA"AZAbAjArAzAAAЦ@1@AjrAMj@AZ<AɀAL6@A{FA?A<*AF9?2A;&׽:ABAF9?JA;&׽RA꼙٘i)I9Mj@YG J<JJJJCD&K Y6[~?yJAnD{786B)BE[[=?@[#{[~?[>ڧ[[[[BZYY i=) };IrE?i?z< N ))N 4q@W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031391.963165 s, next control iter: 1743031392.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031392.363165 s.H~,>#AJ"J*J2J:JBJnJvJA3333@AK@A-]~? A A"&"AArNA"AZAbAjArAzAAAZ+0@AWeuhrAj@A& <AAE7@A`$yA `?A<*A9?2Aֽ:AIBA9?JAֽRAIY)@)7@yy !<ٓHAѿ`&?@4C?#Ź~(?o?`r?))@ I٘i)I9j@YG J~<J<JJJMD&K.x> Ys[~?y"JA7@yDŧ77B8)B[['@@[b[~?[&٧[[[[BZYY i) ';IE?i~?< ))s@$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031392.383165 s, next control iter: 1743031392.763178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4891", header.stamp.nsec: 0"0 temperature: 13.387526"* salinity: 33.391754", density: 1025.000000"* values[0]: 0.693611"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031392.783165 s.[ H~,2#AAQ@A 5C@AG\~? AA#&"AArNA"AZAbAjArAzAAA0@AT{frA#k@A:A.EA8@AݨAJ$?A#<*A9?2ADֽ:AizBA9?JADֽRAiz٘i)I9#k@YG J~<B=JJJJXD&K YW[~?ySKA CD7m89B)BE[[@B@[H[~?[8ا[[[[BZYY i) z;I"E?i ?3< ~))~7at@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031392.803165 s, next control iter: 1743031393.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031393.203165 s.H~,M#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743031393.203270F (some fields omitted in printout)Aףp=@Ax'-p@A.\~? AA=#&"AAXrNA"AZAbAjArAzAAA g0@A7 drA k@ARÂAE:@A`7A@C?AW<*AR9?2AKfֽ:ABAR9?JAKfֽRA٘i)I9k@Y^G J-<C=JJJJcD&K Y<[~?y_KAD7{78:B)ݯBE[[bC@[0[~?[sק[[[[BZYY i)  elevatorAngleAction: 0.075946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743031394.463271F (some fields omitted in printout)A@Akׄ@Aŋ\~? A{A#&"AA'rNA"AZAbAjArAzAAA8|9+/@Aw@_rAl@AaA}A >@A RAk"?A<*A9?2Aֽ:A8BA9?JAֽRA8YX 0@|>@y}hbٓH+uſİ?r?@vi,?` YYZ~?yLA>@Dj7j78=B)֯BE[['G@[Z~?[֧[[[[BZYY i) 3B)ԯBE[[iH@[Z~?[է[[[[BZYY i) #&C elevatorAngleAction: 0.075946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743031395.723316F (some fields omitted in printout)A(\@AHK@A@\~? AAm$&"AAkqNA"AZAbAjArAzAAAƈJ L-@A?JSv[rAR:n@A]H<A9AB@AA@?AHo<*A9?2A$׽:ABA9?JA$׽RA٘i)I9:n@YG J0<JJJJD&K Y֖Z~?yMADb77(8?B)ίBE[[J@[›Z~?[֧[[[[BZYY i) 3b,@AX ,EZrAôn@Aa;AA,LC@A A?A?_<*A\9?2A-ֽ:A BA\9?JA-ֽRA ٘i)I9n@YHG J̑<JJJJD&K Y{Z~?y$NAD7/8AB)˯BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #19q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i'=) q<)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031396.163165 s, next control iter: 1743031396.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031396.563165 s.HH~,_ $#AJ"J*J2J:JE2?BJE2?nJ:5vJAffff@AR@AE\~? AA7$&"AAiqNA"AZAbAjArAzAAA^ -,@AO,YrAP6o@ADAAčD@AA?A<*A9?2A-kֽ:AGBA9?JA-kֽRAGY6@ʒD@yUt臻ٓH@^Ͳ??^?`%p?)6@ I٘i)I96o@YG J5<JJJJD&Kw> Y^Z~?yvNAD@D77{768BB)ȯBE[[<^M@[kZ~?[֧[[[[BZYY i) m#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743031396.983284F (some fields omitted in printout)AQ@A 7@A[~? ARA$&"AAVCqNA"AZAbAjArAzAAA.d~+@Ax_<3XrA%o@A8AbAaxE@AAM?A>Ԥ<*Az:?2At:ABAz:?JAtRA٘i)I9o@YG J<JJJJD&K YBZ~?y؝NAD7>8)ůBE[[oN@[RZ~?[`ק[[[[BZYY i) F@A@Y.A@?Av<*A:?2AD½:A(BA:?JAD½RA(٘i)I9Jp@Y?G J<JJJJD&K Y&Z~?y:UOAD)7b7CE8CB)BE[[O@[:Z~?[ا[[[[BZYY i)  AԽ?Aۙ<*A=:?2A4wŽ:AQBA=:?JA4wŽRAQ٘i)I9p@YG JD<JJJJD&K YV Z~?yOAD{7{7nL8DB)BE[[ Q@["Z~?[ا[[[[BZYY i) $ elevatorAngleAction: 0.085236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743031398.243298F (some fields omitted in printout)AGz @A#bz @A[~? ANA.%&"AApNA"AZAbAjArAzAAAp)@AQԿUrAjq@A:AAzH@ANA ƺ?Ap}<*A:?2AȽ:A{BA:?JAȽRA{٘i)I9jq@YG J<JJJJD&K Y-Y~?y!PADb7b7S8EB)BE[[BR@[ Z~?[٧[[[[BZYY i) 䶞 YY~?yPAiHD77Z8)B[[zS@[(Y~?[ۧ[[[[BZYY i) # elevatorAngleAction: 0.085236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743031399.503287F (some fields omitted in printout)Ap= !@A',!@AY[~? A~Aj%&"AAXpNA"AZAbAjArAzAAA Ϊ'@AAxTrA-s@AB/ <A~ȬA/EA@GtAl?Aj<*Atd:?2Aн:AtBAtd:?JAнRAt٘i)I9-s@YG J<JJJJD&K YY~?yCpQA/Dj7Z7i8GB)BE[[U@[=Y~?[ݧ[[[[BZYY i) Դwb&@AkXG[SrAyt@A/AԱA3CA A>?A<*AM:?2Aզҽ:A= BAM:?JAզҽRA= ٘i)I9yt@YG J<<JJJJD&K YaY~?yqORAEDj7SI7nw8)B|E[[FX@[YY~?[[[[[BZYY i) {E@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031400.383165 s, next control iter: 1743031400.743178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4899*, header.stamp.nsec: 0*0 temperature: 13.386056** salinity: 33.391727*, density: 1025.000000** values[0]: 0.701077*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031400.763165 s.6H~,0#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743031400.763285F (some fields omitted in printout)A#@AW "@A [~? AA%&"AAoNA"AZAbAjArAzAAA4EW%@Ay^)SrA *u@A2UEAA;AAA?A<*AWC:?2A̰ӽ:A& BAWC:?JA̰ӽRA& YEB@Ay@|FٓH{?@?üa.h? ?)EB@ I٘i)I9*u@Y6G J<B=JzJJJ$D&Kz> Y EY~?yoRAAPDŧ7b7~8)ByE[[yY@[aY~?[[[[[BZYY i)  elevatorAngleAction: 0.085236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031402.023293F (some fields omitted in printout)A(\$@AOjB$@A}Z~? AA%&"AAloNA"AZAbAjArAzAAA gk $@A+L.SrAiHw@A;AFAD=AA@O}A%<*AL(:?2Azֽ:A._BAL(:?JAzֽRA._٘i)I9Hw@YG JA<JJJJED&K YX~?yh1TApD778)B[[]@[;Y~?[[[[[BZYY i) \BZYY i¸>`) U@K@< Ǩ))Ǩw;@~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031402.483165 s, next control iter: 1743031402.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4901, header.stamp.nsec: 00 temperature: 13.385507* salinity: 33.391716, density: 1025.000000* values[0]: 0.703713F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031402.863165 s.+H~,>#AA33333%@A#&%@AmZ~? AAp%&"AA,oNA"AZAbAjArAzAAAZPkZ"@A#GSrAWx@A[i2<AѷA(;AtA`BAV<*A:?2A׽:AwBA:?JA׽RAwYH@8;yη!3<ٓH@ `?@ ϵ?Z˿>?`?M??)H@ II٘i)I9x@Y]G J<JJJJZD&K{> YeX~?yI%UA8;D7o8)BmE[[ca_@[Y~?[[[[[ZZZZBZYY i) GBIA@#A<*A,:?2Aֽ:AͲnBA,:?JAֽRAͲn٘i)I99{@YG J=C=JJJJzD&K YfX~?yVAD77{7﷦8)kBdE[[b@[X~?[[[[[ZZZZBZYY i) b`S?@߶? Կe@i?_?`VGu+?)fO@ I٘i)I9|@YG J<J>JJJD&Kyx> YW0X~?y5WA4D{7EƦ8)_B[[ 6e@[ʥX~?[i[[[[ZZZZBZYY i挽) 5vJAG(@Aȑ(@AvY~? AA$&"AAmNA"AZAbAjArAzAAAٮ[@AM'ZrAw}@A?<A}=A~/A`~A ǿA w:*A :?2Aֽ:A><BA :?JAֽRA><٘i)I9}@Y|G JZ;JJJJD&K YW~?yWADS778)UBVE[[Ei@[TX~?[r[[[[BZYY i) HJJJD&Kx> YW~?y<WA,.Dŧ7b78)SE[[j@[@X~?[ [[[[BZYY ih) 75|H~vJ,>#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066142< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031408.323293F (some fields omitted in printout)A\*@A*@A>Y~? AHA #&"AA 'mNA"AZAbAjArAzAAAz}@AC2Ź`rA#}@AsA=A:*A,AI/ϿA_*A9?2A$׽:A` =BA9?JA$׽RA` =٘i)I9#}@YG JCJJJJD&K Y]W~?yǧVAD{7{78)ZBME[[hln@[MX~?[+[[[[BZYY i) | Y2+W~?yϧ0VA'&Dj7Z7 8BB)`BGE[[fp@[IW~?[[[[[BZYY i) ?;Iio@7P= R޿))R޿.{@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031409.183165 s, next control iter: 1743031409.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031409.583165 s.H~,Re#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066142< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031409.583285F (some fields omitted in printout)AR+@Ao+@AX~? AAS#&"AAlNA"AZAbAjArAzAAAp-`@A+ frAw{@AA<A =Ai&A@A >ҿAMۨ*A9?2AIxֽ:A=BA9?JAIxֽRA=٘i)I9{@Y6G JJJJJD&K YW~?yfӧUA1Db778)eBHE[[Sq@[ W~?[4#[[[[BZYY i) D֬;Iiq@=  ܿ)) ܿ @֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031409.603165 s, next control iter: 1743031409.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4908, header.stamp.nsec: 00 temperature: 13.384841* salinity: 33.391644, density: 1025.000000* values[0]: 0.707626F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031410.003165 s.w H~,H4#AJ"J*J2J:JBJnJvJAp= W,@A?4<,@AX~? A6 A#&"AAlNA"AZAbAjArAzAAAj4}@A5SfhrA){@A(<A=A%A wA`ZӿAK*Ao9?2Aֽ:A=BAo9?JAֽRA=٘i)I9){@YG JJJJJD&K Y?V~?yקdUA Y^V~?y/TA"!\D7718)vB[[Wv@[vW~?[~4[[[[BZYY i) (:Ii|@t!= #ӿ))#ӿM@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031411.303165 s, next control iter: 1743031411.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 49102, header.stamp.nsec: 020 temperature: 13.3853692* salinity: 33.3916022, density: 1025.0000002* values[0]: 0.7055342F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031411.683165 s.l:H~,c#AJ"J*J2J:JBJnJvJAQ.@Atx-@AX~? AA"&"AAwlNA"AZAbAjArAzAAAt+ 6 @A&DprAx@A7A=AAA`ֿAꮼ*A9?2AoJ׽:A=BA9?JAoJ׽RA=٘i)I9x@YsG J}C=JJJJW#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066142< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743031413.363276F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333/@A:;/@Ag'X~? A5)A &"AAG}kNA"AZAbAjArAzAAAM]@A$z zrAv@AW?<A=AAAkٿAJ*A9?2AFֽ:A(=BA9?JAFֽRA(=Yv|i@yp=G@<ٓH@H7?{@k/놣g??)v|i@ I٘i)I9v@Y G J嬼J`JJJgD&Kpx> YAV~?y)RADb77U8/B){B4E[[w{@[9W~?[L[[[[BZYY i) L=EIi@(= ǿ))ǿ7@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031413.383165 s, next control iter: 1743031413.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4912&, header.stamp.nsec: 0&0 temperature: 13.385862&* salinity: 33.391594&, density: 1025.000000&* values[0]: 0.703466&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031413.783165 s.[[H~,r#AAQ0@Av0@AX~? A-An &"AAF\kNA"AZAbAjArAzAAAhj?A \}rAu@AR;A= =A WA z]AڿAP*A :?2Anֽ:A<BA :?JAnֽRA<٘i)I9u@YG JhJJJJrD&K Yy,V~?yQAD77{7\8)B0E[[}@[a*W~?[P[[[[BZYY i) HIiЄ@B*= kſ))kſ@@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031413.823165 s, next control iter: 1743031414.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031414.203165 s.J "J *J 2J :J 3?BJ 3?nJ <5vJ cH~,T#AAףp=0@A##p0@AxW~? A]2A &"AA;kNA"AZAbAjArAzAAAo `?ArAwu@A'A>v=AvA A WnۿA8 *A:?2A")׽:AH<BA:?JA")׽RAH<٘i)I9wu@YfG JJJJJ|D&K YYV~?y fQAD)7b7c8)B[[+~@[cW~?[U[[[[BZYY i) 蟻Iiօ@O+= `ÿ))`ÿ7@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031414.243165 s, next control iter: 1743031414.603180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031414.623165 s.WiH~,]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066142< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031414.623316F (some fields omitted in printout)A)\0@Ar0@AvW~? A%7A&"AAkNA"AZAbAjArAzAAA\:oe?ArprA{t@AqA:[=AAPA6ܿAq*A:?2AY׽:A<BA:?JAY׽RA<٘i)I9t@YG JB=JJJJD&K Y7V~?yQAD77j7k8)B.E[[G@[ W~?[[[[[[BZYY ig) ʎIi @},= '))'Ř@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031414.643165 s, next control iter: 1743031415.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4913 , header.stamp.nsec: 0 0 temperature: 13.386106 * salinity: 33.391575 , density: 1025.000000 * values[0]: 0.702479 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031415.043165 s.pH~,#AJ"J*J2J:JBJnJvJA{Ga1@A1G1@AW~? A<A[&"AAjNA"AZAbAjArAzAAA鑖Yz?A$prAi~t@AWDA5ć=AAXAQAܿA5*A:?2AY׽:Ak<BA:?JAY׽RAk<٘i)I9~t@YG J^C=JJJJD&K YU~?yPAD77Fr8.B)B+E[[q1@[kV~?[4`[[[[BZYY i) 1ݻIio@&.= ))񾿩lS@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031415.083165 s, next control iter: 1743031415.443182 s, wait time: 0.360017 sU~?) rAdjusting time to match Gazebo time: 1743031415.463165 s.QwH~,Ӥ#AA1@A g1@AlW~? AAA&"AAjNA"AZAbAjArAzAAAo*-=?A rAt@A A[ =A^A`5A`ݿA^*A9?2A)׽:AN<BA9?JA)׽RAN YU~?yIPAD7777qy8)B[[ӿ@[NV~?[te[[[[BZYY i) ]Ii@C/= 3))3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031415.503165 s, next control iter: 1743031415.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4914, header.stamp.nsec: 00 temperature: 13.386356* salinity: 33.391598, density: 1025.000000* values[0]: 0.701631F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031415.883165 s.y}H~,4#AJ"J*J2J:J3?BJ3?nJW<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031415.883299F (some fields omitted in printout)AQ82@AGq:2@AgW~? AHFAH&"AAJjNA"AZAbAjArAzAAAZ6?AM'QrA,s@A-Am=A^A`tAr޿AB*A9?2Aֽ:A7<BA9?JAֽRA7<٘i)I9s@Y?G J=JJJJD&K YU~?yx$OADZ7SI78)B(E[[M@[V~?[j[[[[BZYY i) ; Ii@0= ))o@yU{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031415.903165 s, next control iter: 1743031416.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031416.303165 s.SH~,jg#AAq= ף2@A2@AW~? AKA00&"AA.jNA"AZAbAjArAzAAAp8l~2?A.rAs@AM*;Ai=AAA )߿Aw*AL9?2Aҡֽ:A><=BAL9?JAҡֽRA><=٘i)I9s@YG JJJJJD&K YU~?y*OADŧ77LJ8)B[[ہ@[ V~?[$p[[[[BZYY i) ZIit@^91= H))H@ͻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031416.323165 s, next control iter: 1743031416.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4915*, header.stamp.nsec: 0.0 temperature: 13.386549.* salinity: 33.391575., density: 1025.000000.* values[0]: 0.700806.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031416.723165 s.J "J *J 2J H~:Jg3?,H.#ABJg3?nJ<5vJA(\3@A ސF2@AeW~? APA&"AAjNA"AZAbAjArAzAAAϦ?A7rA+r@AYC<A=A;AEA ߿A*A9?2AIֽ:Ax=BA9?JAIֽRAx=٘i)I9r@YG J}JJJJD&K YU~?yq19OAD778)B&E[[h@[V~?[u[[[[BZYY i) +,Ii@u2= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031416.743165 s, next control iter: 1743031417.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031417.143165 s.\/H~, *I#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031417.143282F (some fields omitted in printout)AGz3@Aд`3@AmpW~? AVA\&"AAejNA"AZAbAjArAzAAAje+?A^I?rA|*r@AJ#<A Y|U~?y>NA DSI7SI7G8)B[[C@[V~?[[[[[BZYY i) KIi @+4= s))s>@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031417.583165 s, next control iter: 1743031417.963187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4916, header.stamp.nsec: 00 temperature: 13.386744* salinity: 33.391552, density: 1025.000000* values[0]: 0.699989F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031417.983165 s.H~,~#AAQ4@A}^74@AKW~? AaA&"AA#-jNA"AZAbAjArAzAAA%"ؿAųrAn8q@AXA2 =Aw= A+BA`%A@*A9?2A?׽:Ag=BA9?JA?׽RAg=٘i)I98q@YG JJJJJD&K YkU~?y F!NAD77r8-B)B E[[@[nV~?[A[[[[BZYY i) _[Ii@315= _u))_u2@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031418.003165 s, next control iter: 1743031418.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031418.403165 s.&H~,͙#AJ"J*J2J:J3?BJ3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743031418.403269F (some fields omitted in printout)A ףp4@Aܠ[4@A9W~? AgAE&"AAjNA"AZAbAjArAzAAADgsA>+rAпp@A<:AG=AQ A߿A`tJA}*A9?2AEX׽:A=BA9?JAEX׽RA=٘i)I9p@YG JJJJJD&K YZU~?yMMAD8)B[[@[V~?[[[[[BZYY iЬ) jIi?@6= OA))OA@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031418.423165 s, next control iter: 1743031418.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4917", header.stamp.nsec: 0"0 temperature: 13.386951"* salinity: 33.391563", density: 1025.000000"* values[0]: 0.699145"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031418.823165 s.H~,!#AA\(5@A5@AU(W~? AmAC&"AA iNA"AZAbAjArAzAAA_QXA"դrAEp@AR2A~=AK A߿AIA-*A9?2A7׽:A=BA9?JA7׽RA=I٘i)I9Ep@Y<G J JJJJD&K YIU~?y)TcMAD)7ŧ7Ȳ8)BE[[;*@[ V~?[[[[[BZYY i) ;zIi@27= ))6L@ ˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031418.863165 s, next control iter: 1743031419.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031419.243165 s.H~,q#AJ"J*J2J:JBJnJvJAGz5@A+nbz5@AJW~? AsA$&"AAiNA"AZAbAjArAzAAALPY?M ASrAo@AAE=ACVA_޿ANA*A|9?2A(ֽ:AC =BA|9?JA(ֽRAC =٘i)I9o@YG J5JJJJD&K Y9U~?y7[MA(DZ7SI78)B[[c@[V~?[t[[[[BZYY i) ҄Ii.@38= ݨ))ݨ^؞@ΪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743031419.263165 s, next control iter: 1743031419.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031419.663165 s.H~,q#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031419.663284F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4918, header.stamp.nsec: 00 temperature: 13.387155* salinity: 33.391533, density: 1025.000000* values[0]: 0.698319F (some fields omitted in printout)A6@AGg5@AW~? A.zA&"AAWiNA"AZAbAjArAzAAAXc3AM&`[rACo@A;A3n=AhA RݿA`8A\*A9?2Aֽ:Az=BA9?JAֽRAz=Y% }@nym= ;ٓH 3d@Js?}w `@r ϯ$)`Op?`?)% }@ I٘i)I9Co@YG JJ'l<JJJD&K"x> Y*U~?ybLA2D7778)BE[[C@[tV~?[O[[[[BZYY i) _IiU@8= ))e@y+ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031419.683165 s, next control iter: 1743031420.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031420.083165 s.DH~,S#AJ"J*J2J:JBJnJvJARk6@AGqQ6@AlV~? AA1&"AAgiNA"AZAbAjArAzAAA(ߩFAZ6rAn@Au.<A=A AܿAAn~*A*9?2Afֽ:A8_=BA*9?JAfֽRA8_=٘i)I9n@YKG JyJJJJD&K YU~?yRj7LA=Db77Hȧ8)B[[φ@[pjV~?[8[[[[BZYY i) ꓼIi@-9= x))x@OתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031420.103165 s, next control iter: 1743031420.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031420.503165 s.H~,H4 #AAp= 6@Ac_6@AV~? A醩Aq&"AAiNA"AZAbAjArAzAAA73[EA1 rA+n@Aj?<Aȳ=AAZ#ܿAAŬ*A9?2A rֽ:Aל=BA9?JA rֽRAל=٘i)I9+n@YG JJJJEJD&K Y U~?yqKAHD777rϧ8)BE[[ \@[:`V~?[,[[[[BZYY i) GvIi0@b9= WG))WG~@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031420.523165 s, next control iter: 1743031420.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4919, header.stamp.nsec: 00 temperature: 13.387396* salinity: 33.391510, density: 1025.000000* values[0]: 0.697386F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031420.923165 s.=H~,;#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743031420.923322F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B7@A0|(7@A8V~? AlAJ7&"AAlziNA"AZAbAjArAzAAA 20ArAjm@Av;Am=A&-A`I\ۿAA˯*Ar9?2Aֽ:A"=BAr9?JAֽRA"=٘i)I9m@YG JIJJJJ(D&K YT~?ymyiKARD77֧8)B[[.@[\VV~?[,[[[[BZYY i) pIi@ǽ:= ))) @ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031420.943165 s, next control iter: 1743031421.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031421.343165 s.D&Khx> YT~?yJAhDb778)ɯBE[[@[CV~?[N[[[[BZYY i) D籼Ii@;= o))o!@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031421.783165 s, next control iter: 1743031422.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031422.183165 s.H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743031422.183273F (some fields omitted in printout)AQ8@A k8@AV~? AA&"AAa7iNA"AZAbAjArAzAAAi27A`rAk@ACA =AVAؿA`A ܸ*A9?2A3׽:A=BA9?JA3׽RA=٘i)I9k@YG J4JJJJID&K YT~?y됨 JA CsD{7{78.B)ϯBE[[@[:V~?[r[[[[BZYY i) e?Ii@ <= ))@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031422.203165 s, next control iter: 1743031422.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031422.603165 s.74H~,#AJ"J*J2J:JBJnJvJA= ף8@A&8@AV~? AiA+,&"AAb"iNA"AZAbAjArAzAAADЁA7rA7k@AlA\=ATA ^"ؿA@ Ag쿼*A9?2Aֽ:A$=BA9?JAֽRA$=٘i)I97k@Y(G J߻JJJJSD&K YT~?y㘨IA}Dj7H8-B)ӯBE[[@[F2V~?[Ǩ[[[[BZYY i) `IiB@}<= W))W9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031422.643165 s, next control iter: 1743031423.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4921 , header.stamp.nsec: 0 0 temperature: 13.387915 * salinity: 33.391502 , density: 1025.000000 * values[0]: 0.695322 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031423.023165 s.ZH~,{#AA(\9@Adt@B9@AV~? A`A&"AAiNA"AZAbAjArAzAAA(ImA~&rAj@AvAЯ=AUBAP׿Ao]Aq<ȼ*Aצ9?2Aǒֽ:A=BAצ9?JAǒֽRA=٘i)I9j@YG JüJJJJ^D&K YT~?y۠>IAD777r8)ٯB[[@[*V~?[ͨ[[[[BZYY i) ǼIiȓ@*== ())(ţ@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031423.043165 s, next control iter: 1743031423.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031423.443165 s.J "J *J 2J = #))#Q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031423.463165 s, next control iter: 1743031423.843181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4922", header.stamp.nsec: 0"0 temperature: 13.388196"* salinity: 33.391499", density: 1025.000000"* values[0]: 0.694227"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031423.863165 s.+H~,>#AA33333:@Ao':@AwV~? AA*&"AAhNA"AZAbAjArAzAAA%DjAU$yrA7i@A6C<Aۧ=Ax.A`ʦտA}A3Լ*A9?2A!6ֽ:A&=BA9?JA!6ֽRA&=Y @: y=~D<ٓH`տ3?`'տ@ SMx?D?) @ I٘i)I97i@Y G JCҼB=JrE<JJJtD&Kw> YnT~?y!UHA Dj7SI78.B)BE[[@[V~?[gڨ[[[[BZYY i) ּIiK@!== {̐)){̐ܤ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031423.903165 s, next control iter: 1743031424.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031424.283165 s.:RH~, #AJ"J*J2J:J1?BJ1?nJ/:5vJAQ:@A<:@A5lV~? AĩAq&"AAFhNA"AZAbAjArAzAAAeUw|;A#rAh@A0<AY=AAGԿAAfּ*A 9?2Aeֽ:ArC=BA 9?JAeֽRArC=٘i)I9h@Y G JռC=JJJJ~D&K Y#T~?yoGAD77j78)B[[fF@[V~?[[[[[BZYY i) ݼIiG@== 睎))睎ah@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031424.303165 s, next control iter: 1743031424.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4923., header.stamp.nsec: 0.0 temperature: 13.388451.* salinity: 33.391464., density: 1025.000000.* values[0]: 0.692976.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031424.703165 s.ں H~,!- #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743031424.703269F (some fields omitted in printout)Aףp= ;@Ak6:@A`V~? A̩ADy&"AAhNA"AZAbAjArAzAAANxM AǀNrAg@A ;A̳=A3AӿA<Avռ*A9?2A ֽ:AS3=BA9?JA ֽRAS3=٘i)I9g@Y G J8ּB=JJJJD&K Y֘T~?yeGAD{78)B[[Ҍ@[ V~?[[[[[ZZ¸BZYY i¸=) uѼIiq@>= /o))/o@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031424.723165 s, next control iter: 1743031425.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031425.123165 s.7H~,]G #AJ"J*J2J:JBJnJvJA)\u;@AM֨[;@AVV~? AXөA&"AAhNA"AZAbAjArAzAAAEwS AOrAEg@A= A))Au@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031425.143165 s, next control iter: 1743031425.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031425.543165 s.IH~,b #AA{G;@Awd6;@AKV~? AکAZ&"AAhNA"AZAbAjArAzAAAɚN ALMrA|Yf@AR=A'=Av}A )ҿAA*A#9?2A׽:A_<BA#9?JA׽RA_<٘i)I9Yf@Y1 G JB=JJJJD&K Y@T~?yWҨuFADb77t%8.B)BE[[@[iV~?[[[[[ZZBZYY i) IiS@"?= )) @,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031425.563165 s, next control iter: 1743031425.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4924, header.stamp.nsec: 00 temperature: 13.388756* salinity: 33.391472, density: 1025.000000* values[0]: 0.691730F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031425.963165 s.J "J *J 2J :J 1?BJ 1?nJ 95vJ H~,} #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201132 time: 1743031425.963395F (some fields omitted in printout)AL<@AP2<@AAV~? A7A&"AAhNA"AZAbAjArAzAAAzn< AUrAe@A2A`=A-A FѿA` A*A9?2Aֽ:A<BA9?JAֽRA YT~?yڨFAD{7{7,8)B[[mt@[U~?[m[[[[ZZBZYY i)  Ii@ͦ>= 兿))兿h@yM=xЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031426.003165 s, next control iter: 1743031426.363187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743031426.383165 s.%H~,< #AAQ<@A)_B<@A8V~? AA^7&"AAhNA"AZAbAjArAzAAA1h- AȁtrAd@AdA3q=AQXACbпA`A^*A49?2Aֽ:A\<BA49?JAֽRA\<٘i)I9d@Y0 G JJJJJD&K Y)yT~?yxEAD38) B[[@[OU~?[[[[[ZZBZYY i) jIi@f>= ;)); "@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031426.403165 s, next control iter: 1743031426.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4925&, header.stamp.nsec: 0&0 temperature: 13.389111&* salinity: 33.391460&, density: 1025.000000&* values[0]: 0.690271&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031426.803165 s.J "J *J 2J :J 0?BJ 0?A,H~nJK95vJ,g #AAq= #=@A;7m =@A/V~? ASA&"AAFwhNA"AZAbAjArAzAAA!] A不rAc@Aqm;AD-=AA@,οA!A.ϼ*Ac9?2Aֽ:AC;BAc9?JAֽRAC;٘i)I9c@Y G JJJJJD&K YrT~?y GEAD77j7:8)B[[ċ@[JU~?[w[[[[ZZBZYY i) ɖIi@>b>= o))o@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031426.823165 s, next control iter: 1743031427.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031427.223165 s.g3H~,I #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031427.223304F (some fields omitted in printout)A(\=@AREu=@Al'V~? AAI&"AA7jhNA"AZAbAjArAzAAAu'ÿAGXCrA}Rc@A`<AT<A5߿Aq,ͿAFIAD*A9?2Aֽ:AhܺBA9?JAֽRAhܺ٘i)I9Rc@YZ G JJJJJD&K YlT~?yDADb77B8,B)BE[[k@[U~?[[[[[ZZBZYY i) (Ii@ә>= ~))~f9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031427.263165 s, next control iter: 1743031427.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031427.643165 s.|9H~, * #AJ"J*J2J:Ja0?BJa0?nJ85vJAG=@A_~=@AV~? AAy&"AA]hNA"AZAbAjArAzAAAR@ ~A -qrANb@Au)<A4 <AȚܿA\˿A`oAby*A9?2Aֽ:ATBA9?JAֽRAT٘i)I9b@Y G JJJJJD&K YeT~?y)}DADII8)B[[@[TU~?[[[[[ZZBZYYtReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4926, header.stamp.nsec: 0i0 temperature: 13.389411* salinity: 33.391460, density: 1025.000000* values[0]: 0.688982F (some fields omitted in printout)) ,IiB@E ?= %Wz))%Wzĩ@fPYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031427.683165 s, next control iter: 1743031428.043180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031428.063165 s.@H~,V !#AAfffff>@AO7PL>@A<V~? AeA&"AA_RhNA"AZAbAjArAzAAAVAhv*sAqb@A|;AA$ڿA6ɿAA-*Aγ9?2A\ֽ:Av܀BAγ9?JA\ֽRAv܀Y+@yڿy};ٓH@;?@0p @`A??Ou??)+@ I٘i)I9qb@Y G J aJ FJJJD&Kbw> YaT~?yDAڿ D77tP8)B[[.@[aU~?[8[[[[ZZBZYY iz=) FlIi@W>= ]u))]uP@_)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031428.103165 s, next control iter: 1743031428.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031428.483165 s.x_GH~,!#AJ"J*J2J:JC0?BJC0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061224< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743031428.483311F (some fields omitted in printout)A>@Aַ>@AfV~? A.AgK&"AAGhNA"AZAbAjArAzAAA0zjArsAU8b@A`CAn۷Abm׿AǿA`wAì*A9?2ASֽ:AC BA9?JASֽRAC ٘i)I98b@Y G JJJJJD&K Y^T~?yDAD7W8)B[[⺑@[U~?[![[[[ZZBZYY iЉ=) |YIiU@I== q))qܪ@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031428.503165 s, next control iter: 1743031428.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4927, header.stamp.nsec: 00 temperature: 13.389584* salinity: 33.391441, density: 1025.000000* values[0]: 0.688256F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031428.903165 s.MH~,9!#AA ףp=?@AYZ#?@A V~? AA&"AA=hNA"AZAbAjArAzAAA ƪA sA%b@A!A3FAԿAſAA'9*A9?2A%ֽ:AԼBA9?JA%ֽRAԼ٘i)I9%b@Y G J2JJJJD&K YQZT~?yiDAD7777^8)E[[G@[U~?[([[[[BZYY i) βFIi%@== m6m))m6m i@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031428.943165 s, next control iter: 1743031429.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031429.323165 s.wTH~,)T!#AJ"J*J2J:JBJnJvJA\?@A)ߎ?@A@V~? AA&"AAU4hNA"AZAbAjArAzAAAP6A]sA5b@A_@Ai9AGҿA@ĿAAH;*A9?2A8!ֽ:AKBA9?JA8!ֽRAK񼙘٘i)I95b@Y G J;JJJJD&K YVT~?y* DA)Db77e8)B[[MӒ@[U~?[8/[[[[BZYY i)  3Ii7== h))hH@y =;y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031429.363165 s, next control iter: 1743031429.723180 s, wait time: 0.360015 sVT~?)* *tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4928*, header.stamp.nsec: 0*0 temperature: 13.389601** salinity: 33.391430*, density: 1025.000000** values[0]: 0.688183*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031429.743165 s.W[H~,o!#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743031429.743325F (some fields omitted in printout)AGz@@AFg?@AU~? A'A &"AA+hNA"AZAbAjArAzAAAš>A#RsA`b@AA]AɧϿA`&¿AA@<*Aל9?2AOֽ:ALBAל9?JAOֽRAL٘i)I9`b@Y G Jx;JJJJ D&K YRT~?y(DA4Dŧ7m8)B[[}_@[5U~?[5[[[[BZYY i) !IiS@== sd))sdx@,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031429.763165 s, next control iter: 1743031430.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031430.163165 s.t}bH~,q!#AJ"J*J2J:JBJnJvJA@@A\=e@@A+U~? A/A6 &"AA3$hNA"AZAbAjArAzAAA3zxA ŧ*sAb@Aj9AdzA<̿A kBAAY6<*A9?2Aֽ:ABA9?JAֽRAY͎@̿yczk9ٓHg"?Y?qK? N?`#4?@?)͎@ I٘i)I9b@Y G J<J"JJJD&Kw> YQT~?y1EA̿>DSI7SI7Jt8)BE[[)@[U~?[<[[[[BZYY irh=) HIi@<= `))`$ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031430.183165 s, next control iter: 1743031430.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031430.583165 s.hH~, S!#AAR@@An@@AU~? A7AJ &"AARhNA"AZAbAjArAzAAAiA sAjb@A<AEARʿA@A/Ap8`<*A}9?2Aֽ:A BA}9?JAֽRA ٘i)I9b@Y" G JI<JJJJ D&K YQT~?y:[EAIDb77t{8)B[[w@[UU~?[PC[[[[BZYY i) nIi@;<= [))[@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031430.603165 s, next control iter: 1743031430.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4929, header.stamp.nsec: 00 temperature: 13.389519* salinity: 33.391422, density: 1025.000000* values[0]: 0.688652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031431.003165 s.v pH~,D4!#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031431.003299F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= WA@Aoӟh=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031431.863165 s, next control iter: 1743031432.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031432.263165 s.H~,0"#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743031432.263282F (some fields omitted in printout)AB@AeB@A$U~? AWA &"AA hNA"AZAbAjArAzAAA:A[,֚3sAd@A ػA An A4A@`gA}<*A69?2A(;ֽ:A.& BA69?JA(;ֽRA.& Y @y bٻٓH`??k T?@?`?|? { ?) @ I٘i)I9d@YV G J<B=JgJJJKD&Kw> YPT~?y]FA DtD77 8,B)BE[[@[U~?[B^[[[[BZYY i) #Ii@g:= E1J))E1Jɯ@y =*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031432.283165 s, next control iter: 1743031432.663180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4931., header.stamp.nsec: 0.0 temperature: 13.572696.* salinity: 33.374977., density: 1025.000000.* values[0]: 0.568444.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031432.683165 s.J "J *J 2J :J ?BJ ?nJ 5vJ lH~,|+"#AAQC@A9]B@AU~? A_AT; &"AAhNA"AZAbAjArAzAAA‡pNA7څ8sAe@A6AdA|AգA;oAʹ<*Ad9?2A,ֽ:A0l BAd9?JA,ֽRA0l ٘i)I9e@Y G J<C=JJJJVD&K YRT~?yf)GADb7K8)B[[oǿ[U~?[e[[[[BZYY i) ſ[U~?[k[[[[BZYY i) iOIia@8= mA))mAmAK*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031433.123165 s, next control iter: 1743031433.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031433.523165 s.H~,{a"#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743031433.523308F (some fields omitted in printout)J"J*J2J:JBJnJvJA(C@A3C@AU~? AoAS&"AAhhNA"AZAbAjArAzAAA6-cA^_BsA]f@AlVYA4HA92AYNAwAN$<*A9?2Aֽ:ABzBA9?JAֽRABz٘i)I9f@Yi G J<JJJJkD&K YVT~?yxGADj7j78)BE[[ ÿ[`U~?[r[[[[BZYY i) sfIi@\8= =))==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031433.543165 s, next control iter: 1743031433.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4932, header.stamp.nsec: 00 temperature: 13.572413* salinity: 33.374981, density: 1025.000000* values[0]: 0.569137F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031433.943165 s.ZdH~,J]|"#AAzGD@A-D@AU~? AxAb&"AAhNA"AZAbAjArAzAAAqcAN~jlMGsAQGg@Ad;AA򂵿A #{?AxA!A<*AG9?2Aֽ:ABAG9?JAֽRA٘i)I9Gg@Y G J<JJJJvD&K YXT~?yـcHAD77{7ʴ8)B[[[U~?[Fy[[[[BZYY i) عIiޏ@&8= ӡ8))ӡ8ӡ8}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031433.983165 s, next control iter: 1743031434.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031434.363165 s.H~,u>"#AJ"J*J2J:J?BJ?nJ5vJA3333D@Aq6D@ABU~? AA&"AA5hNA"AZAbAjArAzAAAm&]A{oh;LsAXg@ABX.<A^AڲA33?AvA<*A9?2A ׽:ABA9?JA ׽RAYO@y9.<ٓH\??xr q`?`?s?`ʅ?@:?)O@ I٘i)I9g@Y G J<JD<JJJD&KDx> Y[]T~?yHADj78)B[[[(U~?[[[[[BZYY i) ad:Ii̎@!6= @4))@4@4d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031434.383165 s, next control iter: 1743031434.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4933&, header.stamp.nsec: 0&0 temperature: 13.572147&* salinity: 33.374966&, density: 1025.000000&* values[0]: 0.569828&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031434.783165 s.YH~,"#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031434.783296F (some fields omitted in printout)AQE@A@E@AGU~? A)AY'&"AAQhNA"AZAbAjArAzAAAn,JQAӯ(QsA]h@A (0<AA?A¢?AqA0<*A9?2A-ֽ:ABA9?JA-ֽRAI٘i)I9]h@Yl G J]<JJJJD&K Y5bT~?y2)IAD77è8)BE[[[u[U~?[[[[[BZYY i) Ĥ:Ii@Y5= /))//s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031434.803165 s, next control iter: 1743031435.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031435.203165 s.H~, "#AJ"J*J2J:JBJnJvJAףp=E@A>$pE@AU~? A9Aԉ&"AA;hNA"AZAbAjArAzAAAQ<|>AVsAh@AU;AA걭A [?A@jAɁ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9h@Y G J<JJJJD&K YgT~?yޚIAD{7j7Jʨ8)B[[;A[nU~?[|[[[[BZYY i) 0;Ii5@ƾ4= r+))r+r+*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743031435.223165 s, next control iter: 1743031435.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031435.623165 s.XH~,a"#AA)\E@AհE@AU~? AFA~&"AAhNA"AZAbAjArAzAAA3UQ%AƂZsAkki@Av%FAA)A?AcaA-<*A9?2A~ֽ:ABA9?JA~ֽRA٘i)I9ki@YG J=<B=JJJJD&K YkT~?yIADb77uѨ8)B[[ ["U~?[<[[[[BZYY i) ,X;Ii@4= '))''*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031435.643165 s, next control iter: 1743031436.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4934 , header.stamp.nsec: 0 0 temperature: 13.571893 * salinity: 33.374992 , density: 1025.000000 * values[0]: 0.570454 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031436.043165 s.H~,##AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031436.043282F (some fields omitted in printout)J"J*J2J:JBJnJvJA{GaF@AD3GF@AU~? APAfO&"AAq hNA"AZAbAjArAzAAAǰ-Az/_sAi@AXA2rAA`?A UA<*Ai9?2A>Zֽ:A.xBAi9?JA>ZֽRA.x٘i)I9i@YbG J<C=JJJJD&K YpT~?y7SJAD777ب8-B)ޯBE[[յ[7U~?[[[[[BZYY i) ;;IiZ@%3= כ"))כ"כ"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031436.083165 s, next control iter: 1743031436.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031436.463165 s.ZH~,##AAF@AhXF@AU~? ATA&"AAhNA"AZAbAjArAzAAA܌Az%odsAuj@A7A3_AsA ?A)GAie<*A9?2Agֽ:A{IBA9?JAgֽRA{IY@쥿y\g7ٓH@FO?t?$~@M?K? T(?p?)@ I٘i)I9uj@YG Jy<JE<JJJD&Kx> YnxT~?yJA쥿D77ߨ8)گBE[[M[U~?[[[[[BZYY i<=) R;Ii@<2= 4))441*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031436.483165 s, next control iter: 1743031436.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4935, header.stamp.nsec: 00 temperature: 13.571627* salinity: 33.374973, density: 1025.000000* values[0]: 0.571080F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031436.883165 s.J "J *J 2J yH~:J2?BJ2?,D8##AnJL5vJAQ8G@Av1<G@ADU~? ATA3&"AAhNA"AZAbAjArAzAAA>Z+AfisATj@A߻AmA;`AN?AE6Aܘ<*A~9?2Aֽ:AֳBA~9?JAֽRAֳ٘i)I9j@YG J<JJJJD&K YT~?y, KADŧ778)֯B[[l[xU~?[\[[[[BZYY i) `;Ii@0= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031436.923165 s, next control iter: 1743031437.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031437.303165 s.[H~,gS##AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743031437.303286F (some fields omitted in printout)Aq= ףG@AbG@AoU~? AMA;z&"AAhNA"AZAbAjArAzAAAo(AhXnsAUpk@A6:AyNAA5?A l"A]<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9pk@YKG JC<JJJJD&K YT~?yũhKADZ7SI7 8)үB[[5[U~?[[[[[BZYY i) ;Ii0@/= w[))w[w[*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031437.323165 s, next control iter: 1743031437.703180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4936., header.stamp.nsec: 0.0 temperature: 13.571347.* salinity: 33.374977., density: 1025.000000.* values[0]: 0.571715.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031437.723165 s.H~,Hn##AJ"J*J2J:J[?BJ[?nJw5vJA(\H@A"^FG@A"U~? A?A&"AAi"hNA"AZAbAjArAzAAA ,HA.cssAk@A <AAA ?A@ Aᲆ<*A9?2A׽:A+BA9?JA׽RA+٘i)I9k@YG JW<JJJJD&K YgT~?y!ΩKAD{7{7K8)ίB[[[CU~?[[[[[BZYY i) ? elevatorAngleAction: 0.076288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031438.563296F (some fields omitted in printout)AffffH@A"mOH@A V~? A ЪA&"AA+2hNA"AZAbAjArAzAAAԮ5Am}sAl@A{<AMAӘA?A`A<*A9?2Alֽ:ABA9?JAlֽRAYDӛ@昿y<ٓH`v???|?:? m?%?)Dӛ@ I٘i)I9l@YG J<J-JJJD&Kx>  8YqT~? 8yީ}LA昿D77{78)ɯB[[[U~?[é[[[[BZYY i) " elevatorAngleAction: 0.076288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743031439.823331F (some fields omitted in printout)A\(J@AJJ@A`V~? AnA%"AAOhNA"AZAbAjArAzAAAIA@NsA.n@A9A?A0A@-?AxA͘<*Aw9?2AOֽ:AF BAw9?JAOֽRAF ٘i)I9.n@YG J<JJJJ D&K YT~?y`MA5D7!8)B E[[+ܡ[ V~?[֩[[[[BZYY i) |Q YT~?ybSNAދKD777v'81B)B#E[[-d[V~?[[[[[BZYY i) 1o elevatorAngleAction: 0.076288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200832 time: 1743031441.083361F (some fields omitted in printout)ARkK@A xQK@A27V~? AeA%"AAthNA"AZAbAjArAzAAAx(`@ Ai\SsAεo@A4;AA 6A@R?A Ah <*Aa9?2A׽:A BAa9?JA׽RA ٘i)I9o@YG J؛<B=JJJJ-D&K YT~?y5NAUD77.8)B[[ '[j V~?[V[[[[BZYY i) X  elevatorAngleAction: 0.085559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743031442.343257F (some fields omitted in printout)AHzL@A L@ATV~? AADe%"AA;hNA"AZAbAjArAzAAA_94y AfᵨsAGq@A;A֜AJhA?A vA+<*Aw9?2AAֽ:AH"BAw9?JAAֽRAH"٘i)I9Gq@YG J<JJJJMD&K Y U~?y&OAuD77!D8)B[[d[|9V~?[[[[[BZYY i) R YdU~?y.OPA}D{7j7LK83B)B*E[[o&[BV~?[[[[[BZYY i) Nʝv))>v>v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031443.203165 s, next control iter: 1743031443.583177 s, wait time: 0.380012 s.*U~?).`5 rAdjusting time to match Gazebo time: 1743031443.603165 s.J "J *J 2J :J N?BJ N?nJ v5vJ >49H~,̚$#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743031443.603277F (some fields omitted in printout)A= ףM@A FM@A(vV~? A*Aq%"AAhNA"AZAbAjArAzAAA2IAT\sAr@A6AТAsAR?ACAЇ<*A)9?2ACֽ:A>|BA)9?JACֽRA>|٘i)I9r@YG J<JJJJmD&K YQ:U~?y<%QADj7Z7Y85B)B.E[[[UV~?[z[[[[BZYY i) DA"YsA4t@A:ArAhA18?A bAM<*A9?2A=ֽ:Aw+BA9?JA=ֽRAw+٘i)I94t@YG J<JJJJD&K Y?YU~?ywKQAD77g86B)B1E[[[jV~?[[[[[BZYY i) 离7%#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031444.863296F (some fields omitted in printout)A33333O@AUOO@AV~? A?A%"AAC iNA"AZAbAjArAzAAAuЂײAu{?GsA4t@Ad<A`AqcA@% ?Ac#AlK<*A9?2A׽:AkBA9?JA׽RAkY@ӡcyd1<ٓH? ?ߔ)@-?}?@]y???)@ I٘i)I9t@YG J)<JoJJJD&K?x> YkU~?yLRnRAcD77{7"o87B)B2E[[φ[uV~?["[[[[BZYY i) *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031444.903165 s, next control iter: 1743031445.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031445.283165 s.4RTH~,R%#AJ"J*J2J:JBJnJvJAQO@AHO@AV~? AFAJ%"AAiiNA"AZAbAjArAzAAAENXjA+s{sAqu@A:<A1xA-^AK?AA\<*A9?2A׽:ABA9?JA׽RA٘i)I9qu@YbG J<JJJJD&K Y|U~?y!YRAD77Lv8)B5E[[[ԀV~?[ )[[[[BZYY i) = elevatorAngleAction: 0.085559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031446.123284F (some fields omitted in printout)A)\uP@Aͮ[P@AV~? A?TA%"AAGiNA"AZAbAjArAzAAAiFqA,:`sAv@AK&9A[вATA@is?A]Aց<*A9?2A=mֽ:ABA9?JA=mֽRA٘i)I9v@Y-G J><JJJJD&K YZU~?yfSADj7Z788B)B8E[[[V~?[ 5[[[[BZYY i) F U?)٨@ I٘i)I9%x@YG J<J\4JJJD&Kw> YU~?ysTAID78:B)yBBZYY i¸>}1)  = @D$))@D$@D$;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031447.423165 s, next control iter: 1743031447.783200 s, wait time: 0.360035 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4946&, header.stamp.nsec: 0&0 temperature: 13.568236&* salinity: 33.375034&, density: 1025.000000&* values[0]: 0.578682&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031447.803165 s.yA|H~J"J*J,g%#A2J:J$?BJ$?nJV5vJAq= #R@A%r R@AW~? A#nA%"AAEiNA"AZAbAjArAzAAAAоU~AsQsAKy@A}AdA4;?A {?A&7A =*A9?2Aֽ:ABA9?JAֽRA٘i)I9y@YG JU<JJJJD&K YU~?yPUADM8)mB[[m[oV~?[PL[[[[ZZZZBZYY i) ?@ ?@?`aԆ? ?)@ I٘i)I9|@YkG J<J9=JJJD&KWx> Y+V~?y\VA/!Db7{7Ͷ8=B)]BFE[[_[7V~?[#][[[[ZZZZBZYY i^) B)XBIE[[Z[-W~?[b[[[[ZZZZBZYY i) $OʿA1tsAP3}@AbFAA?,%A~?AğA%4<*A9?2A`ս:A<BA9?JA`սRA<٘i)I93}@YG JX<JJJJD&K YPWV~?yOWA6D77#ũ8)UBLE[[1V[W~?[h[[[[ZZZZBZYY i) 脃JJJ/D&Kt> YV~?yWAWD{7j7ک8@B)PBRE[[H[EW~?[w[[[[BZYY il) qJ[gW~?[な[[[[BZYY i) V'<A:x=AeA`Zn?A@?ݿAQ`=*A09?2AzԽ:As =BA09?JAzԽRAs =٘i)I9}@YMG JnJJJJOD&K YxV~?y1WAwDŧ7#8)VBZE[[79[AyW~?[ֆ[[[[BZYY i) ,?`?@@ޯ? ݿ%P?@q `115? ?)‰@ I٘i)I9|@YG JzJU=JJJdD&Kt> Y W~?y*ŪVA0D7{7x8)]B`E[[+0[2W~?[g[[[[BZYY iHm) ;Iid&@ < @"=))Ty@"=@"=ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031453.283165 s, next control iter: 1743031453.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 49522, header.stamp.nsec: 020 temperature: 13.5668332* salinity: 33.3750992, density: 1025.0000002* values[0]: 0.5812482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031453.683165 s.lH~,Rk'#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243974@ elevatorAngleAction: -0.057931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743031453.683256F (some fields omitted in printout)J"J*J2J:JBJnJvJAQX@A W@A X~? AƺA%"AA2kNA"AZAbAjArAzAAA?AN tAM|@A_Ae.=AyA`BG?AڿA咼*A9?2A{ֽ:A=BA9?JA{ֽRA=٘i)I9M|@YG JNJJJJoD&K  8Y +W~? 8yEɪ#VADj7j78)aB[[`+[W~?[ [[[[BZYY i) ?.;IiA"@f< z=)) z=z=ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031453.683165 s, next control iter: 1743031454.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743031454.103165 s.H~,'#AA= ףpX@AGVX@A*#X~? AQAE%"AASkNA"AZAbAjArAzAAAU\@Ah]tAZ{@A48Ay=Ag)A:?AٿAǠ*A9?2AԽ:Aӳ =BA9?JAԽRAӳ =٘i)I9{@Y@G JЙJJJJzD&K YDW~?y`ͪUAD77 8)eBcE[[ &[pW~?[[[[[BZYY i) 5;Ii@< @ >))@ >@ >֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031454.143165 s, next control iter: 1743031454.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031454.523165 s.H~,{'#AJ"J*J2J:JBJnJvJA(X@AX@A8X~? AëA!%"AAskNA"AZAbAjArAzAAA\ym@AHctA@{@AGA7?=A8پA?A14ٿA%-*A9?2A/Խ:A  =BA9?JA/ԽRA  =٘i)I9@{@YG JJJJJD&K Y]W~?yzѪaUAD{7{78EB)kBgE[[![W~?[[[[[BZYY i) ڎ;Ii,@< x>))x>x>ymbتY(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031454.563165 s, next control iter: 1743031454.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4953, header.stamp.nsec: 00 temperature: 13.566967* salinity: 33.375118, density: 1025.000000* values[0]: 0.580745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031454.943165 s.YdH~,F]'#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743031454.943288F (some fields omitted in printout)AzGY@AZ-Y@AOX~? AǫA=%"AA0kNA"AZAbAjArAzAAA@A2`tAz@A:Ax=AϾA`?A kؿA2*A9?2AԽ:Aɘ =BA9?JAԽRAɘ =٘i)I9z@YG J`JJJJD&K YvW~?yժUAD7777$8FB)pBjE[[7[BW~?[r[[[[BZYY i) a`;Ii=@< 1>))1>1>"تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031454.963165 s, next control iter: 1743031455.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031455.363165 s.H~,u>'#AJ"J*J2J:JBJnJvJA3333Y@AGY@AneX~? A!̫AF%"AAٶkNA"AZAbAjArAzAAAO@A!ntAz@A;A9=AžALM?AH׿A*A19?2A ս:A=BA19?JA սRA=Y@*ľy=@t;ٓHZ?@:?r^? ׿? TY Y.W~?yتTAľD{7N"8)uBmE[[c[W~?[[[[[BZYY i) /$;Ii@i< QD>))|wQD>QD>xժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031455.383165 s, next control iter: 1743031455.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4954&, header.stamp.nsec: 0&0 temperature: 13.567135&* salinity: 33.375122&, density: 1025.000000&* values[0]: 0.580158&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031455.783165 s.ZH~,'#AAQZ@AޮZ@A |X~? A ЫAj%"AAkNA"AZAbAjArAzAAAN, @AWtAzy@A2<A=AԺA@F?AֿA{*A9?2AGս:AG9=BA9?JAGսRAG9=٘i)I9zy@YG J4JJJJD&K Y[W~?y/ܪ0TADb77y)8)zB[[#[X~?[˪[[[[BZYY i) :IiT@v< W>))ÅW>W>ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031455.803165 s, next control iter: 1743031456.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031456.203165 s.H~, (#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261254@ elevatorAngleAction: -0.066764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743031456.203285F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=Z@A&pZ@AX~? AӫA%"AAekNA"AZAbAjArAzAAA* @A&tA7x@A%<Aw==AYA ?AտA*A :?2Aӽ:A)=BA :?JAӽRA)=٘i)I9x@YzG JJJJJD&K YW~?y|ߪSAD08)BpE[[W6[a%X~?[֮[[[[BZYY i) /:Iiz @< fk>)) fk>fk>C˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031456.223165 s, next control iter: 1743031456.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031456.623165 s.Z H~,i'(#AA)\Z@AѩZ@AX~? A׫A`%"AADlNA"AZAbAjArAzAAA(8@%@A(PtA+Ox@A%;A=AKA?A}#տA#*Ai:?2AoԽ:As<BAi:?JAoԽRAs<٘i)I9Ox@Y!G JݭJJJJD&K YW~?y`SAD78GB)BsE[[F [4:X~?[Dz[[[[BZYY i) ^Ii@-< #>))#>#>ĪYօYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031456.643165 s, next control iter: 1743031457.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4955 , header.stamp.nsec: 0 0 temperature: 13.567322 * salinity: 33.375118 , density: 1025.000000 * values[0]: 0.579499 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031457.043165 s.H~,B(#AJ"J*J2J:JBJnJvJA{Ga[@AY.G[@AwX~? AB۫Af%"AAAlNA"AZAbAjArAzAAAl;)$.@Am" tAkw@AύADZ=A6A/4?AmLԿA*A:?2Aս:A,<BA:?JAսRA,<٘i)I9w@YG JˢJJJJD&K YW~?yRAD>8)BvE[[O[fOX~?[[[[[BZYY i) *?Ii@;< >))>>yHYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031457.063165 s, next control iter: 1743031457.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031457.463165 s.XH~,](#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031457.463299F (some fields omitted in printout)A[@A!?[@AX~? AޫA%"AAelNA"AZAbAjArAzAAA`LjL@A3"9"tAEw@A(A=Ag.Ag?A (qӿA*A:?2Aս:A<BA:?JAսRA YX~?yRAD{7{7$F8)ByE[[[dX~?[K[[[[BZYY i)  Ii?@(< )S>))Pu)S>)S>BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031457.483165 s, next control iter: 1743031457.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4956, header.stamp.nsec: 00 temperature: 13.567468* salinity: 33.375145, density: 1025.000000* values[0]: 0.578926F (some fields omitted in printout)>X~?)> rAdjusting time to match Gazebo time: 1743031457.883165 s.yH~,Dx(#AJ"J*J2J:J4?BJ4?nJg5vJAQ8\@AȒ9\@AX~? AAz%"AAlNA"AZAbAjArAzAAArHVm@A)8$tA\v@A/2A/=AAۘ?A_ҿAr*A:?2A2ս:A<BA:?JA2սRA<٘i)I9v@Y5G J鑼JJJJD&K Y/X~?y@RAD77OM8)B[[-[2zX~?[޽[[[[BZYY i) HIi?d< :>))c:>:>yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031457.903165 s, next control iter: 1743031458.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031458.303165 s.l$H~,g(#AAq= ף\@A!#‰\@AY~? AAT%"AAGlNA"AZAbAjArAzAAA(@AR &tASv@A:A'=AyA?AѿAԍ*A.:?2A}Խ:A<BA.:?JA}ԽRA<٘i)I9Sv@YG JXJJJJD&K Y9JX~?yQA D77j7zT8HB)B|E[[=[0X~?[W[[[[BZYY i) hIi?u< y6>)) y6>y6>ķYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031458.323165 s, next control iter: 1743031458.703197 s, wait time: 0.380032 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4957., header.stamp.nsec: 0.0 temperature: 13.567593.* salinity: 33.375160., density: 1025.000000.* values[0]: 0.578430.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031458.723165 s. +H~,H(#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743031458.723304F (some fields omitted in printout)A(\]@A3iS\@A.!Y~? A AF%"AAlNA"AZAbAjArAzAAA݄!@A9'tAu@AЋ;Aj=AeA@?A`пA э*A0:?2AԽ:AW<BA0:?JAԽRAW<٘i)I9u@YG J~B=JJJJD&K Y[eX~?yQAD7b7[8)BE[[[X~?[Ī[[[[BZYY i<) Ii?< D>))D>D>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031458.743165 s, next control iter: 1743031459.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031459.143165 s.T/2H~,)(#AAGz]@A`]@A9Y~? AAx%"AAlNA"AZAbAjArAzAAAx@,@A()tAeu@AR<AE=A^QA@ ?A ϿAY*A/:?2A\Խ:A=9<BA/:?JA\ԽRA=9<٘i)I9eu@Y[G JˍC=JJJJD&K YtX~?yp-QA"D7{7b8JB)BE[[־[=X~?[Ǫ[[[[BZYY i) Ii?< _>))_>_>ᴪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031459.163165 s, next control iter: 1743031459.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031459.563165 s.8H~,[ (#AJ"J*J2J:J?BJ?nJ65vJAffff]@A7/N]@A5RY~? AA%"AAmNA"AZAbAjArAzAAA~ @A4L+tAJt@A>8<A =Ae=A IG?A.οA*A*:?2APԽ:A<<BA*:?JAPԽRA< Y;X~?y PA<-D{7j7i8)BE[[ſ̾[X~?[˪[[[[BZYY i) %Ii?4< _>))t_>_>iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031459.583165 s, next control iter: 1743031459.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4958, header.stamp.nsec: 00 temperature: 13.567704* salinity: 33.375156, density: 1025.000000* values[0]: 0.577976F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031459.983165 s.?H~,(#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239237@ elevatorAngleAction: -0.075558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031459.983286F (some fields omitted in printout)AQ^@A7^@AjY~? AAw%"AA@AmNA"AZAbAjArAzAAAB5@Akg,tA}t@A,];A=A^N(Al?A`8b̿Aߓ*A9$:?2Anս:A<BA9$:?JAnսRA<٘i)I9}t@YG JIJJJJD&K YX~?y}PA8D77$q8)BE[[}¾[X~?[ͪ[[[[BZYY i) DIiW?V< 9v>))k9v>9v>yWYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031460.003165 s, next control iter: 1743031460.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031460.403165 s.&FH~,)#AJ"J*J2J:JBJnJvJA ףp^@AV^@AY~? AoAG%"AAfmNA"AZAbAjArAzAAA٫Id@AƢG.tAt@ALϹAl2=AyA#?A?}ʿA'*A<:?2AԽ:A`<BA<:?JAԽRA`<٘i)I9t@YG J JJJJD&K YX~?yG%PACD{7{7Ox8)BE[[m[NY~?[Ъ[[[[BZYY i) (Iig?_B< I>)) I>I>YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031460.423165 s, next control iter: 1743031460.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4959, header.stamp.nsec: 00 temperature: 13.567795* salinity: 33.375183, density: 1025.000000* values[0]: 0.577510F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031460.823165 s.LH~,%4)#AA\(_@A?_@AY~? AA%"AAЌmNA"AZAbAjArAzAAAзߐ@ASL/tA@s@AAe=A A ?A =ȿAU*Ap;:?2A|nԽ:A=BAp;:?JA|nԽRA=٘i)I9s@YGG JJJJJ&D&K YX~?yOAMDŧ7b7z8)B[[A[ Y~?[~Ӫ[[[[BZYY i) eIiN?nw< >))>>QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031460.843165 s, next control iter: 1743031461.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031461.243165 s.SH~,O)#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031461.243299F (some fields omitted in printout)AGz_@ApUjz_@A9Y~? AAS%"AAmNA"AZAbAjArAzAAAay@A50tAf2s@Ad%9A=AovԽAO?A`ƿAT4*A5:?2AԽ:A)=BA5:?JAԽRA)=٘i)I92s@YG JJJJJ1D&K YZ Y~?yuOAXD8)BE[[[2Y~?[֪[[[[BZYY i) [/Ii?koo< +>))+>+>YQ YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031461.263165 s, next control iter: 1743031461.643181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031461.663165 s.ZH~,qj)#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4960, header.stamp.nsec: 00 temperature: 13.567899* salinity: 33.375206, density: 1025.000000* values[0]: 0.577067F (some fields omitted in printout)A`@A _@AY~? AA%"AA=mNA"AZAbAjArAzAAAG@Aa3 2tAr@AV A=AW~A?AſAu*A/:?2A*@ս:A=BA/:?JA*@սRA=YY@CyR=ٓH@?-i?`?B?Ag? <@A?)Y@ I٘i)I9r@YG J5J@<JJJ;D&Ks> Y~'Y~?y?OAcDj7Z7Ѝ8)BE[[ř[JY~?[uت[[[[BZYY i) >Iir?"c< Z>))tZ>Z>ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031461.683165 s, next control iter: 1743031462.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031462.083165 s.DaH~, S)#AJ"J*J2J:J?BJ?nJ5vJARk`@A8jQ`@A Y~? ATA%"AAmNA"AZAbAjArAzAAA6(.@AZz3tAKr@AQ A=A肽A ?ACÿA*Ao):?2AIhս:A̜=BAo):?JAIhսRA̜=٘i)I9Kr@YwG JJJJJFD&K YCY~?yNAnDb778)BE[[y[ZbY~?[ڪ[[[[BZYY i) !3NIi?)W< P?))P?P?(ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031462.123165 s, next control iter: 1743031462.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031462.503165 s.gH~,&4)#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259098@ elevatorAngleAction: -0.075558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743031462.503253F (some fields omitted in printout)Ap= `@A$0`@AZ~? AAf%"AAg&nNA"AZAbAjArAzAAA0Y1d@AѬ4tAq@A;AR=A6AY!?A@+ZAh혼*A2B:?2A݁ӽ:Aj =BA2B:?JA݁ӽRAj =٘i)I9q@Y+G JJJJJQD&K Y_Y~?yYNAxD77%8)BE[[A$[zY~?[ܪ[[[[BZYY i) ]Ii?yM< }?)) }?}? ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031462.523165 s, next control iter: 1743031462.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4961, header.stamp.nsec: 00 temperature: 13.567978* salinity: 33.375221, density: 1025.000000* values[0]: 0.576638F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031462.923165 s.9nH~,)#AJ"J*J2J:J?BJ?nJ5vJA(\Ba@A*5{(a@AJZ~? ASAh%"AA YQY~?y5MA)<D{7j78)ȯBE[[èK[BY~?[T[[[[BZYY i) zʅIi?0< %?))u%?%?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031463.783165 s, next control iter: 1743031464.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031464.183165 s.˂H~, *#AAQb@A~;kb@AiZ~? AA #%"AA|nNA"AZAbAjArAzAAA32$"@Az)6tAo@A𡚻Aq=A=Ae?A\AԜ*A):?2AJս:A}=BA):?JAJսRA}=٘i)I9o@YG JC=JJJJ|D&K YY~?yLADb77и8IB)̯BE[[6[Y~?[[[[[BZYY i) xXIi6?d%< a?))a?a?yժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031464.223165 s, next control iter: 1743031464.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031464.603165 s.:4H~,&*#AJ"J*J2J:JX?BJX?nJ5vJA= ףb@Ab@AZ~? AkA#%"AAnNA"AZAbAjArAzAAAŏh"@A"ul7tA/o@A|v*A=A h=Ar?AA *A>:?2A\\Խ:A=BA>:?JA\\ԽRA=٘i)I9/o@YG JxJJJJD&K YY~?yhLAD7778)ЯB[[Ӝ![UY~?[3[[[[BZYY i) 唼Iir?\<  ?))  ? ?!ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031464.623165 s, next control iter: 1743031465.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4963 , header.stamp.nsec: 0 0 temperature: 13.568229 * salinity: 33.375233 , density: 1025.000000 * values[0]: 0.575570 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031465.023165 s.ZH~, |A*#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743031465.023287F (some fields omitted in printout)A(\c@A\;QBc@AZ~? AAk%"AA'oNA"AZAbAjArAzAAA=3_#@AԱD7tA\n@A-A=A]=AM{?A Anj*A8:?2AgԽ:A=BA8:?JAgԽRA=٘i)I9n@Y>G J'JJJJD&K Y Z~?yLADj7SI7%Ǫ8)ԯBE[[#Y [LZ~?[g[[[[BZYY i) sIid?r< %?))%?%?mުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031465.043165 s, next control iter: 1743031465.423189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743031465.443165 s.?ÖH~,_]\*#AJ"J*J2J:JBJnJvJAzc@A(c|c@AǷZ~? A|A%"AA8oNA"AZAbAjArAzAAALͮ#@Aݺah8tAn@AgA:=A n=A?AnPAw*A00:?2AԽ:A"=BA00:?JAԽRA"=٘i)I9n@YG JūJJJJD&K Y<%Z~?yKADb77PΪ8)دBE[[[-Z~?[q[[[[BZYY i) IiX? < `S+?))`S+?`S+?YbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031465.463165 s, next control iter: 1743031465.843184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4964, header.stamp.nsec: 00 temperature: 13.568374* salinity: 33.375252, density: 1025.000000* values[0]: 0.575013F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031465.863165 s.+H~,>w*#AA33333d@Aapd@AZ~? AA<%"AA `oNA"AZAbAjArAzAAA $@A}A8tAu|m@AF;AR=Az=A f?A@&ғA*A':?2AXԽ:A"=BA':?JAXԽRA"=Y@l=yQ=[F;ٓH ?~?9u?`i?}z?*`h?O?)@ I٘i)I9|m@YG JyJ<JJJD&Ks> YEAZ~?y)KA=Dŧ7b7{ժ8)ݯBE[[6ý[zGZ~?[M[[[[BZYY i) ZIiE?a6; 0?))[v0?0?DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031465.903165 s, next control iter: 1743031466.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031466.283165 s.3RH~,*#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241147@ elevatorAngleAction: -0.084510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743031466.283254F (some fields omitted in printout)J"J*J2J:JBJnJvJAQd@A~d@AZ~? AA%"AAoNA"AZAbAjArAzAAA9%@Aa#W8tAal@AF<A=A >Ax?AƅsA޳*A8:?2A%ս:A=BA8:?JA%սRA=٘i)I9l@Y)G JeJJJJD&K YL]Z~?yJAD77ܪ8HB)BE[[vߘ[aZ~?[[[[[BZYY i) @Ii4?7T; 5?))؅5?5?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031466.303165 s, next control iter: 1743031466.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4965., header.stamp.nsec: 0.0 temperature: 13.568519.* salinity: 33.375271., density: 1025.000000.* values[0]: 0.574379.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031466.703165 s.ӺH~,*#AAףp= e@A0g+d@A[~? AA%"AAoNA"AZAbAjArAzAAA)%@AզR8tAG8l@A7<A=A>A?A?AYǼ*Au3:?2A ӽ:A(=BAu3:?JA ӽRA(=I٘i)I98l@YG JļJJJJD&K YUyZ~?y{GJADb78)BE[[̣[[@|Z~?[[[[[BZYY i) ; Iib%?ر; U;?)) U;?U;?"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031466.723165 s, next control iter: 1743031467.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031467.123165 s.J "J *J >H~2J:J?,z*#ABJ?nJ5vJA)\ue@AfG[e@A [~? AA%"AAoNA"AZAbAjArAzAAA1xp 'u&@Am48tAk@Ag;Aݮ=Am3>A&?A„?Amɼ*A,:?2AhԽ:AN=BA,:?JAhԽRAN=٘i)I9k@Y^G JȼJJJJD&K Y\Z~?ywIAD)7ŧ78NB)BE[[l[Z~?[[[[[BZYY i) DdIi?4Y; @?))@?@?HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031467.163165 s, next control iter: 1743031467.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031467.543165 s.IH~,*#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031467.543294F (some fields omitted in printout)A{Ge@AV/e@A:[~? AZA%"AA oNA"AZAbAjArAzAAA m$'@ATa7tAj@A3Aa=A+H>AB}?A@F?Aʼ*A%:?2A0ս:A =BA%:?JA0սRA =٘i)I9j@YG JrʼJJJJD&K YbZ~?ysfIAD{7{7&8)BE[[6[Z~?[[[[[BZYY i) ȼIi ?N; 4F?))4F?4F?]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031467.583165 s, next control iter: 1743031467.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4966, header.stamp.nsec: 00 temperature: 13.568711* salinity: 33.375282, density: 1025.000000* values[0]: 0.573701F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031467.963165 s.wH~,*#AJ"J*J2J:JBJnJvJALf@AMۿ2f@AT[~? AA%"AA%pNA"AZAbAjArAzAAA7{eհ'@AEGí7tA;j@AiAͱ=A'^>A`t?Arݫ?AL˼*AT:?2Aս:A=BAT:?JAսRA=Y@yi]>y7̱=D ٓH@#?˿ 8? [???dm?b2@?)@ I٘i)I9;j@YG JʼJ4<JJJD&K u> YZ~?yHAi]>D7777P8)B[[у"<[Z~?[[[[[BZYY i) ϼIiK>&; K?))CxK?K?NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031468.003165 s, next control iter: 1743031468.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031468.383165 s.H~,/+#AAQf@A!<8f@An[~? A)Ap%"AALpNA"AZAbAjArAzAAA#[`SN(@AYED7tAui@A8A,=AkJs>Ai?A?A ͼ*A:?2A&?ֽ:A-=BA:?JA&?ֽRA-=٘i)I9i@Y&G JM̼JJJJD&K  8Y{Z~? 8ywHADj7Z7{8MB)BE[[o<[hZ~?[[[[[BZYY i) Y,׼Ii>a; Z Q?)) Z Q?Z Q?.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031468.403165 s, next control iter: 1743031468.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4967", header.stamp.nsec: 0"0 temperature: 13.568906"* salinity: 33.375298", density: 1025.000000"* values[0]: 0.572979"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031468.803165 s.uAH~,sg3+#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031468.803283F (some fields omitted in printout)Aq= #g@AP g@A[~? AQA*%"AA:tpNA"AZAbAjArAzAAAddZ(@AO46tAh@A%A>i=A͹>A@]?A@䢵?A}Ҽ*Av):?2AԽ:A1=BAv):?JAԽRA1=٘i)I9h@Y G JϼB=JJJJD&K Y [~?yHAD{7{78)BE[[4W=[|[~?[[[[[BZYY i) d޼Ii;>f; ~V?))~V?~V?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031468.823165 s, next control iter: 1743031469.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031469.223165 s.gH~,HN+#AA(\g@A$@Mug@Aܡ[~? APA (%"AAzpNA"AZAbAjArAzAAALjZ)@AS'/L#6tA.h@A^|Aeg=Ad>AN?A??A?ؼ*A":?2AԽ:A=BA":?JAԽRA=٘i)I9.h@YO G JռC=JJJJD&K Y[~?yGA$Db778LB) B¹E[[:=[[~?[[[[[ZZ¸BZYY i¸z=) WeҼIi$>]ME; B\?))B\?B\?BY}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031469.243165 s, next control iter: 1743031469.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031469.643165 s.uH~,*i+#AJ"J*J2J:JBJnJvJAGg@AUJg@A[~? A'A<%"AApNA"AZAbAjArAzAAABn$*@Am5tA=vg@A@;A =A,>A(; a?))a?a?*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4968, header.stamp.nsec: 00 temperature: 13.569112* salinity: 33.375309, density: 1025.000000* values[0]: 0.572271F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743031469.663165 s, next control iter: 1743031470.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031470.063165 s.H~,g +#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083287< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743031470.063309F (some fields omitted in printout)Afffffh@A1"QLh@A\[~? AAT%"AApNA"AZAbAjArAzAAAP*@Ay4tAf@A 6<Ap=Ai>A%?A I?A*Ao#:?2A5ս:A<BAo#:?JA5սRAy=q/7<ٓH 2L?`;ӿ`늵??@ YU[~?yFFA5>9D{7{7'8)BǹE[[*=[T[~?[b[[[[ZZBZYY i) sIi?>:  g?))P{ g? g?WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031470.103165 s, next control iter: 1743031470.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031470.483165 s.t_H~,+#AJ"J*J2J:JBJnJvJAh@AԷh@A[~? A\Ap%"AAqNA"AZAbAjArAzAAAN|[+@A!?3tA]e@A<AK=A<>A ?A$?A*A,:?2Aս:Ah0<BA,:?JAսRAh0<٘i)I9e@Y G JJJJJE&K Yp[~?y'FADDb7b7Q$8HB)BʹE[[My>[Mo[~?[J[[[[ZZBZYY i) fIic=r: .l?)) .l?.l?y=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031470.523165 s, next control iter: 1743031470.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4969, header.stamp.nsec: 00 temperature: 13.569367* salinity: 33.375313, density: 1025.000000* values[0]: 0.571437F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031470.903165 s.H~,͹+#AA ףp=i@A[#i@Ax\~? AAc%"AAF7qNA"AZAbAjArAzAAA3+@AB2tAd@A;Adq=Ar>A?AU?A*AG:?2AԽ:Ab<BAG:?JAԽRAb<٘i)I9d@YU G J>JJJJE&K Y[~?yEAOD777|+8)!B[[$>[[~?[[[[[ZZBZYY i) 莢Ii=j85: ZGr?))ZGr?ZGr?hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031470.923165 s, next control iter: 1743031471.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031471.323165 s.J "J *J 2J yH~:J(?BJ(?,2+#AnJB5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083287< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031471.323281F (some fields omitted in printout)A\i@AWvi@A!\~? AAӯ%"AA]qNA"AZAbAjArAzAAA0wy,@AǸ1tAU1d@AʻAo,=A`>A@u?A@?A̼*A"J:?2A;ս:A1ʧ;BA"J:?JA;սRA1ʧ;٘i)I91d@Y G JJJJJE&K Y^[~?y >EAYD77{728)&B͹E[[i;>[ [~?[[[[[ZZBZYY i) Ii<;WZ9 Jw?))Jw?Jw?rY&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031471.343165 s, next control iter: 1743031471.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4970*, header.stamp.nsec: 0*0 temperature: 13.569624** salinity: 33.375340*, density: 1025.000000** values[0]: 0.570505*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031471.743165 s.WH~,u+#AAGzj@Aci@A&;\~? AAP%"AAGqNA"AZAbAjArAzAAA~])-@Aމn0tA5c@A_AAF<Ah>AP?AH?A*AG:?2A]ս:AGBAG:?JA]սRAG٘i)I9c@Y G J@JJJJE&K Y-[~?yPDA DdDb7798GB)*BйE[[ER>[[~?[[[[[ZZBZYY i) FII?i)DhS n}?))n}?n}?|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031471.763165 s, next control iter: 1743031472.143177 s, wait time: 0.380012 s"-[~?)"P rAdjusting time to match Gazebo time: 1743031472.163165 s.}H~,q ,#AJ"J*J2J:J?BJ?nJ5vJAj@Aej@ANT\~? AA%"AAqNA"AZAbAjArAzAAA:a-@A#/tAc@A+=A <Aӽ>AX?Aഅ?Asx*AC?:?2Aרս:Ast(BAC?:?JAרսRAst(YJ>>y: <,=ٓH@?Wٿ*h?`? ??@?1`?`*?)J> I٘i)I9c@Y5 G JʓJ:JJJ$E&K!u> Y[~?yݪDA>oD)7ŧ7@8FB)-BӹE[[h>[[~?[ߪ[[[[ZZBZYY i#=) @ӀI`I?iвd r?))6r?r?}TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031472.183165 s, next control iter: 1743031472.563187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743031472.583165 s.H~,S%,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249230> elevatorAngleAction: 0.064521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743031472.583329F (some fields omitted in printout)ARj@Alj@ARm\~? AA&%"AAqNA"AZAbAjArAzAAA\Z.@A[-E-tA»b@A贻AUAm$>Ap?A@Z?Aq-*A3:?2Aֽ:AzBA3:?JAֽRAz٘i)I9b@Y G JbYJJJJ)E&K Y[~?y(ڪDAzD77'H8EB)/BֹE[[-f>[[~?[ݪ[[[[ZZBZYY i-F=) mIZ I?i B?)) B?B? )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031472.623165 s, next control iter: 1743031472.983184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4971, header.stamp.nsec: 00 temperature: 13.569771* salinity: 33.375336, density: 1025.000000* values[0]: 0.569903F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031473.003165 s.| H~,]4@,#AJ"J*J2J:J?BJ?nJ5vJAp= Wk@A[wA@\?A ;?A}N*A=:?2AIս:AvmBA=:?JAIսRAvm٘i)I9b@Y G J JJJJ/E&K Y\~?y֪DAD)7ŧ7RO8)1B[[7)>[X\~?[۪[[[[ZZBZYY i) gJZI I?ihL  ?)) ? ?0)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031473.023165 s, next control iter: 1743031473.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031473.423165 s.uH~,[,#AA(\k@Ax N}k@A\~? AA'%"AArNA"AZAbAjArAzAAAEی/@A(@*tAgb@A܃!<AA>AR6?A)?A*A3:?2Aս:A6ʼBA3:?JAսRA6ʼ٘i)I9gb@Y G J5xJJJJ4E&K Y(\~?yҪDAD}V8DB)ٹE[[>[.\~?[&٪[[[[BZYY i) FI=I?i|zO ߉?))߉?߉?y,=6*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031473.443165 s, next control iter: 1743031473.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4972, header.stamp.nsec: 00 temperature: 13.569798* salinity: 33.375362, density: 1025.000000* values[0]: 0.569672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031473.843165 s.J "J *J 2J :J ?BJ ?nJ 5vJ H~, elevatorAngleAction: 0.074841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743031473.843291F (some fields omitted in printout)AHz.l@Al@Al\~? AA%"AAAArNA"AZAbAjArAzAAAo 0@A&)tAjb@A6<AL4A9>AW ?A`d?AO7;*A7):?2Aս:ABA7):?JAսRA漙٘i)I9jb@Y G Jq9JJJJ9E&K YB\~?ykϪDADŧ77]8AB)-B۹E[[M>[J\~?[v֪[[[[BZYY i) l2I[I?il08 "?))"?"?r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031473.863165 s, next control iter: 1743031474.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031474.263165 s.$H~,ؐ,#AAl@Avl@A\~? AA%"AAPfrNA"AZAbAjArAzAAAuJTW0@Aq=0A'tAb@A;A[AJ?A@?AQE?A;*A]:?2Aֽ:AaBA]:?JAֽRAaYf">ש?y[;ٓH@>?8߿(? ?h @`?s3z? ?)f"> I٘i)I9b@Y G J;JJJJ?E&Ku> Y'[\~?y˪DA?D77d8@B)+B޹E[[ȭ>[d\~?[Ӫ[[[[BZYY ig=) "IH?i۰`b ?))8[??ړ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031474.303165 s, next control iter: 1743031474.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4973., header.stamp.nsec: 0.0 temperature: 13.569650.* salinity: 33.375381., density: 1025.000000.* values[0]: 0.569786.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031474.683165 s.l*H~,k,#AJ"J*J2J:J?BJ?nJ5vJAQm@Ahxl@A\~? AA)%"AArNA"AZAbAjArAzAAA éà0@AVAe%tAb@Ak7AP{A ?A@?A #?A#03<*At:?2Aս:At BAt:?JAսRAt ٘i)I9b@Y G J<JJJJDE&K Ys\~?yƪ"EADk8?B))BE[[\>[\~?[Ъ[[[[BZYY i) YeIH?i};ƒ O?)) O?O?*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031474.683165 s, next control iter: 1743031475.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743031475.103165 s."1H~,ݚ,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056594< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031475.103296F (some fields omitted in printout)A= ףpm@AM~Vm@A\~? AAZf%"AArNA"AZAbAjArAzAAAߢc0@Ar#tAcc@AAz㉽AW?A?A@?A*t<*A:?2ASս:AʀBA:?JASսRAʀ٘i)I9c@Y: G JIR<JJJJIE&K YF\~?yRªlEAD77's8)&B[[S>[\~?[Fͪ[[[[BZYY iC=) 6IH?iH澉a e'?))e'?e'?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031475.123165 s, next control iter: 1743031475.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031475.523165 s.7H~,|,#AJ"J*J2J:JBJnJvJA(m@Aqnm@A]~? A\ݫA%"AArNA"AZAbAjArAzAAAO`11@AaOh!tAc@A~CAzđA?AR?A@c?A <*AP :?2Ay[ս:ABAP :?JAy[սRA٘i)I9c@Y G J<JJJJOE&K Y֤\~?yEAD7777Rz8>B)!BE[[>[;\~?[ɪ[[[[BZYY i) I$H?i.\ ?))??yd%h=*Y $YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031475.543165 s, next control iter: 1743031475.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4974, header.stamp.nsec: 00 temperature: 13.569386* salinity: 33.375393, density: 1025.000000* values[0]: 0.570208F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031475.943165 s.\d>H~,S],#AAzGn@A *-n@A'/]~? A٫A%"AArNA"AZAbAjArAzAAAK>x1@A&GtARd@AA#A9?A?A&?ALD<*A:?2A{ս:ABA:?JA{սRA٘i)I9d@Y G Jޖ<JJJJTE&K Yg\~?yEAD77}8=B)BE[['>[\~?[ƪ[[[[BZYY i) %ûIH?i b?))b?b?y= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031475.983165 s, next control iter: 1743031476.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031476.363165 s.J "J *J 2J :J ?BJ ?nJ &5vJ EH~,>-#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743031476.363309F (some fields omitted in printout)A3333n@A#J n@ArF]~? A<֫A-%"AA sNA"AZAbAjArAzAAAEKN1@AttAДd@ArҹAAH?A ?AJ?A(<*AZ:?2A`ֽ:ABAZ:?JA`ֽRAY>>D?y3XӹٓH`?`zk @? ?' -9?@W:?)>> I٘i)I9d@Y G J<JJSJJJZE&Kw> Yc\~?yzfFA?DZ7Z78[\~?[>ª[[[[BZYY i) /IH?i5 ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031476.403165 s, next control iter: 1743031476.763183 s, wait time: 0.360018 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4975", header.stamp.nsec: 0"0 temperature: 13.569039"* salinity: 33.375412", density: 1025.000000"* values[0]: 0.570878"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031476.783165 s.]KH~,2-#AAQo@Aϻo@A}]]~? AtҫACv%"AA,>sNA"AZAbAjArAzAAA,2@AdgtAe@A<;A߱A#?AǬ?A@:o?A<*A:?2A9ֽ:A BA:?JA9ֽRA ٘i)I9e@Yr G Ji<JJJJ_E&K Y_\~?y^FAD77j7ҏ89B)BE[[>[]~?[-[[[[BZYY i) h؆I/H?if"ϻ f?))f?f?*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031476.803165 s, next control iter: 1743031477.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031477.203165 s.SH~J,XM-#A"J*J2J:J=?BJ=?nJX5vJAףp=o@At//po@AHt]~? AΫAn%"AA`sNA"AZAbAjArAzAAA{DJ2@AZtAhe@AH@<A_AF)?Ap?A \F?A<*A!:?2A׽:Av BA!:?JA׽RAv ٘i)I9e@Y G J<B=JJJJdE&K Y]]~?yA5GAD77788B) BE[[>[]~?[幪[[[[BZYY i) [QIH?i-@޻ i?))i?i?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031477.223165 s, next control iter: 1743031477.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031477.623165 s.WYH~,]g-#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743031477.623262F (some fields omitted in printout)A)\o@A-|}o@AΊ]~? AtʫAk%"AAFsNA"AZAbAjArAzAAA2@A>z[tA=f@A}<AF&Au.?A@2?A`?A(<*Ac:?2A]ֽ:ANBAc:?JA]ֽRAN٘i)I9=f@Y G Jث<C=JJJJjE&K YY]~?y%GAD77(87B)BE[[]?[k7]~?[g[[[[BZYY i)  IH?i6 i?))i?i?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031477.643165 s, next control iter: 1743031478.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4976 , header.stamp.nsec: 0 0 temperature: 13.568659 * salinity: 33.375412 , density: 1025.000000 * values[0]: 0.571614 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031478.043165 s.J "J *J 2J :J U?BJ U?nJ q5vJ `H~,Â-#AA{Gap@AY.Gp@A]~? A>ƫA+`%"AA:sNA"AZAbAjArAzAAA 2@Ao"LtAf@A08;A2Al3?Ar?A?A&<*A:?2Aֽ:ABA:?JAֽRA٘i)I9f@Yz G JY<JJJJoE&K YT0]~?yHAEb7S85B)BE[[E ?[P]~?[[[[[BZYY i) |I˵H?i&>d Y?))Y?Y?o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031478.063165 s, next control iter: 1743031478.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031478.463165 s.YgH~,-#AAp@Agp@A ]~? AA%"AAsNA"AZAbAjArAzAAA'Ъ3@A#бItAfg@AŻA%\A͛8?A ?A?A4r<*A,:?2Aֽ:ABA,:?JAֽRAY?a8?yo[~ŻٓH?` ˮ;??` &?x ?)? I٘i)I9fg@Y G Jj<J/:JJJtE&Kx> YE]~?y8jHA8?ESI7Z7}8)B[[?[i]~?[۫[[[[BZYY i) pIҪH?iLP ;?));?;?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031478.483165 s, next control iter: 1743031478.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4977, header.stamp.nsec: 00 temperature: 13.568274* salinity: 33.375416, density: 1025.000000* values[0]: 0.572387F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031478.883165 s.ymH~,/-#AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799:J> elevatorAngleAction: 0.065951BJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500nJ dt: 0.420023vJ2 time: 1743031478.883295F (some fields omitted in printout)AQ8q@A ;q@A]~? AgA %"AAsNA"AZAbAjArAzAAAlV3@A>s tAg@A8AA=?A@~n?A?A <*A:?2Aֽ:ABA:?JAֽRA٘i)I9g@Y1 G J<JJJJzE&K YZ]~?ygHA Ej7SI784B)BE[[E?[|]~?[˦[[[[BZYY i)  :I4H?iXM  %?)) %? %?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031478.903165 s, next control iter: 1743031479.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031479.303165 s.VtH~,wg-#AAq= ףq@Abq@A]~? AȸAb%"AAtNA"AZAbAjArAzAAAOG3@A tAh@Ao-A;A|B?A@(?A I?A<*A :?2Aмֽ:ABA :?JAмֽRA٘i)I9h@Y G Jp<JJJJE&K Yo]~?y8IAE7777Ӻ81B)BE[[?[]~?[[[[[BZYY i) :I H?ib ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031479.323165 s, next control iter: 1743031479.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4978., header.stamp.nsec: 0.0 temperature: 13.567892.* salinity: 33.375454., density: 1025.000000.* values[0]: 0.573175.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031479.723165 s.{H~,H-#AJ"J*J2J:JBJnJvJA(\r@AnEq@A4]~? AA%"AA(tNA"AZAbAjArAzAAAw33@AzL-tA%#i@AA^ASH?A@?A@?Af<*AI :?2A ׽:A?BAI :?JA ׽RA?٘i)I9#i@Y G J<JJJJE&K Y]~?yƈIAE7780B)BE[[#?[']~?[ [[[[BZYY i) ;IwH?ij r ?))r ?r ?7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031479.763165 s, next control iter: 1743031480.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031480.143165 s.c/H~,=* .#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031480.143288F (some fields omitted in printout)AGzr@AL`r@A ^~? A"A6%"AA{HtNA"AZAbAjArAzAAAgy'4@Av~1tA"i@Aߋ;AMA(M?A ?A5?Aß<*A3 :?2AV׽:ABA3 :?JAV׽RA٘i)I9i@Y8G J?<JJJJE&K YR]~?yJAE77{7)ɫ8/B)BE[[Z)?[]~?[[[[[[BZYY i) $U;IyH?ipΜ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031480.163165 s, next control iter: 1743031480.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031480.563165 s.H~,k $.#AJ"J*J2J:J?BJ?nJ5vJAffffr@A6Wr@Ah ^~? AA|%"AAgtNA"AZAbAjArAzAAAz T4@Arx& tA0j@A-<AlA S?A#H?A`V?Ae <*A:?2A{׽:AqBA:?JA{׽RAqY4?R?yjP.<ٓH@ı? }֣k?&? o ׉?`㼅? J?)4? I٘i)I90j@YG J<Jjv<JJJE&Kx> Y]~?y~|eJAR?"E777TЫ8+B)ٯB[[ 0?[P]~?[[[[[BZYY i=) v;IkH?i|! ?))??f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031480.583165 s, next control iter: 1743031480.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4979, header.stamp.nsec: 00 temperature: 13.567503* salinity: 33.375439, density: 1025.000000* values[0]: 0.573923F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031480.983165 s.H~,>.#AAQs@A7s@A4^~? AA(%"AAutNA"AZAbAjArAzAAA9 4@A?sAj@Aa:<AAEX?A?A"V?A<*A4:?2Ak׽:APBA4:?JAk׽RAP٘i)I9j@YG J <JJJJE&K Y]~?y vJA(E77~׫8*B)ԯBE[[ 6?[L]~?[[[[[BZYY i) kY;I]H?i( ?))??Ҽ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031481.023165 s, next control iter: 1743031481.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031481.403165 s.'H~, Y.#AJ"J*J2J:J?BJ?nJ'5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075073< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743031481.403338F (some fields omitted in printout)A ףps@Aas@ACH^~? AAE%"AAtNA"AZAbAjArAzAAAf4@AtHasA+k@A.;AyAef]?A`n?A ?A<*A`:?2A1׽:AVBA`:?JA1׽RAV٘i)I9+k@Y G J<B=JJJJE&K Y]~?yo!KA-E{7j7ޫ8&B)̯BE[[`?@H?i5/2 |?))|?|?yg=!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031481.863165 s, next control iter: 1743031482.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031482.243165 s.H~,i.#AJ"J*J2J:JBJnJvJAGzt@AvoEbzt@An^~? AÔA%"AAtNA"AZAbAjArAzAAA\M'4A5@AͧsA^ l@AAAg?A?A:?AF<*A:?2Aֽ:ABA:?JAֽRA٘i)I9 l@YG J<JJJJE&K YL]~?ybKA8E{7Z78$B)ïBE[[IH?[<^~?[9w[[[[BZYY i) ~ elevatorAngleAction: 0.075073< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743031482.663297F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4981, header.stamp.nsec: 00 temperature: 13.566833* salinity: 33.375484, density: 1025.000000* values[0]: 0.575238F (some fields omitted in printout)Au@A"t@Ag^~? AAa%"AA*tNA"AZAbAjArAzAAAk/z5@AS!sAal@AAA;Al?A@?AD?AA<*A :?2A^ֽ:ABA :?JA^ֽRAYl4?l?y¸^AٓH3?یs>?2C? S?s"?)l4? I٘i)I9l@YG J<J0;JJJE&Kx> YI ^~?y[;LAl?=E77)8)B[[N?[7Q^~?[{p[[[[BZYY i)  elevatorAngleAction: 0.075073< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031483.923282F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Bv@AI~(v@A,^~? A}A%"AANuNA"AZAbAjArAzAAA,y06@A(|UsA n@A<AM A|?AQB?A2?A<*AX9?2ATm׽:AcBAX9?JATm׽RAc٘i)I9 n@YG J5<B=JJJJE&K Y@>^~?yFRMAMEb77 8B)BE[[yEa?[3^~?[[[[[[BZYY i) ,r@ Y]^~?y7NA?XEj78B)B E[[`m?[*^~?[L[[[[BZYY i) 0/_ elevatorAngleAction: 0.075073< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031485.183281F (some fields omitted in printout)AQw@Akw@AV^~? AjAOA%"AAuNA"AZAbAjArAzAAAH6@AxisA2o@A3:A ^A%?A@ ?A y?A<*A9?2AUֽ:A BA9?JAUֽRA ٘i)I9o@YG Jט<JJJJE&K Ynl^~?yd0uNA]E777)8)B[[zs?[M^~?[OD[[[[BZYY i.=) on elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743031486.443309F (some fields omitted in printout)Azx@Aʡx@A_~? AkWA%"AAuNA"AZAbAjArAzAAAbEB7@A sA3q@Ao6*Af㚽Aڍ?A`?A;Q?AЌ<*A9?2A5ֽ:ABA9?JA5ֽRA٘i)I9q@YG J<B=JJJJE&K Y<^~?yOAnE77j748B)BE[[a?[M^~?[,[[[[BZYY i) E/#AA33333y@Ayy@A`&_~? APA<%"AAuNA"AZAbAjArAzAAA[Tn7@A#sA"q@AV'|A;?Ar?A?A?A7<*A 9?2Aֽ:A~/BA 9?JAֽRA~/Y i?%?y>|ٓH@:B? ?.[? U좳?o?) i? I٘i)I9q@YG Jɧ<C=J<JJJE&K{x> YK^~?yPA?sE77;8)B[[?[_~?[#[[[[BZYY i) ™ elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031487.703270F (some fields omitted in printout)Aףp= z@AeM,y@A?B_~? ACAIE%"AA$vNA"AZAbAjArAzAAAxv~7@Aj;sAr@A/<AeA}?A0N?A@*?A<*A9?2AK[׽:A[BA9?JAK[׽RA[٘i)I9r@YG Jq<JJJJE&K Yi^~?yPA~Eb7*J8)}B[[Ό?[&_~?[[[[[BZYY i) Җ׽:ABA29?JA,>׽RA٘i)I9Ws@YG J<JJJJE&K Yx^~?yDQAE77TQ8)yB[[X?[R4_~?[ [[[[BZYY i)  elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031488.963283F (some fields omitted in printout)J"J*J2J:JBJnJvJAL{@A2{@Ah_~? A-A%"AA_vNA"AZAbAjArAzAAA%78@AkYsAt@Adt:A A?A?A?A>r<*A<9?2Aֽ:AwBA<9?JAֽRAwY9??y ^;ٓHQ>?+6`E? U?䳿 U[?Ngi?)9? I٘i)I9t@YG J<J|JJJE&K&x> Y^~?y!RA?E{7j7_8B)kBE[[E?[M_~?[O[[[[BZYY i)  elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743031490.223284F (some fields omitted in printout)A(\|@A-Iu|@AɊ_~? A2A%"AAvNA"AZAbAjArAzAAAӕm8@AfȪsAcv@AAAV?A5 Y) _~?ycTA?Eb7b78)LB[[?[_~?[]ʩ[[[[BZYY i) X elevatorAngleAction: 0.092768< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031491.483306F (some fields omitted in printout)A}@Aڷ}@A_~? AA8%"AAvNA"AZAbAjArAzAAAI-8@AR\ esAيx@A@<AJֲA_?A@?A`?A)<*Aץ9?2A/.׽:AɢBAץ9?JA/.׽RAɢ٘i)I9x@YEG J<B=JJJJE&K Y_~?ykTA DEZ7Z78 B)EBE[[??[-_~?[[[[[ZZZZ¸>BZYY i¸>(A) VZ--9@AYksAmy@A :A⮽Av?A?A@A?A(<*A9?2Aֽ:A/cBA9?JAֽRA/c٘i)I9y@Y%G J<JJJJ&E&K Y_~?ySUAE77{78)7B[[?[_~?[ﭩ[[[[ZZZZBZYY i) D^ Y(_~?y VA?Ej7V8))B[[?[_~?[[[[[ZZZZBZYY i) n?[_~?[d[[[[ZZZZBZYY i) RJJJLE&K7w> Y8_~?yNiWA?Eŧ7b7+ˬ8B)BE[[?[_~?[Fj[[[[ZZZZBZYY i[q)  [~@AfA^6=A?A}?Az>?Ad*Aͥ9?2Aֽ:Aؖ<BAͥ9?JAֽRAؖ<٘i)I9>~@YG JswJJJJVE&K Y:_~?yWWAE7٬8)[[f ?[_~?[V[[[[BZYY i) 7]<2#AAzG@A#-@A)_~? AA&"AAW2#AJ"J*J2J:J?BJ?nJ 5vJA3333@Ai @Aj_~? A瓪A&"AA@wNA"AZAbAjArAzAAAjx_9@A]5NXsAΌ}@AϻAlV=A?A r?A|e?A+b*A9?2AHֽ:A} =BA9?JAHֽRA} =Yҕ?#?yU=:лٓHn=*D? =?k'Ry@l?)ҕ? I٘i)I9}@YQG JDJ"=JJJfE&Kw> Y:_~?y<=VA?Ej7Z78)B[[w?[_~?[9[[[[BZYY i8#i) k5_~? 8y"UA E77778)B[[?[ŝ_~?[F[[[[BZYY i) X;IPE?i=4N B@))B@B@ypoi;תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031498.643165 s, next control iter: 1743031499.023174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4997, header.stamp.nsec: 00 temperature: 13.562605* salinity: 33.375584, density: 1025.000000 * values[0]: 0.584368 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031499.043165 s.H~,2#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056918< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743031499.043326F (some fields omitted in printout)A{Ga@AO8G@A1_~? AsAB &"AAGwNA"AZAbAjArAzAAAy9@A-s}DsAЅ{@Aa7<AƜ=A?A`ȉlAw?AՋ*A9?2A^ֽ:A~Y =BA9?JA^ֽRA~Y =٘i)I9{@YG JaB=JJJJ|E&K YZ3_~?yUAE77 8)"B[[8?[9_~?[[[[[BZYY i) C;I?E?i(G )!@)))!@)!@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031499.083165 s, next control iter: 1743031499.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031499.463165 s.TH~,ߤ2#AA̅@A@A_~? AkA&"AAGwNA"AZAbAjArAzAAAT9@Abg?sA\z@A(8A5=A?A`A`v?A/*A9?2Aֽ:Ar=BA9?JAֽRAr=Y?1?y5=)8ٓHZnſى`t?`}ſ?ae?`|?)? I٘i)I9z@YG JUC=JG<JJJE&K x> Y._~?ygUA?Eb778B))BE[[ ?[_~?[ [[[[BZYY i) [;I/E?iE  #@)) #@ #@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031499.483165 s, next control iter: 1743031499.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4998, header.stamp.nsec: 00 temperature: 13.562886* salinity: 33.375603, density: 1025.000000* values[0]: 0.583675F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031499.883165 s.yH~,42#AJ"J*J2J:JBJnJvJAQ8@A]gC@A_~? AcAF&"AAFwNA"AZAbAjArAzAAA!99@AY:sAYz@AvBA=ј=A W?A@5Ar?AB*A9?2A~ֽ:AO=BA9?JA~ֽRAO=٘i)I9Yz@Y_G J䰼JJJJE&K Y)_~?yTAE78B),BE[[%?[_~?[:[[[[BZYY i) ڡ;IE?iᗿgB '$@))'$@'$@~ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031499.903165 s, next control iter: 1743031500.283178 s, wait time: 0.380013 s)_~?) rAdjusting time to match Gazebo time: 1743031500.303165 s.^H~,g3#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066230< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743031500.303311F (some fields omitted in printout)Aq= ף@At]@Av_~? Ao[A&"AA EwNA"AZAbAjArAzAAA/9@AU e5sAy@AYCAgw=AM?A-娿A$l?A*AT9?2A ׽:A&=BAT9?JA ׽RA&=٘i)I9y@YG JfJJJJE&K Y"%_~?y LTAE7,!8)1B[[b Y_~?y5SA?/E7{768)=B[[q?[h_~?[ܨ[[[[BZYY i) ѫID?iN1- %*@))%*@%*@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031501.583165 s, next control iter: 1743031501.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5000, header.stamp.nsec: 00 temperature: 13.563437* salinity: 33.375572, density: 1025.000000* values[0]: 0.582297F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031501.983165 s.H~,~3#AAQ@AF7@Aj_~? AR;AW &"AA 6wNA"AZAbAjArAzAAA9@A~a;"sArw@AV;<A=A0?AAj9?Aٸ*A9?2APSֽ:AV=BA9?JAPSֽRAV=٘i)I9w@YG JDC=JJJJE&K Y _~?yݨRA4E777=8B)CBE[[?[]_~?[Ԩ[[[[BZYY i) ID?i݃6(  M,@)) M,@ M,@OªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031502.003165 s, next control iter: 1743031502.383175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031502.403165 s.&H~,͙3#AJ"J*J2J:J?BJ?nJ85vJA ףp@ALnY@AZ_~? AW3A &"AAe0wNA"AZAbAjArAzAAAS5\9@A^>H]sAyw@A-<A=A?AyTA &?Am*A9?2A~uֽ:A<BA9?JA~uֽRA<٘i)I9w@YbG JJJJJE&K Y_~?y=ըZRA9Ej7j7E8)HB[[?[R_~?[`˨[[[[BZYY i) 1MI3D?i~# -@))-@-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031502.423165 s, next control iter: 1743031502.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5001, header.stamp.nsec: 00 temperature: 13.384546* salinity: 33.391636, density: 1025.000000* values[0]: 0.705761F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031502.823165 s.H~,23#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066230< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031502.823293F (some fields omitted in printout)A\(@Ac]@A_~? Ad+A &"AA)wNA"AZAbAjArAzAAA;~Kr9@AFczȂsAv@AD;Ae=Avx?AӎA@<?A*A9?2Aֽ:A(<BA9?JAֽRA(<٘i)I9v@YG JJJJJE&K Yv^~?y̨QA?Eb77-L8)LB E[[Q?[G_~?[¨[[[[BZYY i) RID?is ]/@))]/@]/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031502.843165 s, next control iter: 1743031503.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031503.243165 s.H~,u3#AJ"J*J2J:J4?BJ4?nJL=5vJAGz@A+dz@A_~? Ax#A* &"AA"wNA"AZAbAjArAzAAA#9@A sAv@A˓AU=A&?AsÿA 4?A[P*A99?2A׽:A<BA99?JA׽RA<٘i)I9v@YG JSJJJJE&K Y^~?yDĨQADE77XS8)OB[[uM@[:_~?[M[[[[BZYY i) R ID?ifi 0@))0@0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031503.283165 s, next control iter: 1743031503.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031503.663165 s.H~,q3#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5002, header.stamp.nsec: 00 temperature: 13.384781* salinity: 33.391613, density: 1025.000000* values[0]: 0.704698F (some fields omitted in printout)A@A{剳@A_~? AA &"AAowNA"AZAbAjArAzAAA;'Eَ9@A˪sAu@A0A]=A?AUſA?A*Aw9?2A#׽:Ap<BAw9?JA#׽RAp Y^~?y@QA?IE77j7Z8B)UB E[[@[-_~?[౨[[[[BZYY isɞ) 6RûID?i`ҹ Cj2@))Cj2@Cj2@̷YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031503.683165 s, next control iter: 1743031504.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031504.083165 s.DH~,S4#AJ"J*J2J:JBJnJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077533< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743031504.083280F (some fields omitted in printout)ARk@ALnQ@A_~? AA^&"AAwNA"AZAbAjArAzAAAQ.|9@Az sA(/u@A:Ad=Ak?A2ǿA`?AA*As9?2A׽:AE<BAs9?JA׽RAE<٘i)I9/u@Y:G JUC=JJJJE&K Y\^~?y۳PAOE{7a8)XB[[lT@[u _~?[[[[[BZYY i) ID?i@Xf D3@))D3@D3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031504.103165 s, next control iter: 1743031504.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031504.503165 s.H~,@4 4#AAp= ׊@A#i7@A/_~? A A&"AAwNA"AZAbAjArAzAAA2JYg9@AMMsAݾt@AooŻA=AH?A ɿA ?A)*AI9?2Ayֽ:A-<BAI9?JAyֽRA-<٘i)I9t@YG JB=JJJJE&K Y^~?yPATE77h8)\B E[[@@[h_~?[m[[[[BZYY i) ID?iM< s5@))s5@s5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031504.523165 s, next control iter: 1743031504.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5003, header.stamp.nsec: 00 temperature: 13.385008* salinity: 33.391640, density: 1025.000000* values[0]: 0.703694F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031504.923165 s.<H~,;4#AJ"J*J2J:J%4?BJ%4?nJ<5vJA(\B@Ax(@A_~? A(A&"AAbvNA"AZAbAjArAzAAA\֤1R9@Ai~QsANt@A+%;A9=AZA@A MʿA=?AmR*AN9?2Aֽ:AQ<BAN9?JAֽRAQ<٘i)I9Nt@YG JC=JJJJE&K Y^~?yq4PAZEŧ7b7p8B)aBE[[S@[_~?[n[[[[BZYY i) BID?iA |6@))|6@|6@yKaYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031504.943165 s, next control iter: 1743031505.323182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031505.343165 s.<H~,U4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077533< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743031505.343277F (some fields omitted in printout)AHz@A2@AT_~? ApA&&"AA*vNA"AZAbAjArAzAAAO :9@AϿ>rA s@A <Aˇ=A@A`̿A\?AQ*A,9?2A`ֽ:A!=BA,9?JA`ֽRA!=٘i)I9s@YkG J{JJJJE&K Y^~?y=OA_E77-w8)eB[[@[^~?[[[[[BZYY i) &. IuD?iM3Y y8@))y8@y8@纪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031505.363165 s, next control iter: 1743031505.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5004*, header.stamp.nsec: 0*0 temperature: 13.385222** salinity: 33.391651*, density: 1025.000000** values[0]: 0.702738*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031505.763165 s.5H~,p4#AJ"J*J2J:JBJnJvJA@A@A'_~? AA(&"AA/vNA"AZAbAjArAzAAA"9@Ar+rAfs@A*B<A=AM@A wοA5?AS*A=9?2A&dֽ:A=BA=9?JA&dֽRA=Y?r@y{=6C<ٓH&ݿz@g?@+ݿ? <X??)? I٘i)I9fs@Y$G JJǰ;JJJE&K'x> Y^~?yg}OA@dE77{7X~8)iB[[)M @[^~?[Ӊ[[[[BZYY i) /IlD?i+ۻ p9@))p9@p9@꽪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031505.783165 s, next control iter: 1743031506.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031506.183165 s."H~,x4#AAQ@Atk@Ay_~? A(AmR&"AArvNA"AZAbAjArAzAAAZ9@A}rAr@A;Ao=A$@A"пAJ ?AK*A9?2Aֽ:A>=BA9?JAֽRA>=٘i)I9r@YG JJJJJE&K Y^~?y!OAjE7778B)nBE[[ @[^~?[4[[[[BZYY i) 31?IcD?i"={ϻ z;@))z;@z;@@))x>@x>@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031507.043165 s, next control iter: 1743031507.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031507.443165 s.76H~,>]4#AJ"J*J2J:JBJnJvJAzǍ@An@Ar_~? A֩Ay &"AAvNA"AZAbAjArAzAAAـxɯ8@AtHrAq@A%BA=A-$@A`cҿA`?Ac*A9?2A$׽:A =BA9?JA$׽RA =٘i)I9q@YG JꐼJJJJE&K Y ^~?yt NAzE77{78 B)}B[[:0@[}^~?[Xl[[[[BZYY i) mIMD?i ?@))?@?@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031507.463165 s, next control iter: 1743031507.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5006, header.stamp.nsec: 00 temperature: 13.385662* salinity: 33.391666, density: 1025.000000* values[0]: 0.700729F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031507.863165 s.+=H~,>4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077533< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743031507.863289F (some fields omitted in printout)A33333@Ap@Aʅ_~? AMϩA &"AAvNA"AZAbAjArAzAAA:%y8@A8LrAq@AHA'ԗ=A.n @AݯӿA O?Aa|*A9?2ACֽ:A =BA9?JACֽRA =Y?c @yҗ=űٓH`@sි?@q A?`(?)? I٘i)I9q@YG JB=J<JJJE&Kx> Yr^~?ylMAc @E{7.8 B)BE[[@[O^~?[Ne[[[[BZYY i) k|IGD?iᾉWb qA@))qA@qA@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031507.903165 s, next control iter: 1743031508.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031508.283165 s.<AN=AW< @A@29ֿA?A2*A9?2A=ֽ:A?=BA9?JA=ֽRA?=٘i)I9io@YG JdC=JJJJE&K YD^~?yVsLAE77{78B)BE[[]@[uV^~?[ Ys#^~?yGHKA@Eb77ƭ8B)BE[[@[.^~?[D[[[[BZYY i) %I3D?iECy vH@))vH@vH@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031509.983165 s, next control iter: 1743031510.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031510.383165 s.eH~,5#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086938< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199332 time: 1743031510.383264F (some fields omitted in printout)AQ@AXl:@A;_~? AA&"AAe1vNA"AZAbAjArAzAAAhI7@ABKDrA?m@Am.A{Ƣ=A:@AͶؿA|?A*A9?2Aֽ:A#=BA9?JAֽRA#=٘i)I9m@YG JC=JJJJ E&K Y^~?ymA5KAE{7{7.ͭ8)B[['N@[^~?[>[[[[BZYY i) *I1D?ix G))GBJ@yHߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031510.403165 s, next control iter: 1743031510.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5009&, header.stamp.nsec: 0&0 temperature: 13.386453&* salinity: 33.391682&, density: 1025.000000&* values[0]: 0.697338&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031510.803165 s.tAlH~,og5#AJ"J*J2J:J2?BJ2?nJ0;5vJAq= #@AӾ @A._~? AԝAg&"AAvNA"AZAbAjArAzAAAΉ7@Al_rAm@Ab3AW=A;@A ٿA ?A4*A,9?2A׽:A=BA,9?JA׽RA=٘i)I9m@YOG J@JJJJE&K Y^~?y:JAEj7j7Yԭ8B)BE[[a@[=^~?[8[[[[BZYY i)  I{0D?iý&r chF))chFRK@uNA"AZAbAjArAzAAAnj0-7@A*rAk@AoAZ?=A/#@AۿA`%?A[*A9?2Aްֽ:A=BA9?JAްֽRA=٘i)I9k@YG J綼JJJJE&K Y]~?y,IAE77778B)BE[[Q@[]~?[-[[[[BZYY i) >I0D?i =9 C))CN@OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031511.663165 s, next control iter: 1743031512.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5010, header.stamp.nsec: 00 temperature: 13.386740* salinity: 33.391720, density: 1025.000000* values[0]: 0.696151F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031512.063165 s.H~, 6#AAfffff@A PL@A_~? A뉩A&"AAuNA"AZAbAjArAzAAA+ 6@AŪXirALk@A+?M;Aj =Aqd@AۿA ?A!ļ*Au9?2AUֽ:A=BAu9?JAUֽRA=Yb@h@y2 =|M;ٓHh 1f?{?Һi?e?)b@ I٘i)I9Lk@Y5G J9Jv}<JJJ#E&Kw> Y]~?y&}IAh@E7)78B)BE[[@[]~?[+([[[[BZYY i) 3ɼI1D?i=2F:  B)) B P@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031512.083165 s, next control iter: 1743031512.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031512.483165 s.w_H~,6#AJ"J*J2J:J 2?BJ 2?nJ:5vJAђ@Aշ@A^~? AyAn&"AA1uNA"AZAbAjArAzAAAN6@AgDrA/j@AA%<Ax=A@AܿA`n?A˼*A\9?2Aֽ:A^p=BA\9?JAֽRA^p=٘i)I9j@YG JǼJJJJ(E&K Y]~?yX IAEŧ7b78)ïB[[[[ @[Ү]~?["[[[[BZYY i) xмI@3D?io=2: D@))D@q|Q@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031512.503165 s, next control iter: 1743031512.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5011, header.stamp.nsec: 00 temperature: 13.387009* salinity: 33.391724, density: 1025.000000* values[0]: 0.694874F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031512.903165 s.ȍH~,96#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086938< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743031512.903296F (some fields omitted in printout)A ףp=@AZ#@A ^~? A }A&"AA6uNA"AZAbAjArAzAAA6@ANR$rAi@A@<A0s=A@AZݿAI?AѼ*A9?2A#ֽ:Ags=BA9?JA#ֽRAgs=٘i)I9i@YeG JyμJJJJ-E&K Y/]~?yHAES77/8B)ʯBE[[o!@[{]~?[[[[[BZYY i) ׼I5D?i|7>: }4?))}4?8R@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031512.923165 s, next control iter: 1743031513.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031513.323165 s.wH~,)T6#AJ"J*J2J:JBJnJvJA\@Ag܎@A^~? AvAf&"AAuNA"AZAbAjArAzAAA&1m6@A^CUrAGi@A;A=A(G@A`޿A?A+Ӽ*Ab9?2Ao; ;=));=zXT@tYFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743031513.363165 s, next control iter: 1743031513.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5012*, header.stamp.nsec: 0*0 temperature: 13.387350** salinity: 33.391754*, density: 1025.000000** values[0]: 0.693494*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031513.743165 s.WH~,qo6#AAGz@Ac@A^~? ApAt&"AAayuNA"AZAbAjArAzAAA$96@AjqrAZh@A؃A=AР@A@޿Ar?ARӼ*AW9?2A?ֽ:A#=BAW9?JA?ֽRA#=٘i)I9h@Y G JӼJJJJ8E&K  8Yy]~? 8y GAE{7778B)دBE[[ԁ$@[Yk]~?[t[[[[BZYY i) FIS=D?ip>DL; [<))[<.U@nYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031513.763165 s, next control iter: 1743031514.143177 s, wait time: 0.380012 sy]~?)  rAdjusting time to match Gazebo time: 1743031514.163165 s.u}H~,q6#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086938< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031514.163273F (some fields omitted in printout)J"J*J2J:JBJnJvJA@At e@Ar^~? AjAJV&"AA_uNA"AZAbAjArAzAAA{l6@AU=rAvg@AKA=A@A߿A`X?AAӼ*A}9?2A7ֽ:AJ=BA}9?JA7ֽRAJ=Y@@yC=yٓH W xG?@)? aնf避?)@ I٘i)I9g@Y! G JӼJ(<JJJ=E&K%x> Yc]~?y/GA@Eb77 8B)BE[[%@[*T]~?[[[[[ZZ¸BZYY i¸=) 5ڼI5BD?i>c_h; :)):2/W@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031514.183165 s, next control iter: 1743031514.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031514.583165 s.H~,R6#AAR딳@AD.lє@Aȝ^~? AdA&"AAEuNA"AZAbAjArAzAAAL5@AgLrA0g@A˘BAdR=A|K@AZA?AZHּ*Az9?2A ֽ:A=BAz9?JA ֽRA=٘i)I90g@Y G JԼJJJJCE&K YN]~?ybFAE778 B)BݹE[[D'@[<]~?[ [[[[ZZBZYY i) $μIGD?iJ>; ~9))~97X@@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031514.603165 s, next control iter: 1743031514.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5013, header.stamp.nsec: 00 temperature: 13.387662* salinity: 33.391739, density: 1025.000000* values[0]: 0.692063F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031515.003165 s.{ H~,Y46#AJ"J*J2J:JBJnJvJAp= W@A#<@A^~? A_An=&"AA*uNA"AZAbAjArAzAAA 'Q5@A,›rAhf@AAK\=A@AtA}?A*A=9?2Aֽ:AR<BA=9?JAֽRAR<I٘i)I9hf@Y; G JJJJJHE&K YC8]~?y9FAE8)B[[(@[\%]~?[h[[[[ZZBZYY i) ¼I$ND?i>~x; y8))y8<Z@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031515.023165 s, next control iter: 1743031515.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031515.423165 s.uH~,6#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083473< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031515.423296F (some fields omitted in printout)A(\•@Az@ATy^~? ARYA&"AAwuNA"AZAbAjArAzAAA 8pa5@A&U JrAAe@AIAm|=AF @A AW?A>*Ao9?2A^ֽ:An<BAo9?JA^ֽRAn<٘i)I9e@Y G J|JJJJNE&K Y"]~?y1EAE770#8"B)BڹE[[N)@[ ]~?[n[[[[ZZBZYY i) $IdUD?i?; ŵ6))ŵ6i[@yI=zתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031515.443165 s, next control iter: 1743031515.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5014, header.stamp.nsec: 00 temperature: 13.388031* salinity: 33.391762, density: 1025.000000* values[0]: 0.690539F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031515.843165 s.ݼH~,6#AJ"J*J2J:JBJnJvJAHz.@A<*@Af^~? ASA&"AAQtNA"AZAbAjArAzAAA(5@A8!4rAd@A:;AFz=A"@AA $?A^*A9?2A_ֽ:A s<BA9?JA_ֽRA s<٘i)I9d@Y. G JJJJJSE&K Y ]~?yDEAEb77Z*8$B)B׹E[[V+@[-\~?[[[[[ZZBZYY i) I]D?i?; O5))O5\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031515.863165 s, next control iter: 1743031516.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031516.263165 s.H~,7#AA@A] @AkS^~? AONAC&"AAtNA"AZAbAjArAzAAA!C24@A!鐑rArc@A1<A5=AHf#@AoA/N?Ahټ*A9?2A^ֽ:A%,;BA9?JA^ֽRA%,;Yh@.n#@y15=1<ٓHz@?@;? `5?`p?)h@ I٘i)I9c@Y G J B=JڽJJJXE&Kw> Y3\~?yEAn#@E)7ŧ718&B)BֹE[[,@[\~?[[[[[ZZBZYY i=) IIxfD?i$?; +3))+36^@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031516.303165 s, next control iter: 1743031516.663174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 50152, header.stamp.nsec: 020 temperature: 13.3884522* salinity: 33.3917502, density: 1025.0000002* values[0]: 0.6888802F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031516.683165 s.lH~,Z+7#AJ"J*J2J:JZ0?BJZ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073606< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743031516.683288F (some fields omitted in printout)AQ@A떳@A?^~? AHA&"AA]tNA"AZAbAjArAzAAAVw4@AwPrA>c@A<A<A$@A@VA?A9*A9?2Adֽ:ACBA9?JAdֽRAC٘i)I9>c@YN G JɼC=JJJEJ^E&K Y\~?yDAEj7Z788'B) BӹE[[#.@[\~?[x[[[[ZZBZYY i) HIpD?i1?o; 2))2_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031516.683165 s, next control iter: 1743031517.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743031517.103165 s.H~,F7#AA= ףp@A 2V@A,^~? ACAW&"AAtNA"AZAbAjArAzAAAONw4@A%#rA b@A^:A+%<A&@AJA@?A*A9?2AWֽ:Aj BA9?JAWֽRAj ٘i)I9b@Y G JJJJJcE&K Y#\~?yDAEb7b7?8)B)BйE[[f/@[X\~?[([[[[ZZBZYY i)  sIgzD?i@? ;  1)) 1a@4{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031517.123165 s, next control iter: 1743031517.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031517.523165 s.H~,{a7#AJ"J*J2J:JBJnJvJA(ܗ@A w—@A^~? A>A&"AAC|tNA"AZAbAjArAzAAA*/9:4@Aqs= rAF\b@AuѻAAN'@A^A&?Aӣ+*A+9?2A7ֽ:AsvBA+9?JA7ֽRAsv٘i)I9\b@Y G Jy_JJJJhE&K Y\~?yާODAE)7ŧ7G8*B)B͹E[[0@[\~?[[[[[ZZBZYY iΩ=) =}ID?iQ?J< /))/cb@yxq=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031517.563165 s, next control iter: 1743031517.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5016, header.stamp.nsec: 00 temperature: 13.388702* salinity: 33.391769, density: 1025.000000* values[0]: 0.687682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031517.943165 s.VdH~,:]|7#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743031517.943296F (some fields omitted in printout)AzG@A -@Ac^~? A9A9&"AAq]tNA"AZAbAjArAzAAACD3@Avs rAO#b@A)F>A Aؘ(@APA`Wh?A*A 9?2Agֽ:ABA 9?JAgֽRA٘i)I9#b@Y G JB=JJJJnE&K Y\~?y#٧DAE7771N8)B[[2@[|\~?[[[[[ZZBZYY i)  gID?iqd?4< Z.))Z.c@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031517.983165 s, next control iter: 1743031518.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031518.363165 s.H~,p>7#AJ"J*J2J:JBJnJvJA3333@AQ@A]~? A4A}&"AA!>tNA"AZAbAjArAzAAAu彼3@AyArA b@A 3AA)@AGA ?AQ*A֜9?2Ah)ֽ:AϼBA֜9?JAh)ֽRAϼYb@)@y#3ٓH@MEݿg?w?@*G@X6?#xf?)b@ I٘i)I9 b@Y G JkC=J9JJJsE&K/w> Y ~\~?yէ>DA)@E77[U8,B)BʹE[[;e3@[c\~?[E[[[[BZYY iO^j=) VID?i elevatorAngleAction: 0.067347< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031519.203287F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@Az'p@A]~? A+AE5 &"AAsNA"AZAbAjArAzAAAB5g`;3@A(."l|rAj-b@Ar;ArUA(,@A 5A?AR;*A9?2Aֽ:ABA9?JAֽRA٘i)I9-b@Y G J;JJJJ~E&K YL\~?y̧DAE7c81B)B¹E[[r 6@[2\~?[,[[[[BZYY i) (3ID?i?P>,< E9*))E9*pg@yJc=;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031519.223165 s, next control iter: 1743031519.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031519.623165 s.\H~,q7#AA)\@Aۙ@A3]~? A?'A &"AAYsNA"AZAbAjArAzAAAr[y2@A?;yrAfb@A%<AsA-@AA@C?A$<*A9?2Aֽ:A_BA9?JAֽRA_٘i)I9fb@Y G J<JJJJE&K Y3\~?yȧDAE77j8)B[[Z7@[H\~?[[[[[BZYY i) ʯ!IaD?i?W)7< 7())7(~Di@ys=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031519.643165 s, next control iter: 1743031520.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5018 , header.stamp.nsec: 0 0 temperature: 13.388891 * salinity: 33.391777 , density: 1025.000000 * values[0]: 0.687123 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031520.043165 s.H~,8#AJ"J*J2J:J/?BJ/?nJr85vJA{Ga@A ~1G@A)]~? A"A &"AA.sNA"AZAbAjArAzAAAt϶2@A)wrAkb@A}b4<A07A*/@AAt?AU<*A 9?2Amֽ:AkBA 9?JAmֽRAk٘i)I9b@Y G J:<JJJJE&K Y\~?yħDAE77j7r82B)BE[[08@[\~?[[[[[BZYY i) 5ID?i{?-C< ~'))~'j@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031520.063165 s, next control iter: 1743031520.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031520.463165 s.ZH~,8#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067347< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743031520.463322F (some fields omitted in printout)A̚@AU@Aف]~? AAf4!&"AAsNA"AZAbAjArAzAAA(s2@AYtrA c@A8;AǏAr0@A`BA?A]<*A19?2Aֽ:A- BA19?JAֽRA- Ye"@k0@yƏ];ٓHؿ9?W?o8?x??)e"@ I٘i)I9c@Y6 G Jj<B=JԻJJJE&Kw> Y[~?y3MEAk0@ E771y83B)BE[[9@[o[~?[[[[[BZYY iюj=) ID?il?\J< G#&))G#&nk@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031520.503165 s, next control iter: 1743031520.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5019, header.stamp.nsec: 00 temperature: 13.388792* salinity: 33.391766, density: 1025.000000* values[0]: 0.687593F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031520.883165 s.y H~,888#AJ"J*J2J:JBJnJvJAQ8@Ab[>@AEk]~? AA!&"AAxsNA"AZAbAjArAzAAAٴ.2@A08$rrAc@A>A=ӖA1@A~A`?Adؕ<*A`9?2A>ֽ:ARBA`9?JA>ֽRAR٘i)I9c@Y} G JG<C=JJJJE&K Y[~?y佧EA%Eŧ7b7[8)BE[[C;@[`[~?[ߧ[[[[BZYY i) ID?i:?}S< $))$Vm@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031520.903165 s, next control iter: 1743031521.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031521.303165 s.SH~,jgS8#AAq= ף@AIL@AoT]~? AA!&"AA3VsNA"AZAbAjArAzAAA⦽z1@A2orAwd@ARAl A?2@A A@?A<*A9?2A ֽ:A BA9?JA ֽRA ٘i)I9d@Y G J<JJJJE&K Yy[~?yFA+E{7j784B)BE[[<@[a[~?[fݧ[[[[BZYY i) OĻI+E?i?K]< ko#))ko#Jn@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031521.343165 s, next control iter: 1743031521.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5020., header.stamp.nsec: 0.0 temperature: 13.388651.* salinity: 33.391777., density: 1025.000000.* values[0]: 0.688384.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031521.723165 s.H~,Hn8#AJ"J*J2J:J90?BJ90?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057265< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031521.723276F (some fields omitted in printout)A(\@AkF@A[=]~? AAA"&"AAm3sNA"AZAbAjArAzAAA51@AƧmrA'd@Aw=AVAD4@A A&?A<*AL9?2A ֽ:A|BAL9?JA ֽRA|٘i)I9d@Y' G Jg<JJJJE&K YJ[~?yGnFA0E77778)B[[=@[v[~?[ۧ[[[[BZYY i) I#E?if?1h< "))"p@y]j=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031521.743165 s, next control iter: 1743031522.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031522.143165 s.U/"H~,*8#AAGz@A`@A&]~? AA3b"&"AAGsNA"AZAbAjArAzAAAM%\1@A XkrAZ;e@A+!AkA&5@A 'AgK?A#u<*Aê9?2AWֽ:AӶ BAê9?JAWֽRAӶ ٘i)I9;e@Y G J<JJJJE&K Y[~?yFA5E77ە85B) BE[[;?@[[~?[ڧ[[[[BZYY i) 熻I.8E?i?'t< G ))G n_q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031522.163165 s, next control iter: 1743031522.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031522.563165 s.(H~,k 8#AJ"J*J2J:JBJnJvJAffff朳@A^emS̜@Az]~? AD A"&"AArNA"AZAbAjArAzAAA׮`1@A䍪AirAe@A9AA6@A\Al?A<*A9?2Aѫֽ:ABA9?JAѫֽRAY2(@W6@ye9ٓH ѿY?@?|@R6N?;"?+?)2(@ I٘i)I9e@Y G J<J\.JJJE&Kw> Y|[~?y5GA6@;Eb7b786B)BE[[f@@[j[~?[٧[[[[BZYY i) xbQISME?i?~{< 'u))'ur@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031522.583165 s, next control iter: 1743031522.963183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5021, header.stamp.nsec: 00 temperature: 13.388438* salinity: 33.391777, density: 1025.000000* values[0]: 0.689442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031522.983165 s./H~,8#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057265< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031522.983308F (some fields omitted in printout)AQ@A7@A\~? AA"&"AArNA"AZAbAjArAzAAAh9H0@A+/BgrA9ff@A<A}AxE8@A`VA?A8E<*Aֺ9?2A>ֽ:ABAֺ9?JA>ֽRA٘i)I9ff@Y9 G JЯ<JJJJE&K Y`[~?y GA@E7)7189B)BE[[֭A@[}Q[~?[ا[[[[BZYY i>Շ=) I0cE?ic?T+< -))-s@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031523.003165 s, next control iter: 1743031523.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031523.403165 s.&6H~,8#AJ"J*J2J:J0?BJ0?nJ595vJA ףp@AmY@A\~? AA}&#&"AArNA"AZAbAjArAzAAA/9y0@A[erAf@A??<AA9@AwA`?A <*A%9?2AQֽ:A%BA%9?JAQֽRA%٘i)I9f@Y G J<JJJJE&K YE[~?yHAEEb77[8:B)BE[[B@[8[~?[ק[[[[BZYY i) IyE?i?< ))6u@t*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031523.423165 s, next control iter: 1743031523.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5022, header.stamp.nsec: 00 temperature: 13.388214* salinity: 33.391773, density: 1025.000000* values[0]: 0.690474F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031523.823165 s. elevatorAngleAction: 0.066325< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031524.243264F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AW]jz@A \~? AA#&"AAi[rNA"AZAbAjArAzAAA#|/@A}mHarA#h@A$;AA&<@A<A A?A<*A9?2Aֽ:AsBA9?JAֽRAs٘i)I9h@Y5 G J'<C=JJJJE&K Y[~?yHAPEZ7Z78 YZ~?y+IAq=@VEj78)B[[F@[%Z~?[*֧[[[[BZYY i) i:I@E?im?< ("))("x@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031524.683165 s, next control iter: 1743031525.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031525.083165 s.J "J *J 2J :J 1?BJ 1?nJ 95vJ DQH~,SE9#AARk@ArkmQ@A|\~? AA$&"AArNA"AZAbAjArAzAAA9|程.@Aۭ^rAXi@A67AՌA>@A FeAj-?AK<*A9?2ATֽ:AtGBA9?JATֽRAtG٘i)I9i@Y G JC<JJJJE&K YZ~?y|IA[E77Ȯ8=B)BE[[G@[QZ~?[է[[[[BZYY i) ;I+E?i ?D< <))<y?z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031525.103165 s, next control iter: 1743031525.483182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031525.503165 s.WH~,]4`9#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066325< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743031525.503301F (some fields omitted in printout)Ap= ן@Ay򼟳@Ac\~? AA@2$&"AAbqNA"AZAbAjArAzAAAfK .@A~t>]rAi@A'AXAc@@AA@4Z?A<*A9?2A8vֽ:ABA9?JA8vֽRA٘i)I9i@YG J<JJJJE&K Y5Z~?y墧IA`E{7j71Ϯ8>B)BE[[W;I@[Z~?[է[[[[BZYY i)  [;IE?i}?< g))gN{@&*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031525.523165 s, next control iter: 1743031525.903181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5024, header.stamp.nsec: 00 temperature: 13.387860* salinity: 33.391766, density: 1025.000000* values[0]: 0.692378F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031525.923165 s.4^H~,{9#AJ"J*J2J:JBJnJvJA(\B@Ax(@AJ\~? AeA^$&"AAqNA"AZAbAjArAzAAA;?DP-@A l[rAi@AJ5}A߁AVA@A@A?A\<*A9?2Aֽ:ABA9?JAֽRA򼙘٘i)I9i@YfG J<JJJJE&K YlZ~?yN=JAfE77{7\֮8?B)BE[[xJ@[%Z~?[է[[[[BZYY i) ;I|F?ia@FS< b))bܼ|@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031525.943165 s, next control iter: 1743031526.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031526.343165 s. elevatorAngleAction: 0.075916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743031526.763319F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A͐*@Ac\~? A~AK$&"AA;yqNA"AZAbAjArAzAAAV,@AP0YrAj@A-<AQAD@AAS?A}<*A9?2A[׽:ABA9?JA[׽RAY5@C@yPT-<ٓH 6q1?W?v?`Q?䱅?w?)5@ I٘i)I9j@YG J <J<JJJE&K1x> YthZ~?yJAC@pE)7ŧ78AB)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #20q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) -O;)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031526.783165 s, next control iter: 1743031527.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031527.183165 s.rH~,c9#AAQ@A\pk@A[~? AA_$&"AARqNA"AZAbAjArAzAAA[NJI+@AX{XrAl?k@Ap 5<A>πANE@A`JAs?A#v<*A9?2A ׽:AVBA9?JA ׽RAV񼙘٘i)I9?k@Y-G Jxy<JJJJE&K YKLZ~?yPEKAvEb778BB)BE[[d/N@[ZZ~?[)ק[[[[BZYY i) ;IMF?i @ӱ< [)) [9@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031527.203165 s, next control iter: 1743031527.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031527.603165 s.84yH~,9#AJ"J*J2J:JBJnJvJA= ף@Ao/i֡@A\[~? AFA$&"AA,qNA"AZAbAjArAzAAA!+@ADWrAk@A;AgA elevatorAngleAction: 0.075916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031528.023291F (some fields omitted in printout)A(\@AFx{B@A[~? AA %&"AA.qNA"AZAbAjArAzAAAF'*@AoyVrAel@AAUA F@A@%<A%u?A<*A:?2AZ?ý:Au%BA:?JAZ?ýRAu%٘i)I9l@YG J<JJJJE&K YZ~?y霧KAEb7728CB)BE[[P@[*Z~?[ا[[[[BZYY i) I7:#AA33333@A!@A[~? AA?%&"AApNA"AZAbAjArAzAAA*w}L)@ArFEUrAl@A@A:AIA YA@Ը?A2<*A :?2A0Ƚ:AQBA :?JA0ȽRAQY!;@HyZ86AٓH`W SF?D?#X`nzC?` ?)!;@ I٘i)I9l@Y8G J<J<JJJE&KE> YY~?y9LAHEj7Z78EB)ݯBE[[S@["Y~?[ڧ[[[[BZYY i) 94<  )) @;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031528.883165 s, next control iter: 1743031529.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031529.283165 s.3RH~,R:#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743031529.283269F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A9ߡ@A~[~? AA_T%&"AAߏpNA"AZAbAjArAzAAA (@A3TrAcmm@AArAGA`gA ??Aտ<*Ap:?2A$˽:A BAp:?JA$˽RA ٘i)I9mm@YG Ju<JJJJE&K YIY~?y<MAEj78FB)گBE[[HT@[}Y~?[ۧ[[[[BZYY i) C elevatorAngleAction: 0.075916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743031530.543332F (some fields omitted in printout)A{Gᤳ@AG 1Ǥ@A0[~? AiA%&"AApNA"AZAbAjArAzAAAuy&@A򥄥_SrAn@A$<<A"A CA~Ax?A|<*A~:?2A3ҽ:A?# BA~:?JA3ҽRA?# ٘i)I9n@Y_G J<JJJJE&K YjY~?yFNAE7{72%8HB)ѯB|E[[W@[ Y~?[i[[[[BZYY iq=) 8r YqNY~?y.}NAvB DE)7ŧ7^,8IB)ίByE[[Y@[Y~?[,[[[[BZYY i)  elevatorAngleAction: 0.085178< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031531.803307F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@A`" @AZ~? AA'%&"AA+oNA"AZAbAjArAzAAAĪC$@AbORrAfp@AsĻAŐA?A`Ant_A5<*AZ:?2AuԽ:A)YBAZ:?JAuԽRA)Y٘i)I9fp@YPG JA<JJJJE&K YFY~?yIOAEŧ7b7:8)ƯBvE[[u[@[YY~?[[[[[BZYY i) я6A堠A>AAzAU<*AN:?2AMս:A@BAN:?JAMսRA@٘i)I9p@YG J<JJJJ%E&K Y2X~?y柧OAE77A8JB)¯BsE[[Ģ\@[hCY~?[0[[[[BZYY i) b elevatorAngleAction: 0.085178< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031533.063307F (some fields omitted in printout)Afffff@APL@AZ~? AA%&"AA,oNA"AZAbAjArAzAAAc`> #@A{.%qSrA "r@AA?MA;Ax}AߧAX<*A8:?2Aeֽ:A=BA8:?JAeֽRA=YAH@;yLٓHz7[4?h?)ʿiR@xP?@ô?q?)AH@ I٘i)I9"r@Y^G JY<JЊJJJ/E&K-|> Y{X~?yPA;E3P8)BmE[[^@[]Y~?[[[[[BZYY i) T elevatorAngleAction: 0.085178J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000500*J dt: 0.4199902J2 time: 1743031534.323280:JF (some fields omitted in printout)BJnJvJA\@A_F܎@AEZ~? AAc%&"AAsnNA"AZAbAjArAzAAA:e=H!@A:זTrA1s@A#6<A0]A:7A`@WA`K{Apȿ<*A:?2Ad׽:ACBA:?JAd׽RAC٘i)I9s@YzG Jμ<JJJJ@E&K YoX~?yQAE777e8EB)BdE[[jb@[X~?[[[[[BZYY i) ]r Y 9X~?yRAJ5E)7ŧ7 t8)BaE[[d@[ѬX~?[c[[[[BZYY i) R elevatorAngleAction: 0.085178< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031535.583306F (some fields omitted in printout)AR멳@Auoѩ@AwY~? AA%&"AA2AnNA"AZAbAjArAzAAA@A CWrAKu@AApCA 4AuA`]AY5<*A:?2Aֽ:A%BA:?JAֽRA%٘i)I9u@YG J<C=JJJJPE&K YAX~?y,3SAEb74{8)B^E[[e@[X~?[s[[[[BZYY i) @<i1AA gſA!<*A9?2Asֽ:A?BA9?JAsֽRA?٘i)I9bw@YG J<JJJJZE&K YW~?y#TAEZ7Z78)BYE[[?Hh@[oX~?[[[[[BZYY i)  elevatorAngleAction: 0.085178< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743031536.843300F (some fields omitted in printout)AHz.@A4@A#Y~? AA$&"AA?mNA"AZAbAjArAzAAAE K@A#nIZrAx@AN9AFA%0AA`ƿA<*A9?2A@׽:A( BA9?JA@׽RA( ٘i)I9x@YG J<JJJJ`E&K YW~?y2TAE778)BVE[[[li@[[X~?[8[[[[ZZZZ¸>BZYY i¸>A)  Y̳W~?yUA.E7ޗ8)}B[[j@[GX~?[ [[[[ZZZZBZYY i) r<#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083133< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199282 time: 1743031539.363254F (some fields omitted in printout) "2Initializing CTD_Seabird.J"J*J2J:JBJnJvJA3333@A@AgY~? AkA#&"AAlNA"AZAbAjArAzAAA(hdS?@A}0h@crA|@AG%AԼA=(A ;AпA:<*A:?2Aֽ:AT:BA:?JAֽRAT:Y)[@j9(yԼ%ٓH`@Bf? ;? g߿  p?࿐??))[@ I٘i)I9|@YG J<J6>JJJE&Kx> Y3W~?yͧ#WA9(E8)]B[[]Ep@[&W~?[[[[[ZZZZBZYY i) :5vJAףp=@A##p@A>X~? AAR6#&"AAlNA"AZAbAjArAzAAA,YRF@Ay5frA%}@A?A&;AW%A LA2ҿA,<*Ac9?2Aֽ:Aw<BAc9?JAֽRAw<٘i)I9}@YXG Jc<JJJJE&K YfW~?yէkWAE77 ʯ8)UBEE[[Vr@[W~?[%[[[[ZZZZBZYY i) %r5vJ PH~,B=#AA{Ga@A&2G@AX~? AJA"&"AAYlNA"AZAbAjArAzAAA).r@A]*krA%}@A%.<A=AD#AM&AxԿA:*A39?2Aֽׁ:A|u<BA39?JAֽׁRA|u<٘i)I9}@YG JW;C=JJJJE&K YV~?ylާWA'Eŧ7b7_د8)RB[[t@[W~?[c.[[[[BZYY i) 6hIJJJE&Kw> YV~?yvWA!,E77{7߯8AB)?E[[:u@[W~?[2[[[[BZYY i h) 85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031541.883342F (some fields omitted in printout)AQ8@AXl:@A~X~? AA)"&"AAlNA"AZAbAjArAzAAAf>#$ @AzlorA}@Al;ASZ=Axp A`A,ֿA*A9?2A`ֽ:A=BA9?JA`ֽRA=٘i)I9}@YmG J_JJJJE&K YޢV~?y9WA1Eŧ7b78)SB5vJA(\@AkC@A\X~? AA!&"AAkNA"AZAbAjArAzAAAiG@AdGitrA>(}@AA91=A7A`=A?׿A^*A&9?2A7.׽:AJ =BA&9?JA7.׽RAJ =٘i)I9(}@YG JHJJJJE&K YtV~?yVA<Eŧ7b7 8)WB:E[[Ky@[_W~?[@[[[[BZYY i) >*A 9?2A9)׽:A* =BA 9?JA9)׽RA* =٘i)I9|@YG JwqB=JJJJE&K Y]V~?yVABE7758)ZB7E[[hz@[OW~?[\E[[[[BZYY i) ;Ii@0(= ʿ))ʿfV@jǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031543.163165 s, next control iter: 1743031543.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031543.563165 s.xH~,_ =#AJ"J*J2J:JBJnJvJAffff汳@A<Y̱@A/X~? A'A &"AAkNA"AZAbAjArAzAAABɞ@AUXyrAkM|@A5ݻA=A-A@A|{ٿA8*A9?2Akֽ:A=BA9?JAkֽRA=Yh@5y.=εݻٓH ?K@ (@} V8{[?)h@ I٘i)I9M|@YG JC=JC=JJJE&K6x>  8Y#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743031544.403263F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AI`@AX~? A 0AeB &"AA+HkNA"AZAbAjArAzAAA!x?ASlrA:{@Aܑ<A[=AϤA`4A ; ۿAD*A59?2Apֽ:A^w=BA59?JApֽRA^w=٘i)I9:{@YG JJJJJE&K YV~?y1 RUARE78>B)eB0E[[}@[ W~?[T[[[[BZYY i) ;Ii<@+= 3Ŀ))3Ŀ@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031544.423165 s, next control iter: 1743031544.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5043", header.stamp.nsec: 0"0 temperature: 13.385036"* salinity: 33.391552", density: 1025.000000"* values[0]: 0.707290"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031544.823165 s.H~,4>#AA\(@AC@AvW~? A4A&"AA'kNA"AZAbAjArAzAAArfO?A{NrAtz@A5<A=AZAA`ۿA*A9?2A^nֽ:A8w=BA9?JA^nֽRA8w=٘i)I9z@YG J۳JJJJE&K Y[V~?yTAWE778)iB-E[[~@[,W~?[(Y[[[[BZYY i)  c;Iix@@g-= ))ߐ@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031544.843165 s, next control iter: 1743031545.223207 s, wait time: 0.380042 s rAdjusting time to match Gazebo time: 1743031545.243165 s.H~,qO>#AJ"J*J2J:JBJnJvJAGz@ArMdz@AW~? A9Ao&"AAkNA"AZAbAjArAzAAAw-`y?A#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031545.663305F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5044, header.stamp.nsec: 00 temperature: 13.385287* salinity: 33.391590, density: 1025.000000* values[0]: 0.706243F (some fields omitted in printout)A@A峳@A#W~? A>A*&"AAjNA"AZAbAjArAzAAA7Ue ?ArAJoy@A|:A;=AAWA@YݿA|紼*A9?2Aֽ:A" =BA9?JAֽRA" =Yho@y5={:ٓH@[? JW2@P? ?)ho@ I٘i)I9oy@YG JJk;JJJE&KUx> YU~?y.TAbE775'8)rB+E[[R@[V~?[yc[[[[BZYY i)  :Iih@T/= 7))7M@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031545.683165 s, next control iter: 1743031546.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031546.083165 s.DH~,S>#AJ"J*J2J:JBJnJvJARk@AlQ@AW~? ACA"&"AAjNA"AZAbAjArAzAAA?Aq5MrAx@AWUۻA捚=AxZA~ A޿AT*Ae9?2AS-׽:Av=BAe9?JAS-׽RAv=٘i)I9x@YtG J-JJJJE&K YzU~?y!SAgEb77`.8=B)vB(E[[(@[V~?[h[[[[BZYY i) ;:Ii@0= V))V#:@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031546.103165 s, next control iter: 1743031546.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031546.503165 s.H~,L4>#AAp= ״@ACo񼴳@A$W~? AHA.c&"AAjNA"AZAbAjArAzAAA?ArLrA*Fx@A2AA=AA A޿Ar8*A9?2A>׽:Aw=BA9?JA>׽RAw=٘i)I9Fx@YG JJJJJE&K Y.U~?y(JSAlE58){B[[@[%V~?[n[[[[BZYY i) fPIi@1=  )) ǚ@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031546.523165 s, next control iter: 1743031546.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5045, header.stamp.nsec: 00 temperature: 13.385577* salinity: 33.391567, density: 1025.000000* values[0]: 0.705172F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031546.923165 s.9H~,>#AJ"J*J2J:J4?BJ4?nJK=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031546.923280F (some fields omitted in printout)A(\B@A2Y(@AW~? AMNA&"AAjNA"AZAbAjArAzAAA]@?A.rA{w@AC|A=AڻAOhA߿Aĩ*A9?2A׽:A=BA9?JA׽RA=I٘i)I9w@YG JB=JJJJE&K YU~?yu.RArE{7{7<8#AAHz@A4@AwW~? ASA&"AA|pjNA"AZAbAjArAzAAAP?ArAS(w@ASDAyq=AuAA`A A *A9?2A$ֽ:AD=BA9?JA$ֽRAD=٘i)I9(w@YmG J<C=JJJJE&K YU~?y4xRAwE777C8=B)B&E[[C@[V~?[x[[[[BZYY i) IiT@4= s))s>@%˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031547.383165 s, next control iter: 1743031547.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5046&, header.stamp.nsec: 0&0 temperature: 13.385799&* salinity: 33.391556&, density: 1025.000000&* values[0]: 0.704165&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031547.763165 s.EH~,Z>#AJ"J*J2J:JD4?BJD4?nJ=5vJA@A'+@AdW~? AdYA%&"AASjNA"AZAbAjArAzAAA'k!ֵAZWrAv@A);A=A1AAwANѧ*A9?2Asֽ:AN=BA9?JAsֽRAN=٘i)I9v@YG J`JJJJE&K YKU~?yO;RA}E{7{7 K8.B)yB#E[[&K@[V~?[h~[[[[BZYY i) AIiĎ@6= 犲))犲!m@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031547.783165 s, next control iter: 1743031548.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031548.183165 s.H~,I ?#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743031548.183254F (some fields omitted in printout)AQ@AJ|k@AcRW~? A_AQ&"AA7jNA"AZAbAjArAzAAA#*tfӿA^y՛rAv@A)<AT=A AkA A[*Aj9?2Aֽ:A=BAj9?JAֽRA=٘i)I9v@YG J䦼JJJJE&K YlU~?yAQAEj7j75R8-B)}B E[[Wփ@[kV~?[[[[[BZYY i) !}Iib@8= #^))#^R@(ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031548.223165 s, next control iter: 1743031548.583174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743031548.603165 s.84H~,&?#AJ"J*J2J:JBJnJvJA= ף@A9Վֶ@A_@W~? AdAF&"AAjNA"AZAbAjArAzAAAHAEerAu@A,'<AV=A ApA`"A%v*A9?2A[ֽ:A֔<BA9?JA[ֽRA֔<٘i)I9u@YnG JTJJJEJE&K YXU~?y(H=QAEaY8)B[[`@[V~?[|[[[[BZYY i) HIi.@;= '4))'4т@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031548.623165 s, next control iter: 1743031549.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5047 , header.stamp.nsec: 0 0 temperature: 13.386059 * salinity: 33.391556 , density: 1025.000000 * values[0]: 0.703180 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031549.023165 s.ZH~,{A?#AA(\@AWYB@A.W~? AjA&"AAjNA"AZAbAjArAzAAA:Z5Atl$rA<u@A;At\=A[G Ar߿AuA*A9?2Afֽ:AZ<BA9?JAfֽRAZ<٘i)I9u@YG JJJJJE&K YjEU~?yNPAE77`8)BE[[u@[:V~?[[[[[BZYY i) Ii(@==  )) p @WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031549.043165 s, next control iter: 1743031549.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031549.443165 s.7H~,>]\?#AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031549.443304F (some fields omitted in printout)AzǷ@AX:@AW~? ApAu^&"AAwiNA"AZAbAjArAzAAAؽAď rAt@A;WA[=AA޿A A*A9?2A"׽:AK<BA9?JA"׽RAK<٘i)I9t@YG J"B=JJJJE&K Y2U~?yUjPAE7g8.B)BE[[:s@[0V~?[[[[[BZYY i) ޘػIiO@Re@= ꩿ))ꩿ5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031549.463165 s, next control iter: 1743031549.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5048, header.stamp.nsec: 00 temperature: 13.386270* salinity: 33.391556, density: 1025.000000* values[0]: 0.702274F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031549.863165 s.+H~,>w?#AA33333@Am@A W~? A wA$&"AAiNA"AZAbAjArAzAAAHqXA'r}rA t@AAۅ=ABAkݿAA*A9?2AYB׽:A<BA9?JAYB׽RA`~4˗`"?)s|@ I٘i)I9 t@YG J6C=J-ټJJJE&Kf> Ya#U~?y\PAE{7j7n8-B)BE[[@[@zV~?[t[[[[BZYY i) Iix@@= )) @{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031549.903165 s, next control iter: 1743031550.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031550.283165 s.=RH~,?#AJ"J*J2J:JBJnJvJAQ@A䠄@AAV~? Af}Am&"AAhiNA"AZAbAjArAzAAA M+A"ZjRrAs@AB1A:F=A\MA #=ݿAeAچ*AZ9?2A6׽:A?<BAZ9?JA6׽RA?<٘i)I9s@YAG J=JJJJ E&K YU~?y dOAE{7 v8)B[[牆@[oV~?[G[[[[BZYY i) 2 Iiі@ A= ㏥))㏥⫟@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031550.303165 s, next control iter: 1743031550.683183 s, wait time: 0.380018 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 50492, header.stamp.nsec: 020 temperature: 13.3864772* salinity: 33.3915212, density: 1025.0000002* values[0]: 0.7014562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031550.703165 s.պH~, ?#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074754< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743031550.703273F (some fields omitted in printout)Aףp= @Ak)@A@V~? AƃAL&"AAКiNA"AZAbAjArAzAAAQu4Ax06rA&s@A ѻAׅ=AA{ܿAίA`*A9?2A׽:A<BA9?JA׽RA<٘i)I9&s@YG J.JJJJE&K YU~?yk]OA DE776}8,B)BE[[ @[ZeV~?['[[[[BZYY i) 'IiX@A= [c))[c7@yLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031550.723165 s, next control iter: 1743031551.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031551.123165 s.;H~,m?#AJ"J*J2J:Jy3?BJy3?nJ0<5vJA)\u@AE`[@AV~? A@At&"AAقiNA"AZAbAjArAzAAAp&9(A.7*rAr@A:A@=AA`޸ۿA@)A?*A9?2A߼ֽ:A^)=BA9?JA߼ֽRA^)=٘i)I9r@YG JJJJJE&K Y+T~?ysOAE77a8-B)BE[[؟@[i[V~?[[[[[BZYY i) W*Ii @B= 8))8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031551.143165 s, next control iter: 1743031551.523182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031551.543165 s.IH~,?#AA{Gṳ@A?T1ǹ@AV~? AҐA&"AAkiNA"AZAbAjArAzAAAߋSA -rA<@r@A <A=AyAڿA`~>A%*Ab9?2A9ֽ:A3=BAb9?JA9ֽRA3=٘i)I9@r@YpG JJJJJE&K YnT~?yzNAE77j78)BE[[T*@[QV~?[[[[[BZYY i) b:Ii@C= /))/OL@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031551.563165 s, next control iter: 1743031551.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5050, header.stamp.nsec: 00 temperature: 13.386673* salinity: 33.391514, density: 1025.000000* values[0]: 0.700680F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031551.963165 s.yH~,?#AJ"J*J2J:J_3?BJ_3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074754< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031551.963285F (some fields omitted in printout)AL@A |E2@AȾV~? A|Awt&"AATiNA"AZAbAjArAzAAAPhAd ?rAq@A5<Aa=A.A)ڿA"Aݰ*A9?2Aֽ:A=BA9?JAֽRA=Y{@b"y_=Z6<ٓHۿ@B?ųۿ@H彆?`?){@ I٘i)I9q@Y(G JDJ?;JJJ!E&K7x> Y8T~?yLNA"E7778)B[[.@[HV~?[ [[[[BZYY i) IIi@XC= ✿))✿)ס@wYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031551.983165 s, next control iter: 1743031552.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031552.383165 s.H~,'@#AAQ@A~!<@A~V~? A>A&"AA>iNA"AZAbAjArAzAAAi|\Ar^rAOq@Ab<A)=ApAG\ٿA6Ao*A9?2Asֽ:A=BA9?JAsֽRA=٘i)I9Oq@YG JJJJJ'E&K YT~?yyMAE{7{7ᙰ8)B[[?@[?V~?[[[[[BZYY iL) `YIi@C= ))a@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031552.403165 s, next control iter: 1743031552.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5051&, header.stamp.nsec: 0&0 temperature: 13.386902&* salinity: 33.391476&, density: 1025.000000&* values[0]: 0.699851&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031552.803165 s.J "J *J 2J :J )3?BJ )3?nJ ;5vJ A H~,g3@#AAq= #@A` @AV~? AAl&"AA})iNA"AZAbAjArAzAAAOQA^rAsp@A:A=AA ؿAA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9p@YG JGJJJJ,E&K YT~?yjMAEb77 8)BE[[ʉ@[6V~?[6Ĩ[[[[BZYY i) hIin@BdD= ))@wêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031552.823165 s, next control iter: 1743031553.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031553.223165 s.gH~,HN@#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743031553.223299F (some fields omitted in printout)A(\@A.EDu@AFV~? AAW&"AAiNA"AZAbAjArAzAAA1 WA7~rAt^p@AwAO=A`A׿A`FA *A9?2A2׽:A=BA9?JA2׽RA=٘i)I9^p@YKG J玼JJJJ1E&K YT~?y[5MAEj7j768)B[[1U@[.V~?[Zʨ[[[[BZYY i) j^xIi@TE= b))b,w@ƪYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743031553.243165 s, next control iter: 1743031553.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031553.643165 s.yH~,*i@#AJ"J*J2J:JBJnJvJAG@Ag໳@A[V~? AA>^&"AAiNA"AZAbAjArAzAAArZېAb8rAo@A2A=AAdֿAA@*A9?2A;׽:A =BA9?JA;׽RA =٘i)I9o@YG JJJJJ7E&K YbT~?yLLAE77a8,B)BE[[rߊ@[&V~?[Ш[[[[BZYY i) Ii@E= 9))9m@y6N˪YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031553.663165 s, next control iter: 1743031554.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5052, header.stamp.nsec: 00 temperature: 13.387083* salinity: 33.391483, density: 1025.000000* values[0]: 0.699075F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031554.063165 s. H~,V @#AAfffff@AiUML@A{V~? A A&"AAhNA"AZAbAjArAzAAA݂߾A+"*drAko@AA=A?&AֿAA<*AR9?2A׽:Ae =BAR9?JA׽RAe =Y@* YաT~?yrLA<Eb778)B[[i@[V~?[֨[[[[BZYY i) Iiu@ʹE= #))#ҋ@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031554.083165 s, next control iter: 1743031554.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031554.483165 s.x_'H~,@#AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743031554.483296F (some fields omitted in printout)AѼ@Aշ@AoV~? ALA\I&"AAhNA"AZAbAjArAzAAAArAhn@AA=A A q/տA AG*A)9?2Aֽ:A=BA)9?JAֽRA=٘i)I9n@YhG JܙJJJJBE&K YGT~?y޲ LAE778.B)BE[[N@[V~?[ݨ[[[[BZYY i) Iio@/E= G揿))G揿I@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031554.503165 s, next control iter: 1743031554.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5053, header.stamp.nsec: 00 temperature: 13.387280* salinity: 33.391487, density: 1025.000000* values[0]: 0.698267F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031554.903165 s.-H~,͹@#AA ףp=@A[X#@AfdV~? AȩA&"AA,T~?)>pè rAdjusting time to match Gazebo time: 1743031555.743165 s.W;H~,q@#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743031555.743269F (some fields omitted in printout)AGz@A3c@ANV~? A;שAH&"AAhNA"AZAbAjArAzAAAY = A@(rA9m@ALz%<Aȸ=AA ʙҿA`֌A.a*Aܯ9?2A@mֽ:A=BAܯ9?JA@mֽRA=٘i)I99m@YaG JJJJJRE&K Y{T~?y˨JAE77j77Ӱ8)ïB[[(@[V~?[[[[[BZYY i) 4ǩIis@bF= j))j#@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031555.763165 s, next control iter: 1743031556.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031556.163165 s.x}BH~,q A#AJ"J*J2J:Ja2?BJa2?nJ ;5vJA@A}e@ADV~? AީA&"AA hNA"AZAbAjArAzAAAB# AErAl@A\k;AZ<=Az?ArѿAAf*A9?2Aֽ:Aj=BA9?JAֽRAj=Y@3y;=;ٓH ο@ ?ο ' qhq?M?)@ I٘i)I9l@YG JJ=<JJJWE&K5x> YtT~?yCԨjJA3Ej7Z7bڰ8.B)ɯBE[[D@[8U~?[a[[[[BZYY i) ! Ii@dzF= oB))oB??@=YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031556.183165 s, next control iter: 1743031556.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031556.583165 s.HH~,R%A#AAR뾳@A.oѾ@A$;V~? A.A|&"AAhNA"AZAbAjArAzAAARиt AdUHrAel@AuAJ=AA ,пAA{C*A9?2ASֽ:AQ=BA9?JASֽRAQ=٘i)I9l@YG JgJJJJ\E&K YnT~?yܨIAE778)ίB E[[@[U~?[[[[[BZYY i) 5yIiٚ@5F= ))zɧ@^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031556.603165 s, next control iter: 1743031556.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5055, header.stamp.nsec: 00 temperature: 13.387738* salinity: 33.391468, density: 1025.000000* values[0]: 0.696287F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031557.003165 s.z PH~,U4@A#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031557.003306F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A"<@A2V~? AA&"AAzhNA"AZAbAjArAzAAA ArA"dk@Av A=AIAϿAAUŽ*A9?2A#׽:A=BA9?JA#׽RA=٘i)I9dk@YCG JeJJJJbE&K Y:gT~?yWIAE78)ӯB[[1@[{U~?[A[[[[BZYY i) ҿIiҚ@,F= [))[S@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031557.043165 s, next control iter: 1743031557.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031557.423165 s.uVH~,[A#AA(\¿@A'Nw@A})V~? A^AUU&"AAmhNA"AZAbAjArAzAAA,GA'2rA%j@AN.A =AEA`oοA`;A '¼*Ac9?2A׽:Ap=BAc9?JA׽RAp=٘i)I9j@YG JJJJJgE&K Yn`T~?yIAEj7j78)دB[[@[U~?[ [[[[BZYY i) q*ǼIi@]F= {ǀ)){ǀݨ@YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743031557.443165 s, next control iter: 1743031557.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5056", header.stamp.nsec: 0"0 temperature: 13.388000"* salinity: 33.391449", density: 1025.000000"* values[0]: 0.695198"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031557.843165 s.\H~,uA#AJ"J*J2J:JBJnJvJAHz.@A9&@Aj!V~? A A&"AA`hNA"AZAbAjArAzAAA8'oQA3< YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031558.283165 s, next control iter: 1743031558.663184 s, wait time: 0.380019 sBtReceived state from Gazebo (printed only once in a while):B0 header.stamp.sec: 5057B, header.stamp.nsec: 0B0 temperature: 13.388287B* salinity: 33.391438B, density: 1025.000000B* values[0]: 0.694036BF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031558.683165 s.J "J *J 2J :J 1?BJ 1?nJ M:5vJ ;njH~,¿A#AAQ@A]@AV~? A A&"AAIhNA"AZAbAjArAzAAApDZAʫsAsh@Ac@<A=A]ؿA^ȿAAԼ*Aڙ9?2A8ֽ:A=BAڙ9?JA8ֽRA=٘i)I9h@Y G JҼC=JJJJwE&K 8Y LT~? 8yGAE777c8.B)B E[[Y@[=U~?[B[[[[BZYY i) 5ݼIi@UH= t))t{@sYFFF]l:Waiting for Gazebo time sync: latest Gz time: 1743031558.683165 s, next control iter: 1743031559.083181 s, wait time: 0.400016 s rAdjusting time to match Gazebo time: 1743031559.103165 s."qH~,ݚA#AA= ףp@AvR_V@A5 V~? AVA&"AA?hNA"AZAbAjArAzAAA3کASt sAFh@A_4<Ao=AֿA`xƿAAռ*A'9?2A8ֽ:AaT=BA'9?JA8ֽRAaT=٘i)I9h@Y< G JLռJJJJ}E&K Y=ET~?y TGA E)7ŧ7 80B)B E[[A@[U~?[#[[[[ZZ¸BZYY i¸q=) cWѼIib@sI= Tp))Tp<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031559.143165 s, next control iter: 1743031559.503181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743031559.523165 s.wH~,|A#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743031559.523290F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@Adt@@A(V~? A/Aa&"AA5hNA"AZAbAjArAzAAAS38A:P6 ?sA[g@AV;Aд=AqӿA`]ĿAAռ*A֌9?2A6pֽ:A=BA֌9?JA6pֽRA=٘i)I9[g@Y G JռJJJJE&K Yq>T~?yFAE)78)B[["l@[U~?[L*[[[[ZZBZYY i) 'zżIio@*J=  l)) l@yoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031559.543165 s, next control iter: 1743031559.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5058, header.stamp.nsec: 00 temperature: 13.388568* salinity: 33.391426, density: 1025.000000* values[0]: 0.692812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031559.943165 s.Zd~H~,J]A#AAzG³@Ai-³@AV~? A$AD &"AA-hNA"AZAbAjArAzAAAv I6A#)sAf@Ac6A"=AпA,¿A@AR*Aܗ9?2AѺֽ:AvX<BAܗ9?JAѺֽRAvX<٘i)I9f@YV G JJJJJE&K Y7T~?y!rFAE77{78)B[[@[U~?[0[[[[ZZBZYY i) ›Ii@^L= Ug))Ug@y=fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031559.963165 s, next control iter: 1743031560.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031560.363165 s.H~,>B#AJ"J*J2J:JBJnJvJA3333³@A&B³@AU~? A+A. &"AA%hNA"AZAbAjArAzAAAG\sAesA`e@A##A=A"οA+A AA*A9?2A7ֽ:Aމ<BA9?JA7ֽRAމ Y6T~?y) FA%οE7ŧ7 "8)B[[}@[U~?[\7[[[[ZZBZYY i) Ii@;bK= ́c))́c@yϦ=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031560.403165 s, next control iter: 1743031560.763179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5059*, header.stamp.nsec: 0*0 temperature: 13.388875** salinity: 33.391407*, density: 1025.000000** values[0]: 0.691445*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031560.783165 s.VH~,2B#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743031560.783301F (some fields omitted in printout)AQó@A# ó@A"U~? A3AV &"AAhNA"AZAbAjArAzAAAܻ[bA6sAd@A(<Av=ACr˿AdA A*AM9?2Aֽ:Ae<BAM9?JAֽRAe<٘i)I9d@YS G JJJJJE&K Yg5T~?y2EA#Eb778)82B) B E[[@[U~?[=[[[[ZZBZYY i) jIIiM@tJ= =7_))=7_(@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031560.823165 s, next control iter: 1743031561.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031561.203165 s.H~,GMB#AJ"J*J2J:J0?BJ0?nJh95vJAףp=ó@A&pó@A,U~? A;A &"AAmhNA"AZAbAjArAzAAAӗ}mAVj"sAS1d@AAA4=AfȿAAm4At̼*A9?2Aֽ:A@;BA9?JAֽRA@;٘i)I91d@Y G J߼JJJJE&K YH4T~?y;>EA(E{7Z7c08+B) B[[@[U~?[D[[[[ZZBZYY i) Ii@J= Z))Z@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031561.223165 s, next control iter: 1743031561.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031561.623165 s.XH~,agB#AA)\ó@Aó@AU~? ACA\ &"AAhNA"AZAbAjArAzAAAiAz'sAc@AEA<AKƿA }ԶAEAN*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y G JYJJJJE&K Y)3T~?yKDDA-E{778)B[[5@[U~?[%K[[[[ZZBZYY i) )Ii@I= UV))UV0<@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031561.663165 s, next control iter: 1743031562.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5060 , header.stamp.nsec: 0 0 temperature: 13.389194 * salinity: 33.391380 , density: 1025.000000 * values[0]: 0.690012 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031562.043165 s.H~,ÂB#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743031562.043325F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gaij@AU2Gij@AU~? AKA˿ &"AA hNA"AZAbAjArAzAAA+n&AZ?_,sA c@A8;AM+<AÿA`hAITA*A69?2Aֽ:AABA69?JAֽRAA٘i)I9 c@Y0 G JJJJJE&K Y 2T~?yMqDA3Eb7b7>8)B[[@[U~?[Q[[[[ZZBZYY i) ~Ii@I=  OR)) ORŮ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031562.063165 s, next control iter: 1743031562.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031562.463165 s.nH~,LB#AAij@ACVij@AoU~? ASA# &"AAhNA"AZAbAjArAzAAAZCA1bF1sA٪b@A!<AiA"A :qAG`AQ=*AP9?2Aׯֽ:AmBAP9?JAׯֽRAmYő@yJgy!<ٓHƯ??`*ք=ͯ?0s? ,v?`/?`{?)ő@ I٘i)I9b@Y G JkJBJJJE&K@x> Y3T~?yUxDA8E777E8)BE[[-@[7U~?[cX[[[[ZZBZYY i }=) ˮkIi@H= eN))eNO@I(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031562.503165 s, next control iter: 1743031562.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5061, header.stamp.nsec: 00 temperature: 13.573069* salinity: 33.374966, density: 1025.000000* values[0]: 0.567508F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031562.883165 s.yH~,@B#AJ"J*J2J:JH?BJH?nJV5vJAQ8ų@A8h>ų@AU~? A[A &"AAhNA"AZAbAjArAzAAAS\YAT06sA~ib@A<AܤAA֦AiAcػ*A%9?2AXֽ:ANBA%9?JAXֽRANI٘i)I9ib@Y G JJJJJE&K Y5T~?y^DA>E77M8)B[[@[U~?[_[[[[ZZBZYY iڔ=) ]XIiۛ@G=  I)) Iٯ@q)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031562.903165 s, next control iter: 1743031563.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031563.303165 s.TH~,ogB#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031563.303282F (some fields omitted in printout)Aq= ףų@Ao ų@A>U~? A dA&"AA/hNA"AZAbAjArAzAAAbHjAi;sA,Mb@A0n;AAC컿A pA`kpA?z*An9?2Atֽ:AyȼBAn9?JAtֽRAyȼ٘i)I9Mb@Y G JJJJJE&K YO7T~?ygDACE7778T8)[[ 7ǿ[U~?[e[[[[BZYY i) cEIiA@7F= 7^E))7^E7^E3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031563.323165 s, next control iter: 1743031563.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5062., header.stamp.nsec: 0.0 temperature: 13.573211.* salinity: 33.374966., density: 1025.000000.* values[0]: 0.567186.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031563.723165 s.H~,HB#AJ"J*J2J:JBJnJvJA(\Ƴ@ADų@AoU~? AlARK&"AAhNA"AZAbAjArAzAAAsAOQ?@sATb@AXA2A]AVҎA`tAЉn;*A9?2A{9ֽ:Ay<BA9?JA{9ֽRAy<鼙٘i)I9Tb@Y G J :JJJJE&K Y9T~?yVpDAHE{7Z7c[8)E[[ ſ[U~?[Zl[[[[BZYY i) 2Ii՚@0F= w A))w Aw AyX=p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031563.763165 s, next control iter: 1743031564.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031564.143165 s.c/H~,=* C#AAGzƳ@Ac`Ƴ@A&U~? A.tA&"AAhNA"AZAbAjArAzAAA I4EwAV\DsAzb@Ad$A;XAζA1AuA;*A[9?2Aֽ:AXBA[9?JAֽRAX٘i)I9zb@Y G J^;JJJJE&K Y:T~?y%yDANE)7ŧ7b8)B[[¿[tU~?[s[[[[BZYY i)  Ii@E= <))<<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031564.163165 s, next control iter: 1743031564.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031564.563165 s.H~,J $C#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031564.563279F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffƳ@AIQƳ@AdU~? A@|A&&"AAhNA"AZAbAjArAzAAAtXtAIsAb@A/AvA*7A@`?A`tA8<*A 9?2A@ֽ:Ak BA 9?JA@ֽRAk YL@!y'v-0ٓHc?`!?rJ?`?`P?=ծ?\?)L@ I٘i)I9b@Y G J<JJJJE&K/w> Ym?T~?yׁDA!SEZ7SI7i8)B[[[U~?[y[[[[BZYY i^h=)  Iis@jD= Wd8))Wd8Wd8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031564.583165 s, next control iter: 1743031564.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5063, header.stamp.nsec: 00 temperature: 13.573178* salinity: 33.374962, density: 1025.000000* values[0]: 0.567269F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031564.983165 s.H~,>C#AAQdz@A87dz@A)U~? AQAr&"AAPhNA"AZAbAjArAzAAAkAt'NsAc@A,»A燽AAH?A`pAd<*A̓9?2AZֽ:AXBA̓9?JAZֽRAX٘i)I9c@Y2 G J@M<JJJJE&K YDT~?yBAD9?JAֽRA>٘i)I9zc@Yr G Jy<JJJJE&K YHT~?y;EA^E)7)7x8)BE[[e[)U~?[톩[[[[BZYY i) AIi@-B= /))//*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031565.423165 s, next control iter: 1743031565.803189 s, wait time: 0.380024 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5064", header.stamp.nsec: 0"0 temperature: 13.573039"* salinity: 33.374985", density: 1025.000000"* values[0]: 0.567650"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031565.823165 s.H~,tC#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743031565.823340F (some fields omitted in printout)A\(ȳ@Akyȳ@ALU~? AnA7&"AA2hNA"AZAbAjArAzAAAóߙDAޤXsAc@Aii <A~As;A[?AZbAv<*A֝9?2Aֽ:A# BA֝9?JAֽRA# ٘i)I9c@Y G JC<JJJJE&K Y:MT~?y훩EAcE777:8) B[[9[vU~?[[[[[BZYY i~ч=) Ii@hA= +c+))+c++c+yTi=<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031565.863165 s, next control iter: 1743031566.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031566.243165 s.H~,yC#AJ"J*J2J:JBJnJvJAGzȳ@A%jzȳ@AU~? AxA&"AAYhNA"AZAbAjArAzAAAP>(A]sAXvd@A0<A|AHA?AWA(<*AM9?2Aֽ:A BAM9?JAֽRA ٘i)I9vd@Y G Jw<JJJJE&K YQT~?y5FAhE77{7d8,B)BE[[ [!U~?[9[[[[BZYY i)  Ii@W@= s '))s 's 'yBr=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031566.263165 s, next control iter: 1743031566.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031566.663165 s.H~,qC#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5065, header.stamp.nsec: 00 temperature: 13.572776* salinity: 33.374973, density: 1025.000000* values[0]: 0.568231F (some fields omitted in printout)Aɳ@Aȳ@AU~? A}A&"AAM hNA"AZAbAjArAzAAA'V$A21rbsAUe@A;AlAh A@޶?A JA<*AM9?2ALֽ:At# BAM9?JALֽRAt# YE@~y_^b;ٓH?? ?a@? dk??}?.?)E@ I٘i)I9e@Y` G Jo<JJJJE&Kx> Y;YT~?yFAnE778)B[[5㵿[#U~?[К[[[[BZYY i) Ii[@ -?= "))""y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031566.683165 s, next control iter: 1743031567.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031567.083165 s.DH~,RC#AJ"J*J2J:Jw?BJw?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031567.083294F (some fields omitted in printout)ARkɳ@AlQɳ@AU~? A~ARa&"AA hNA"AZAbAjArAzAAA2AKjUgsA e@AӸA؛A!A@8?A5:A9<*A19?2Aqֽ:AUw BA19?JAqֽRAUw ٘i)I9e@Y G JW<JJJJE&K Y`T~?yGAsE7778)BE[[緳[U~?[i[[[[BZYY i) LIIi6@== _))__O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031567.103165 s, next control iter: 1743031567.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031567.503165 s.H~,a4C#AAp= ɳ@A{ɳ@AU~? AyA>&"AAhNA"AZAbAjArAzAAADAjU3lsA|'f@AwA AeA]?A(A߳<*A9?2A?ֽ:AYt BA9?JA?ֽRAYt ٘i)I9'f@Y G J<JJJJE&K YhT~?ynGAyE77䛱8)B[[w[CU~?[[[[[BZYY i) ` Ii?@&z<= ))c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031567.523165 s, next control iter: 1743031567.903183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5066, header.stamp.nsec: 00 temperature: 13.572515* salinity: 33.374973, density: 1025.000000* values[0]: 0.568903F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031567.923165 s.8H~,C#AJ"J*J2J:J?BJ?nJ5vJA(\Bʳ@ACu(ʳ@A[U~? AmA)&"AAhNA"AZAbAjArAzAAAR'uAc qsA7f@A`0A툙AxeA ?A A<*A#9?2A;ֽ:AG BA#9?JA;ֽRAG ٘i)I9f@Yo G J<JJJJE&K YooT~?yƩGA~E78)B[[[[bU~?[[[[[BZYY i)  Iiw@z;= _))__C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031567.943165 s, next control iter: 1743031568.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031568.343165 s.<H~,D#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743031568.343297F (some fields omitted in printout)AHzʳ@AAIʳ@ATV~? AZĪA&"AA$hNA"AZAbAjArAzAAAe9A2,usA Vg@AE AGVALĜA?AAY<*A9?2Ajjֽ:AĶBA9?JAjjֽRAĶ٘i)I9Vg@Y G J<B=JJJJE&K YvT~?yϩ?HAE77:8-B)BE[[;+[U~?[3[[[[BZYY i) ѪIiݑ@:= F))FFL*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031568.363165 s, next control iter: 1743031568.743181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5067&, header.stamp.nsec: 0&0 temperature: 13.572212&* salinity: 33.375000&, density: 1025.000000&* values[0]: 0.569616&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031568.763165 s.C H~,Q0D#AJ"J*J2J:JBJnJvJA˳@A˾+ʳ@AV~? A>̪A&"AA+hNA"AZAbAjArAzAAAӯ A~q1lzsA g@AЩAޔAA?AA'f<*A9?2Acֽ:AV5BA9?JAcֽRAV5Y@nyޔBٓH`?`? %`?@?? 9\Z?)@ I٘i)I9g@Y% G J<C=J;JJJE&K7x> YT~?yNשHAE7777d8.B)BE[[[U~?[[[[[BZYY i) :Ii]@/8=  ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031568.783165 s, next control iter: 1743031569.163188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743031569.183165 s.H~,gKD#AAQ˳@AE k˳@A V~? AԪAJZ&"AA4hNA"AZAbAjArAzAAAAA sAvh@Avi;ApA,kA`ܰ?A@A0<*A9?2Aֽ:AsBA9?JAֽRAs٘i)I9vh@Y{ G Jw<B=JJJJE&K YT~?yߩIAE778)B[[Ϩ[U~?[@©[[[[BZYY i) :Ii @7= K))KK*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031569.203165 s, next control iter: 1743031569.583179 s, wait time: 0.380014 sT~?)ߩ rAdjusting time to match Gazebo time: 1743031569.603165 s.94H~,fD#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031569.603292F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף˳@AU˳@A^V~? A۪A9%"AA>hNA"AZAbAjArAzAAAF^AzGsAh@A.-<AR;AŔA?A`"AB<*A9?2A׽:ABA9?JA׽RA٘i)I9h@Y G J4<C=JJJJE&K YD#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031570.863280F (some fields omitted in printout)A33333ͳ@Aͳ@A)V~? AA%"AA$_hNA"AZAbAjArAzAAA6AmsA=j@AދA{ЊA<AQ?A`>A <*A9?2Aqxֽ:ABA9?JAqxֽRAYZɞ@ y(Њ1ٓH?@ ?`dmV{v??V?{q`?)Zɞ@ I٘i)I9j@YG J<J?<JJJE&Kx> YET~?y JA E{7j7:ձ80B)ܯB E[[[eV~?[3ܩ[[[[BZYY i=) n;Ii@vF1= f))ff&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031570.883165 s, next control iter: 1743031571.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031571.283165 s.8R4H~,D#AJ"J*J2J:J=?BJ=?nJX5vJAQͳ@Aϻͳ@A1V~? AAe%"AAkhNA"AZAbAjArAzAAAkк A%2sA k@A!A"AjA 0?AA_ə<*A9?2A^]ֽ:AtBA9?JA^]ֽRAt٘i)I9 k@Y G J<JJJJE&K YT~?yJAEj7eܱ8)دB[[Wҝ[lV~?[[[[[BZYY i) e;Ii@b]/= ))))復)ٺ*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031571.303165 s, next control iter: 1743031571.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5070., header.stamp.nsec: 0.0 temperature: 13.571338.* salinity: 33.375011., density: 1025.000000.* values[0]: 0.571606.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031571.703165 s.ֺ:H~,D#AAףp= γ@A-ͳ@A:V~? ALA%"AAxhNA"AZAbAjArAzAAA : A汖$sAk@Ap(AyA퇿A ?A`^Ap<*AH9?2Aqֽ:A BAH9?JAqֽRA ٘i)I9k@YZG J<B=JJJJE&K YT~?yJKAEb778)ԯB[[ [V~?[[[[[BZYY i) a;Ii@%-= vPܾ))vPܾvPܾ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031571.723165 s, next control iter: 1743031572.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031572.123165 s.8AH~,aE#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031572.123284F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\uγ@AGɫ[γ@A+DV~? A A=%"AA hNA"AZAbAjArAzAAAI=9 AzFKsAHl@A&ӬA函AHGA?A@<A<*A9?2Asֽ:A+-BA9?JAsֽRA+-٘i)I9l@YG J<C=JJJJ#E&K YT~?yKAE{7{782B)ѯB$E[[c[&V~?[g[[[[BZYY i) w<*Aڿ9?2A׽:AϪBAڿ9?JA׽RAϪYm @ny F <ٓH>??% [`M?"?dE?U??)m @ I٘i)I9l@Y2G JF<Jj$:JJJ.E&K6x> YT~?y&aLAEj78)˯B'E[[_[G7V~?[ [[[[BZYY i) # elevatorAngleAction: 0.076168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743031573.383286F (some fields omitted in printout)AQϳ@A9ϳ@AcV~? AA%"AAhNA"AZAbAjArAzAAA A9b$ѭsA_m@AH.<AuAzAKT?A)AS <*A9?2Ah ׽:AXBA9?JAh ׽RAX٘i)I9_m@YxG Jو<JJJJ3E&K  8YU~? 8yJ.LAEZ7Z7:8)ǯB[[["@V~?[J[[[[BZYY i) @'3;sAsOn@AF9AA`yAoppA`?AAg<*A9?2Auֽ:AGBA9?JAuֽRAG٘i)I9On@Y G J<JJJJ>E&K Y\&U~?y=xMAE8)¯B[[B[SV~?[[[[[BZYY i) <'R elevatorAngleAction: 0.076168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743031574.643288F (some fields omitted in printout)AGг@AJ$г@AV~? A{5A%"AAhNA"AZAbAjArAzAAA42"ARKsAn@A A*ȓA\kA ??A@Ai<*Ax9?2AWֽ:AS BAx9?JAWֽRAS ٘i)I9n@YXG Jo<JJJJDE&K Y5U~?yDMAEb7785B)B.E[[[[]V~?[[[[[BZYY i) a?A@5DAȽ<*A9?2A Pֽ:A) BA9?JA PֽRA) YL@fy2ٓH?` ? e ?S^??C`?)L@ I٘i)I9To@YG JW<JZJJJIE&Kx> Y5GU~?yjK9NAfE77{78)B[[lj[UgV~?[[[[[BZYY i) p elevatorAngleAction: 0.076168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031575.903299F (some fields omitted in printout)A ףp=ҳ@A2SZ#ҳ@AV~? AFJAK%"AAh&iNA"AZAbAjArAzAAAk!SA>9sAyep@A➺AۘA[A@ P?AA.<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9ep@YOG J <JJJJTE&K YbjU~?y1YOAE;+8)B[[H[}V~?['[[[[BZYY i0=)  elevatorAngleAction: 0.085542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743031577.163322F (some fields omitted in printout)Aӳ@Aeӳ@AV~? AD^A%"AAhiNA"AZAbAjArAzAAA.uSVAcHsAyq@A'<A߶A"KAm?A`nAz<*A9?2A.ֽ:ABA9?JA.ֽRAYf@Ky#T<ٓHM? YKU~?yCm6PAKEb77@88B)B8E[[|[V~?[8[[[[BZYY i) G[[[[BZYY i)  elevatorAngleAction: 0.085542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031578.423297F (some fields omitted in printout)A(\Գ@A xԳ@A W~? AaqAJ%"AAiNA"AZAbAjArAzAAA8CA sA?s@A%A`AZ<A@?ASA<*A9?2Aս:ABA9?JAսRA٘i)I9s@YVG JR<JJJJtE&K Y~U~?y$vQAE77;V8;B)B?E[[;Jo[-V~?[J[[[[BZYY i) & YV~?yTRA22E77d8)B[[wf[V~?[PU[[[[BZYY i) y elevatorAngleAction: 0.085542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743031579.683273F (some fields omitted in printout)J"J*J2J:JBJnJvJAQֳ@A-(ճ@A?W~? AA%"AAiNA"AZAbAjArAzAAAݨAU@sAJu@AT@;A/A,A?A"A<*A(9?2A37ֽ:ABA(9?JA37ֽRA٘i)I9u@Y~G J<JJJJE&K YV~?yRAE7k8=B)BFE[[;a[V~?[Z[[[[BZYY i) B)BIE[[\[V~?[A`[[[[BZYY i)  elevatorAngleAction: 0.085542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743031580.943335F (some fields omitted in printout)AzG׳@AI -׳@AvW~? AA%"AAOjNA"AZAbAjArAzAAAq?AFHsAw@Ar;AAA ?A 6"A<*A$9?2A&ս:ABA$9?JA&սRA٘i)I9w@YG JU<JJJJE&K Y{\V~?y"TA$E<8)BLE[[S[AW~?[j[[[[BZYY i) ϧWG#AJ"J*J2J:J?BJ?nJ55vJA3333׳@A5!׳@AW~? A=A#%"AAkjNA"AZAbAjArAzAAAg_?A (rsAHx@AǚAAAZ?Ak߿A2<*Aͨ9?2A ս:ABAͨ9?JA սRAYN@ˋy]cٓHa?b?`={?R??`XS?)N@ I٘i)I9Hx@YG J<J4JJJE&K>t> YsV~?yTA)E7777g8?B)}BOE[[N[-W~?[.p[[[[ZZZZ¸>BZYY i¸>) /ARAu?AGۿA<*A9?2AԽ:A<BA9?JAԽRA YV~?yVADE777=8)`B[[Wn7[ԁW~?[/[[[[ZZZZBZYY il) $[W~?[[[[[ZZZZBZYY i) ~\))@F>@F>y얽:کY]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031585.163165 s, next control iter: 1743031585.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031585.563165 s.H~,x dH#AJ"J*J2J:J?BJ?nJ*5vJAffff۳@A?N۳@AYX~? AJʫAk%"AAkNA"AZAbAjArAzAAA—g@A^+tA~@AK(A)*=AʾA,?A,ؿA];*A9?2AԽ:Ax<BA9?JAԽRAxJJJE&Kr> YgW~?yӪ}WA&˾_E7в8)gE[[gt[W~?[[[[[BZYY il) DK))Ipm&>m&>y v3YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743031585.583165 s, next control iter: 1743031585.963183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5084, header.stamp.nsec: 00 temperature: 13.566429* salinity: 33.375141, density: 1025.000000* values[0]: 0.581932F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031585.983165 s.H~,~H#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235032@ elevatorAngleAction: -0.057837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743031585.983311F (some fields omitted in printout)AQܳ@Ajm7ܳ@ApX~? A^ΫA%"AAkNA"AZAbAjArAzAAAݥ@A_,GDtA~@As#A!3=AA i?AH׿A"*A9?2A ս:A,<BA9?JA սRA,<٘i)I9~@YG Jy9B=JJJJE&K YǁW~?y!תQWAeE77=ײ8FB)jE[[[W~?[^[[[[BZYY i) &:))P9>y2tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031586.003165 s, next control iter: 1743031586.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031586.403165 s.&&H~,͙H#AJ"J*J2J:JBJnJvJA ףpܳ@AyYܳ@AцX~? AMҫA0%"AAkNA"AZAbAjArAzAAA @A [-+tAl}@AًARCZ=A>A?A@oֿAN*A:?2Avҽ:Ae<BA:?JAvҽRAe<٘i)I9}@YG JC=JJJJE&K YߛW~?yڪ%WAjE{7{7h޲8)VBmE[[[X~?[[[[[BZYY i) ())  9M> 9M>yeߕYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031586.423165 s, next control iter: 1743031586.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5085", header.stamp.nsec: 0"0 temperature: 13.566332"* salinity: 33.375141", density: 1025.000000"* values[0]: 0.582052"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031586.823165 s.,H~,6H#AA\(ݳ@A2ݳ@AԝX~? A֫A%"AA lNA"AZAbAjArAzAAA'@ @A'AtA}@Az;A=|x=A A?A`WտAo7*A:?2Aҽ:AG=BA:?JAҽRAG=٘i)I9}@YlG JB=JJJJE&K YW~?yݪVAoE8)YBpE[[[YX~?[[[[[BZYY i) i/))`>`>yqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031586.843165 s, next control iter: 1743031587.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031587.243165 s.3H~,qH#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067844< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031587.243281F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzݳ@Abzݳ@AX~? A٫A7%"AA.lNA"AZAbAjArAzAAAA_/@A7tA`}@A $<A5)=A!A-?A@$ԿAm*A :?2A/ӽ:A=BA :?JA/ӽRA=٘i)I9`}@Y7G J3QC=JJJJE&K YW~?y[VAuE78GB)\BsE[[_ [ /X~?[[[[[BZYY i) {))t>t>캪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031587.263165 s, next control iter: 1743031587.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031587.663165 s.:H~,qH#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5086, header.stamp.nsec: 00 temperature: 13.566339* salinity: 33.375156, density: 1025.000000* values[0]: 0.581825F (some fields omitted in printout)A޳@Aݳ@AX~? AFݫAM%"AA+RlNA"AZAbAjArAzAAA$g@A 4X]!tA|@AV5<A=A9显AlG?AԿA2*A7:?2Aӽ:Aw/=BA7:?JAӽRAw/=Y؄@~y=j[6<ٓH??`{?ҿ?`n ?@?)؄@ I٘i)I9|@YG J€J =JJJE&K%q> YW~?yjVA~zEj7Z78)_B[[3 [CX~?[[[[[BZYY i~l) ;Ii@T< P>))NoP>P>KǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031587.683165 s, next control iter: 1743031588.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031588.083165 s.DAH~,RI#AJ"J*J2J:JBJnJvJARk޳@AbmQ޳@A8X~? AAڭ%"AAulNA"AZAbAjArAzAAA,D@A)dl#tAy|@A;A^|=ADWAsy?A5(ӿA%*A:?2AˋԽ:A9=BA:?JAˋԽRA9=٘i)I9y|@YG JQJJJJE&K YX~?y VAE{7{78)cBvE[[_#[XX~?[C[[[[BZYY i) ;;Ii@ < ؍>))؍>؍>2ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031588.103165 s, next control iter: 1743031588.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031588.503165 s.GH~,U4 I#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253164@ elevatorAngleAction: -0.057738< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743031588.503341F (some fields omitted in printout)Ap= ޳@Ah޳@A"X~? AA_m%"AAlNA"AZAbAjArAzAAAEq@Aʒc%tA{@A׺ARc=AA೯?A?ҿA㤼*AF9:?2ARҽ:A=BAF9:?JARҽRA=٘i)I9{@YXG JeJJJJE&K  8Y!X~? 8yUAE7>8)hByE[[_[8nX~?[軪[[[[BZYY i) ĕ;Iit?< 鿗>))鿗>鿗>֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031588.543165 s, next control iter: 1743031588.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5087, header.stamp.nsec: 00 temperature: 13.566442* salinity: 33.375156, density: 1025.000000* values[0]: 0.581387F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031588.923165 s.9NH~,;I#AJ"J*J2J:JBJnJvJA(\B߳@ArOWw(߳@ACY~? AA/%"AAWlNA"AZAbAjArAzAAAoMH@AEC'tA>f{@AMAeМ=AsA?AMfѿA'*AI:?2A+ҽ:A/ =BAI:?JA+ҽRA/ =٘i)I9f{@YG JJJJJE&K Y)) >>ylתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031588.963165 s, next control iter: 1743031589.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031589.343165 s.))yƫ>yƫ>fתY⭁YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031589.383165 s, next control iter: 1743031589.743177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5088*, header.stamp.nsec: 0*0 temperature: 13.566602** salinity: 33.375156*, density: 1025.000000** values[0]: 0.580788*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031589.763165 s.4[H~,pI#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057738< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743031589.763282F (some fields omitted in printout)A@AU߳@AEY~? AA>%"AA mNA"AZAbAjArAzAAAja|j@A ^ҽ*tA?z@AVA=AuKA2?A@.bϿAz*A]:?2Aӽ:A=BA]:?JAӽRA=Y<@Ly]=ٓHG?C?P?Dɿ^?'V}K*p?)<@ I٘i)I9?z@YOG JC=J4<JJJE&Kip> YrX~?y}TALEb778JB)xBE[[oܾ[sX~?["ƪ[[[[BZYY i) 6g(;Ii?< >))kn>>ԪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031589.803165 s, next control iter: 1743031590.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031590.183165 s.bH~,RI#AAQ@A>[k@A]Y~? ADAB%"AAJ-mNA"AZAbAjArAzAAA"@ȕ@AX,tAy@AUĕAw=Ah7AX?A5ͿAW*A`:?2AԽ:A|=BA`:?JAԽRA|=٘i)I9y@YG JJJJJ E&K YkX~?yTA DEj7j78)|B[[lҾ[X~?[Gɪ[[[[BZYY i) U:Ii%?<  >))f > >ЪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031590.203165 s, next control iter: 1743031590.583174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031590.603165 s.74iH~,I#AJ"J*J2J:JBJnJvJA= ף@A@AvY~? AAKV%"AARmNA"AZAbAjArAzAAA2Ќ/@Au-tAy@As;A$|=A #A`X?A@˿A z*A:?2Aѽ:Ag=BA:?JAѽRAg=٘i)I9y@YG JbJJJJE&K YX~?ySAEŧ7ŧ7&8)BE[[TȾ[X~?[P̪[[[[BZYY i) ?:Ii?0< >))>>˪Y$nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031590.643165 s, next control iter: 1743031591.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5089 , header.stamp.nsec: 0 0 temperature: 13.566779 * salinity: 33.375187 , density: 1025.000000 * values[0]: 0.580170 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031591.023165 s.ZpH~,{I#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252732@ elevatorAngleAction: -0.066754< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031591.023291F (some fields omitted in printout)A(\@A-ͭB@AY~? AAK'%"AAxmNA"AZAbAjArAzAAA|D@AR|E/tAGx@Aym6<AT=AoAڤ?AʿAC*A+:?2Abѽ:A<BA+:?JAbѽRA<٘i)I9x@Y>G JJJJJE&K YX~?y?FSAE)7>-8)BE[['[DX~?[:Ϫ[[[[BZYY i) LEIi?q~< >)) >>ŪYaYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031591.063165 s, next control iter: 1743031591.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031591.443165 s.2vH~,)]I#AJ"J*J2J:JBJnJvJAz@A@AΨY~? A;A5%"AAmNA"AZAbAjArAzAAAK&#@Am0tAw@AN<A=AA`?AQȿA*A̟:?2Aҽ:A<BA̟:?JAҽRA<٘i)I9w@YG J!B=JJJJE&K YsX~?yRAE7777i48)BE[[賾[ Y~?[Ҫ[[[[BZYY i) V0Iiܿ?u< 17>))17>17>yYpYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031591.463165 s, next control iter: 1743031591.843175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5090", header.stamp.nsec: 0"0 temperature: 13.566919"* salinity: 33.375198", density: 1025.000000"* values[0]: 0.579575"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031591.863165 s.+}H~,>I#AA33333@AU@AY~? AAA%"AAmNA"AZAbAjArAzAAA,*V@Ay'1tA&lw@A_ ;Am=A&ϽA?AƿA'*AU:?2A!6ӽ:AI<BAU:?JA!6ӽRAI YX~?yRAνEZ7SI7;8)BE[[ǩ[|$Y~?[Ԫ[[[[BZYY i) Ii?2h< W>))/oW>W>KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031591.883165 s, next control iter: 1743031592.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031592.283165 s.4RH~,J#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.233498@ elevatorAngleAction: -0.066754< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031592.283279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A"@AY~? AA%"AADmNA"AZAbAjArAzAAAҊ@ApG2tAv@A$AL=AA`U?A]ĿAp*A:?2AQNԽ:AZ<BA:?JAQNԽRAZ<٘i)I9v@YJG JJJJJ%E&K YY~?y&RAE{7{7B8)BE[[Ŏ[n))>> YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031592.303165 s, next control iter: 1743031592.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 50912, header.stamp.nsec: 020 temperature: 13.5670552* salinity: 33.3752142, density: 1025.0000002* values[0]: 0.5790392F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031592.703165 s.պH~, -J#AAףp= @A -@AY~? AA%"AAnNA"AZAbAjArAzAAAIs@A;{4tA\vv@A[1A=A8wA?A¿AJ*A:?2A ҽ:A<BA:?JA ҽRA<٘i)I9vv@YG JwB=JJJJ+E&K Y5Y~?yQAE)7)7I8)BE[[->[TY~?[y٪[[[[BZYY i) ԎIi?Q< >))>>,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031592.723165 s, next control iter: 1743031593.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031593.123165 s.9H~,eGJ#AJ"J*J2J:J,?BJ,?nJ_5vJA)\u@A[@AZ~? A^A i%"AA8nNA"AZAbAjArAzAAApx@A=V4tAv@A%A=A(A`/3?AYA*A:?2A:ҽ:A=l<BA:?JA:ҽRA=l<٘i)I9v@YG J쉼C=JJJJ0E&K YQY~?yoQAEZ7SI7Q8)BE[[ڊ[bmY~?[۪[[[[BZYY i ) Ii?G< ?)) ??YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031593.143165 s, next control iter: 1743031593.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031593.543165 s.IH~,bJ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075489< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743031593.543328F (some fields omitted in printout)A{G@AC</@A|(Z~? AA,L%"AA_nNA"AZAbAjArAzAAAWOU @A<5tAu@AL7A\B=Ac഼AH?AqA*AJ:?2APwҽ:A<BAJ:?JAPwҽRA<٘i)I9u@YtG JwJJJJ6E&K YmY~?ynQAEZ7>X8)B[[Yc[YY~?[ݪ[[[[BZYY i) `Ii+?~>< .?)).?.?㴪YKYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031593.563165 s, next control iter: 1743031593.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5092, header.stamp.nsec: 00 temperature: 13.567155* salinity: 33.375225, density: 1025.000000* values[0]: 0.578566F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031593.963165 s.xH~,}J#AJ"J*J2J:JBJnJvJAL@A<2@ARBZ~? AAI2%"AAnNA"AZAbAjArAzAAAwB4!@AT_6tAwu@AU;A9s=A4AY?Am㺿A2_*A:?2Awӽ:A<BA:?JAwӽRA Y=Y~?ytPAg#Ej7i_8)BE[[l[(Y~?[ߪ[[[[BZYY i) ߻Ii ?1<  ?))+p ? ?YGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031593.983165 s, next control iter: 1743031594.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031594.383165 s.إH~,J#AAQ@AV9@A:\Z~? AAi%"AAnNA"AZAbAjArAzAAA2!@A%{77tAt@A&<A=A.ŋ<A h?A?AЃ*A~:?2A2ӽ:A;=BA~:?JA2ӽRA;=٘i)I9t@YG JJJJJ@E&K Y}Y~?yzcPAE8787f8)BE[[2W[OY~?[m[[[[BZYY i) rIiÁ?&< *C?))F*C?*C?y`YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031594.403165 s, next control iter: 1743031594.783174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5093*, header.stamp.nsec: 0*0 temperature: 13.567246** salinity: 33.375240*, density: 1025.000000** values[0]: 0.578123*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031594.803165 s.AH~,gJ#AJ"J*J2J:J?BJ?nJ05vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254448@ elevatorAngleAction: -0.075489< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743031594.803327F (some fields omitted in printout)Aq= #@Aal! @A4vZ~? AA%"AA=nNA"AZAbAjArAzAAA+tMWo"@AE7tA7t@Az1<A=Ao=A@x?AXA!*A:?2A0ҽ:AY=BA:?JA0ҽRAY=I٘i)I97t@YG JB=JJJJFE&K YY~?y PAE7S7m8)BE[[CB[Y~?[ [[[[BZYY i) Iir?R< J?)) J?J?߸Y6pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031594.823165 s, next control iter: 1743031595.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031595.223165 s.gH~,HJ#AA(\@AsEu@A=Z~? AA-%"AAnNA"AZAbAjArAzAAAJ7 #@Av|=8tAFs@AD;AN=ARFg=A ?AiAij*A:?2AMҽ:Af=BA:?JAMҽRAf=٘i)I9s@Y\G JC=JJJJKE&K YY~?yOAEZ7Z7t8IB)BE[[,[Y~?[~[[[[BZYY i) MIic?ƪ< ?))??WYOYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743031595.243165 s, next control iter: 1743031595.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031595.643165 s.tйH~,)J#AJ"J*J2J:JBJnJvJAG@AN @AQZ~? A[A%"AA$$oNA"AZAbAjArAzAAA'}Y#@Ao8tAOs@AA=AV=A`?AA0*A:?2Aӽ:A=BA:?JAӽRA=٘i)I9Os@YG J\JJJJPE&K YBY~?yZOAE77|8)BE[[Â[Z~?[[[[[BZYY i) RF.IiFV?" < */#?))*/#?*/#?~YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031595.663165 s, next control iter: 1743031596.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5094, header.stamp.nsec: 00 temperature: 13.567347* salinity: 33.375240, density: 1025.000000* values[0]: 0.577695F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031596.063165 s.H~,g K#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075489< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031596.063332F (some fields omitted in printout)Afffff@APL@AmZ~? AAK%"AAKoNA"AZAbAjArAzAAA;,LթI$@A?|8tArr@A1A6=Aϥ=AՑ?A@6A1*A:?2A1Խ:A4=BA:?JA1ԽRA4=YA&@O^=y5=ٓH:?Y긿`LT?ϲ???%3?)A&@ I٘i)I9r@YG JjJ9<JJJVE&K4r> Y`Z~?yNA^=E7777?8)BE[[3`[Z~?[[[[[BZYY i) Z=IiUB?; w(?))qw(?w(?.ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031596.083165 s, next control iter: 1743031596.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031596.483165 s._H~,K#AJ"J*J2J:J?BJ?nJ5vJA@Aҷ@AZ~? AA%"AABsoNA"AZAbAjArAzAAA'$@A i 9tA7gr@AK5AR=Aܲ=A ?A@1A፼*A:?2A[oս:A=BA:?JA[oսRA=٘i)I9gr@YG JJJJJ[E&K Y|3Z~?yNAE7j8)BE[[vڽ[9Z~?[[[[[BZYY i) cMIi!0?jr; -?))/-?-?$ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031596.503165 s, next control iter: 1743031596.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5095, header.stamp.nsec: 00 temperature: 13.567436* salinity: 33.375275, density: 1025.000000* values[0]: 0.577220F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031596.903165 s.H~,9K#AA ףp=@Ao}X#@AZ~? A2A%"AAߚoNA"AZAbAjArAzAAA3`%@A!9tAq@AA=A >A@ʘ?AbAo*A:?2Aӽ:A@ =BA:?JAӽRA@ =٘i)I9q@Y>G JJJJJaE&K YOZ~?y=NAE~778)B[[V [TZ~?[[[[[BZYY i) Љ\Ii?d; 0.3?)) 0.3?0.3?eʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031596.923165 s, next control iter: 1743031597.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031597.323165 s.qH~,TK#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075489< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031597.323255F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@AO@A[~? A%AH%"AAoNA"AZAbAjArAzAAAUCV0%&@Aȳz9tAnq@A9AÒ=AL >A?A@AR?AY*Aq:?2Afӽ:Aif =BAq:?JAfӽRAif =٘i)I9nq@YG J䗼B=JJJJfE&K YkZ~?y"MAE778HB)BE[[6[nZ~?[H[[[[BZYY iBꬽ) kIi?՝; t8?))t8?t8?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031597.363165 s, next control iter: 1743031597.723175 s, wait time: 0.360010 skZ~?)"*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5096*, header.stamp.nsec: 0*0 temperature: 13.567538** salinity: 33.375275*, density: 1025.000000** values[0]: 0.576768*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031597.743165 s.WH~,oK#AAGz@Acg@A,[~? AA%"AA oNA"AZAbAjArAzAAAE&@AM̈́8tAp@A%D<A=A4>A`'?Aة?AL*A^:?2Aӽ:A=BA^:?JAӽRA=٘i)I9p@YG JC=JJJJkE&K YՇZ~?yHMAE77ꟳ8)BE[[,0[Z~?[[[[[BZYY i) /a{Ii&?n&; >?))>?>?ЪY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031597.763165 s, next control iter: 1743031598.143185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743031598.163165 s.t}H~,qK#AJ"J*J2J:JBJnJvJA@Ay>e@AG[~? AA%"AApNA"AZAbAjArAzAAATb'@A&rL8tA]p@A 8<A~=AH>A?AW?AAc*A:?2A1Խ:A/5=BA:?JA1ԽRA/5=YTX@qI>yߙ=>8<ٓHTK?ȿjh??@b?,m?`>7?_?)TX@ I٘i)I9]p@YJG JڤJ1q<JJJqE&K|s> YZ~?yMAqI>EZ7SI78)ůBE[[WP[UZ~?[[[[[BZYY i) :IiT> 6; XuC?))esXuC?XuC?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031598.183165 s, next control iter: 1743031598.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031598.583165 s.H~,RK#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238260@ elevatorAngleAction: -0.084431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743031598.583283F (some fields omitted in printout)AR@A.:Yj@A1a[~? AAF%"AAH9pNA"AZAbAjArAzAAA^=(@AAVl8tAo@A<A_=AB]>A?AJ@?A-*A]:?2A7Hս:Al=BA]:?JA7HսRAl=٘i)I9o@YG JkJJJJvE&K Y4Z~?yLAEj7Z7?8GB)ɯBE[[ [9Z~?[[[[[BZYY i) ČIi>ks; H?)) rH?H?yϬ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031598.603165 s, next control iter: 1743031598.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5097, header.stamp.nsec: 00 temperature: 13.567662* salinity: 33.375282, density: 1025.000000* values[0]: 0.576217F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031599.003165 s.{ H~,Y4K#AJ"J*J2J:JBJnJvJAp= W@A#<@A={[~? A^A%"AA`pNA"AZAbAjArAzAAA+(@A8tABo@AZ-:Ac=A}r>A b{?A?A7ש*A:?2Aӽ:A=BA:?JAӽRA=٘i)I9Bo@YG JJJJJ{E&K YZ~?yJLA E77{7j8)ͯBE[[i֪<[[Z~?[[[[[BZYY i) OIi>WJ; fN?)) fN?fN?ڪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031599.023165 s, next control iter: 1743031599.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031599.423165 s.uH~,{K#AA(\@Av@A<[~? AA%"AA;pNA"AZAbAjArAzAAA_J;)@A8{7tAn@A[ͻA=A^>A,n?A˵?Ao}*A:?2A5Խ:A*=BA:?JA5ԽRA*=٘i)I9n@YGG JJJJJE&K YZ~?yfKAE8FB)ѯBE[[-=[Z~?[[[[[BZYY i) 1ٛIi>D&; S?))S?S?ުYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743031599.443165 s, next control iter: 1743031599.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5098, header.stamp.nsec: 00 temperature: 13.567781* salinity: 33.375305, density: 1025.000000* values[0]: 0.575632F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031599.843165 s.H~,K#AJ"J*J2J:J\?BJ\?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743031599.843311F (some fields omitted in printout)AHz.@AΆ@A+[~? AA%"AApNA"AZAbAjArAzAAAfba)@AD6tAY"n@A2Aq6=As>A^?A}?AG"*AD:?2A6ս:A=BAD:?JA6սRA=٘i)I9"n@YG J물JJJJE&K YG[~?y{KAE{7ó8DB)үBE[[*=[*[~?[H[[[[BZYY i) cIiR>; Y?))Y?Y?Y6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031599.863165 s, next control iter: 1743031600.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031600.263165 s.H~,,L#AA@A@A[~? ATA%%"AApNA"AZAbAjArAzAAA6*Iu*@A#%6tA m@AA[=As>AcK?A2?Az*AΓ:?2Asս:A=BAΓ:?JAsսRA=Ye= >yY=ӣٓH`~?@rҿ ^??(?;?+%ヿ`?)e= I٘i)I9m@YG JJ<JJJE&K]t> YC-[~?y KA >E77ʳ8)ׯB[[=[O,[~?[[[[[BZYY i) =IiG>R(: Z_?))L wZ_?Z_?BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031600.283165 s, next control iter: 1743031600.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 50992, header.stamp.nsec: 020 temperature: 13.5679322* salinity: 33.3753092, density: 1025.0000002* values[0]: 0.5750462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031600.683165 s.l H~,c+L#AJ"J*J2J:J6?BJ6?nJ\5vJAQ@A$@A[~? AA\=%"AApNA"AZAbAjArAzAAA%+@AܮU5tAl@A~_AJ=Aʠ>AB6?Ar?Aܽ*A:?2A ս:Ax=BA:?JA սRAx=٘i)I9l@Y5G JJJJJE&K Y>H[~?yJA Ej7j7ҳ8CB)ۯBĹE[[:6=[G[~?[[[[[BZYY i) Ii=b+: d?)) d?d?NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031600.683165 s, next control iter: 1743031601.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743031601.103165 s.H~,FL#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031601.103332F (some fields omitted in printout)A= ףp@AmV@A{[~? AAX%"AA$qNA"AZAbAjArAzAAA"/-ۭ+@A9s-l4tANl@AK;AЭ=A>}>A6 ?A`^?AƼ*A::?2AԽ:A;=BA::?JAԽRA;=٘i)I9Nl@YG JJJJJE&K Y9c[~?y(JA&E7{7@ٳ8BB)BǹE[[>[)c[~?[[[[[BZYY i) lIi;c.}8 3j?))3j?3j? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031601.123165 s, next control iter: 1743031601.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031601.523165 s.H~,{aL#AJ"J*J2J:JBJnJvJA(@AHz@A\~? AA[w%"AAKqNA"AZAbAjArAzAAAyH,@Ai3tAk@A(<A6ԯ=Ab>Ai?A@%?Aͼ*AЎ:?2AbԽ:A7 =BAЎ:?JAbԽRA7 =٘i)I9k@YkG JʼJJJJE&K Y7~[~?ybIA+E77k8)BʹE[[}*>[~[~?[[[[[BZYY i) I8I?i= o?))o?o?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031601.543165 s, next control iter: 1743031601.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5100, header.stamp.nsec: 00 temperature: 13.568096* salinity: 33.375320, density: 1025.000000* values[0]: 0.574395F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031601.943165 s.YdH~,F]|L#AAzG@Ap<-@A/\~? A A%"AArqNA"AZAbAjArAzAAA#`,@AO2tAAj@A3-<AU=A>A@?A@.?AѼ*AĄ:?2AԽ:AlI=BAĄ:?JAԽRAlI=٘i)I9j@YG JϼJJJJE&K Y4[~?yFIA0Eŧ7b78AB)B͹E[[1>[[~?[)[[[[BZYY i) a ȼI I?ign Mu?))Mu?Mu?YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031601.983165 s, next control iter: 1743031602.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031602.363165 s.%H~,y>L#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743031602.363289F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A#J @AH\~? AA%"AAqNA"AZAbAjArAzAAA\A}-@A9.j1tAQEj@A&;Au=A,W>Aa?A?AҼ*Az:?2Aս:A =BAz:?JAսRA =Y6>>yVu=Ю;ٓH@Dd? ؿ?!?I?@fx?`qGu??)6> I٘i)I9Ej@YG JҼJ@<JJJE&Kvu> Y4[~?ygުHA>6Ej7j78)BйE[[%sH>[۵[~?[[[[[BZYY i) SϼI I?i%Ӻ z?))bzz?z?5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031602.383165 s, next control iter: 1743031602.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5101&, header.stamp.nsec: 0&0 temperature: 13.568297&* salinity: 33.375347&, density: 1025.000000&* values[0]: 0.573647&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031602.783165 s.[+H~,L#AAQ@A @@Ab\~? AAJ%"AAPqNA"AZAbAjArAzAAA<.@A;K/tAi@Ak1Ai=A*>A 0?A`?AҼ*Ap:?2A2fֽ:A=BAp:?JA2fֽRA=٘i)I9i@Y)G JӼJJJJE&K Y6[~?yڪWHA;E7)78)B[[._>[Q[~?[[[[[BZYY i) HּII?if [ ?)) [ ?[ ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031602.823165 s, next control iter: 1743031603.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031603.203165 s.3H~,L#AJ"J*J2J:JBJnJvJAףp=@A&p@A {\~? AA6%"AAgqNA"AZAbAjArAzAAA ƭ.@Av>Ql.tAh@ADAT=A>A`2?A?AҼ*A~:?2AWս:A=BA~:?JAWսRA=٘i)I9h@Y G JҼJJJJE&K Y6[~?yתGA@E778@B)BӹE[[]v>[[~?[ު[[[[BZYY i) ݼII?i\8  ?)) ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031603.223165 s, next control iter: 1743031603.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031603.623165 s.Z9H~,iL#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031603.623283F (some fields omitted in printout)A)\@Ay@A\~? A<A9>%"AAE rNA"AZAbAjArAzAAAޒsdD/@A1,tA1h@Ay5A==A>A[d?A@SR?AԼ*A?v:?2A3ս:A=BA?v:?JA3սRA=٘i)I91h@YP G JӼJJJJE&K  8Y9\~? 8y0ԪgGAFE7A8?B)BֹE[[>[s\~?[ܪ[[[[ZZ¸BZYY i¸=)  ѼI:I?i^IX u?))u?u?YN+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031603.643165 s, next control iter: 1743031604.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5102 , header.stamp.nsec: 0 0 temperature: 13.568526 * salinity: 33.375355 , density: 1025.000000 * values[0]: 0.572931 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031604.043165 s.@H~,M#AJ"J*J2J:J?BJ?nJ5vJA{Ga@A!XU/G@Aì\~? AA7o%"AA0rNA"AZAbAjArAzAAA` /@A춑QY+tA|g@A>A=A!>A`[ $\~?[$ڪ[[[[ZZBZYY i) żIH?iA`?Ah?Azl*Ap:?2Aս:A8<BAp:?JAսRA8A;>ybi=W:ٓH?`N޿9?|?P?`s?mƵ4J?O?) > I٘i)I9f@Yh G JJ&JJJE&Ku> Y4\~?y̪zFA;>PE)7ŧ78;B)B۹E[[w>[4?\~?[ת[[[[ZZBZYY i) ?ȹIH?ijྉ W?))|}W?W?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031604.483165 s, next control iter: 1743031604.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5103, header.stamp.nsec: 00 temperature: 13.568725* salinity: 33.375385, density: 1025.000000* values[0]: 0.572163F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031604.883165 s.yMH~,I8M#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247547> elevatorAngleAction: 0.083448< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200792 time: 1743031604.883364F (some fields omitted in printout)AQ8@A?@A\~? AA %"AAS{rNA"AZAbAjArAzAAAD(0@Aҵ]$'tAe@A"<Aۗ=A?A@?A@MI?A*Av:?2Adֽ:A=ӹ<BAv:?JAdֽRA=ӹ<٘i)I9e@Y G JJJJJE&K YL\~?y_ȪFAVEb778) B[[oO>[jZ\~?[Ԫ[[[[ZZBZYY i) UӭI;H?iT. '?)) '?'?y#E=xҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031604.923165 s, next control iter: 1743031605.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031605.303165 s.]TH~,gSM#AAq= ף@AUʼn@A\~? AA%"AArNA"AZAbAjArAzAAAW벱0@AE &tAd@AN/<Aӈr=AS ?A*?A1?A(*A:?2A(ս:A5j<BA:?JA(սRA5j<٘i)I9d@YZ G JJJJJE&K Ye\~?y*ĪEA[ES77 8)B޹E[[/>[u\~?[Ѫ[[[[ZZBZYY i) ߡIH?i wE ?))??&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031605.323165 s, next control iter: 1743031605.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5104*, header.stamp.nsec: 0*0 temperature: 13.569026** salinity: 33.375385*, density: 1025.000000** values[0]: 0.571202*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031605.723165 s.[H~,HnM#AJ"J*J2J:JBJnJvJA(\@A M@A ]~? AAP%"AArNA"AZAbAjArAzAAA aY1@A-$tA4d@A;A.-=A1?A ?A`r ?AҼ*A*:?2Anս:A0;BA*:?JAnսRA0;٘i)I94d@Y G JJJJJE&K YX~\~?yEAaEZ7Z7(8:B)BE[[S>[Ő\~?[}Ϊ[[[[ZZBZYY i) k야IzH?i=f» sޓ?))sޓ?sޓ?NsYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031605.743165 s, next control iter: 1743031606.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031606.143165 s.\/bH~, *M#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083448< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031606.143289F (some fields omitted in printout)AGz@A%:`@A%]~? AiޫA%"AArNA"AZAbAjArAzAAA>R24[1@A\I "tAc@ARrqA<A)?AV?A ?A*A:?2Aս:A/!BA:?JAսRA/!٘i)I9c@Y G JQ¼JJJJE&K Y\~?yDAfEŧ7b7A/89B)BE[[[>[ԫ\~?[ ˪[[[[ZZBZYY i) NIH?i!λ Ö?))Ö?Ö?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031606.163165 s, next control iter: 1743031606.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031606.563165 s.hH~,A M#AJ"J*J2J:JBJnJvJAffff@A9U@A=]~? AګA0%"AA sNA"AZAbAjArAzAAAt1@A| tAQc@AA,<A^?A"?A5?Aoky*A?~:?2Aս:Aom'BA?~:?JAսRAom'YT>Z?y"<ٓH]m?Z Ra? ?`m??a@,|?)T> I٘i)I9c@Y2 G JJ<JJJE&Ku> Y\~?yǶDAZ?kE87'7l68) B[[/i>[\~?[jǪ[[[[ZZBZYY iB=) 6%I;H?i1n 䜙?)) 䜙?䜙?KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031606.583165 s, next control iter: 1743031606.963175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5105, header.stamp.nsec: 00 temperature: 13.569251* salinity: 33.375393, density: 1025.000000* values[0]: 0.570439F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031606.983165 s.oH~,M#AAQ@Ay7@AmT]~? AF׫A%"AA-0sNA"AZAbAjArAzAAA;1@A̪ tAnb@A,BA}A?Az?Ae?A%*Aq:?2A'ֽ:ABAq:?JA'ֽRA٘i)I9b@Y G J VJJJJE&K Y\~?yͱDAqEj7j7=88B)"BE[[K>[\~?[ê[[[[ZZBZYY i<=) hlIH?i?5 L~?)) L~?L~?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031607.003165 s, next control iter: 1743031607.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031607.403165 s.&vH~,M#AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743031607.403271F (some fields omitted in printout)A ףp@A1Z@Ak]~? A}ӫAa%"AAXSsNA"AZAbAjArAzAAAٗ/2@AtbtA7b@Al!A҈A̶#?A?Ay?AH*Apt:?2Aս:APٰBApt:?JAսRAPٰ٘i)I9b@Y G JlJJJJE&K YD\~?yӬDAvEb77D84B) BE[[D>[\~?[~[[[[BZYY i) TXIH?iK hg?))hg?hg?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031607.423165 s, next control iter: 1743031607.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5106", header.stamp.nsec: 0"0 temperature: 13.569307"* salinity: 33.375423", density: 1025.000000"* values[0]: 0.570064"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031607.823165 s.|H~,!M#AA\(@Aa@AR]~? AϫAb%"AA$vsNA"AZAbAjArAzAAAt2@AաytAnb@AΠAA A/(?Ax?A dL?A;*Ag:?2A6ս:A#ѼBAg:?JA6սRA#Ѽ٘i)I9nb@Y G J}BJJJJE&K Y\~?yاzDA{E7ŧ7K83B)E[[#P>[]~?[4[[[[BZYY i) QEIqH?iV W?))W?W?y=7*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031607.843165 s, next control iter: 1743031608.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031608.243165 s.J "J *J 2J :J ?BJ ?nJ 5vJ H~,N#AAGz@Abcz@A]~? A{˫Aq%"AAsNA"AZAbAjArAzAAA% =2@A˫~tAub@Af;A~5AG/.?A:?AW?AK;*A[:?2Apֽ:A!BA[:?JApֽRA!鼙٘i)I9ub@Y G J:JJJJE&K Y ]~?yޢoDAE77{7S8)[[C5?['0]~?[[[[[BZYY i) 1IH?i9^19 M?))M?M?ms*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031608.263165 s, next control iter: 1743031608.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031608.663165 s.H~,q*N#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031608.663272F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5107, header.stamp.nsec: 00 temperature: 13.569227* salinity: 33.375435, density: 1025.000000* values[0]: 0.570058F (some fields omitted in printout)A@AA@A+]~? ACǫAEK%"AAsNA"AZAbAjArAzAAAA2@AqtA b@Ax,<A~ZAcx3?AZ?A?A=;*A0P:?2A0ֽ:A#^BA0P:?JA0ֽRA#^Yu>pS3?y`Z-<ٓHn?lh?s? 忥`xT??@?)u> I٘i)I9b@Y G J;JJJJE&KYw> Y!]~?y/DAS3?E777AZ82B)BE[[Y5 ?[I]~?[ [[[[BZYY iwh=) c!I’H?il 4?))4?4?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031608.683165 s, next control iter: 1743031609.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031609.083165 s.DH~, SEN#AJ"J*J2J:J?BJ?nJ5vJARk@A~mQ@A,]~? A«A֞%"AA!sNA"AZAbAjArAzAAAma?3@A]6CtAmb@A%<AOzA8?A?A?A(<*AE:?2Aֽ:A+BAE:?JAֽRA+٘i)I9b@Y G J<JJJJE&K YC7]~?yEAEb77la81B)BE[[A?[*c]~?[+[[[[BZYY i) ,IVH?iy) #?))#?#?ʩ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031609.103165 s, next control iter: 1743031609.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031609.503165 s.H~,L4`N#AAp= @A~s@A]~? AkA%"AAGsNA"AZAbAjArAzAAAY_Z3@A$EtA#c@AX;AA=?As?A`L?AKi<*AA:?2Aֽ:AѬ BAA:?JAֽRAѬ ٘i)I9#c@Y= G J#G<JJJJE&K YL]~?yґKEAE77h8)B[[HW?[a|]~?[[[[[BZYY iEF=) IUwH?i4& ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031609.543165 s, next control iter: 1743031609.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5108, header.stamp.nsec: 00 temperature: 13.569016* salinity: 33.375446, density: 1025.000000* values[0]: 0.570346F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031609.923165 s.7H~,{N#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031609.923274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@A9z(@AN]~? AʹAM%"AAtNA"AZAbAjArAzAAAzG3@AGV tAc@A.A7A;B?A1.?AL?A<*A?:?2Aֽ:ABA?:?JAֽRA٘i)I9c@Y G J(<JJJJE&K Yb]~?y#EA  DE77o8-B)BE[[u?[S]~?[¢[[[[BZYY i) 8IhH?ik8, ?))??yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031609.963165 s, next control iter: 1743031610.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031610.343165 s.tNA"AZAbAjArAzAAAG4@A?tA d@AY&A A}H?A`E?A?AR;<*A=:?2Aֽ݉:ABA=:?JAֽ݉RA٘i)I9 d@Y G J=<JJJJ E&K Yx]~?yuEAE77{7v8,B) BE[["?[]~?[<[[[[BZYY i) xI ZH?i݉kw0 d?))d?d?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031610.363165 s, next control iter: 1743031610.743174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5109*, header.stamp.nsec: 0*0 temperature: 13.568724** salinity: 33.375443*, density: 1025.000000** values[0]: 0.570919*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031610.763165 s.6H~,ذN#AJ"J*J2J:JBJnJvJA@At@A5^~? A$A%"AA^tNA"AZAbAjArAzAAA5RA4@AKrtAZd@AMA4AjšA:M?A?A@.?AӨ<*At;:?2A{ֽ:A@BAt;:?JA{ֽRA@YX?qM?y[4ٓHc,?D뮿 ?1A?ݧ`JS? ?)X? II٘i)I9d@Y G J<B=JXJJJE&Kx> Y]~?y FFAqM?Ej7j7~8)B[[0(?[]~?[[[[[BZYY i) `pIJH?i8 h ?))h ?h ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031610.803165 s, next control iter: 1743031611.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031611.183165 s.˲H~,ZN#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743031611.183283F (some fields omitted in printout)AQ@A lk@A.^~? AA7h%"AAI}tNA"AZAbAjArAzAAAtc_4@AQtA'e@AǻAHAR?A5O?A@H?Ac<*AC::?2A׽:AaBAC::?JA׽RAa٘i)I9'e@Yw G Jɫ<C=JJJJE&K YY]~?yyFAE777B8+B)BE[[s.?[]~?[[[[[BZYY i) WI^:H?i!R*@ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031611.203165 s, next control iter: 1743031611.583176 s, wait time: 0.380011 s"Y]~?)"y rAdjusting time to match Gazebo time: 1743031611.603165 s.B4H~,ݚN#AJ"J*J2J:JBJnJvJA= ף@AJC@AB^~? AAi%"AAtNA"AZAbAjArAzAAAPt&f4@A6HvsA?e@AE;AoA W?A@?A`WS?Aq<*As9:?2A*[׽:A BAs9:?JA*[׽RA ٘i)I9e@Y G J<JJJJE&K Y]~?ywsGAE7)7m8*B)BE[[X5?[%]~?[[[[[BZYY i) JwLI)H?i F  ?)) ? ?T*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743031611.623165 s, next control iter: 1743031612.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5110 , header.stamp.nsec: 0 0 temperature: 13.568361 * salinity: 33.375462 , density: 1025.000000 * values[0]: 0.571643 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031612.023165 s.ZH~,|O#AA(\@A\;QB@AV^~? AA1%"AAUtNA"AZAbAjArAzAAAI`4@A,`sALf@A.<AA5R]?A@?A`7?AF<*A8:?2AД׽:AhBA8:?JAД׽RAh٘i)I9Lf@Y* G Jo<JJJJ"E&K Y]~?y#m~GAE{7j78'B)BE[[8;?[1 ^~?[R[[[[BZYY i) T;IH?iLBJ t?))t?t?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031612.043165 s, next control iter: 1743031612.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031612.443165 s.5H~,5]O#AJ"J*J2J:Jp?BJp?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031612.443289F (some fields omitted in printout)Az@A@Aj^~? AKAH%"AAtNA"AZAbAjArAzAAAP儩F35@AO2sAf@A09<A.ޚAeb?AG\?A ?A]3<*AO8:?2AA׽:ABAO8:?JAA׽RA٘i)I9f@Y G J<JJJJ'E&K Y6]~?yfGAE77{7Ú8&B)BE[[rA?["^~?[~[[[[BZYY i) dIkH?iԠaM Z!?))Z!?Z!?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031612.463165 s, next control iter: 1743031612.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5111, header.stamp.nsec: 00 temperature: 13.567975* salinity: 33.375465, density: 1025.000000* values[0]: 0.572415F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031612.863165 s.+H~,>7O#AA33333@Ah@A}^~? AŕA%"AABtNA"AZAbAjArAzAAAZtam5@AusAVpg@Ajm;ADAhg?A`Z?A Y]~?y_MHAg?Ej7Z78)B[[ G?[8^~?[6x[[[[BZYY i) IG?iZU "?))"?"?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031612.883165 s, next control iter: 1743031613.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031613.283165 s.DRH~, RO#AJ"J*J2J:JBJnJvJAQ@AiQ@Aȏ^~? A!Ap%"AAuNA"AZAbAjArAzAAAQȥ5@ArMCsAh@A}AAAl?A'?A?A$Ӯ<*AW7:?2A׽:ABAW7:?JA׽RA٘i)I9h@Y4 G J[<JJJJ2E&K Y]~?yXHAEb7b78$B)BE[[M?[mN^~?[bq[[[[BZYY i) M:IG?iY[ )?)))?)?9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031613.303165 s, next control iter: 1743031613.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5112., header.stamp.nsec: 0.0 temperature: 13.567616.* salinity: 33.375473., density: 1025.000000.* values[0]: 0.573193.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031613.703165 s.ԺH~,mO#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743031613.703263F (some fields omitted in printout)Aףp= @A26@A^~? A_A%"AA-uNA"AZAbAjArAzAAAia+Z5@A:sAh@A lAޔAq?A@e\?A@t?A<*A6:?2Aֽ:A;BA6:?JAֽRA;٘i)I9h@Y G JҮ<B=JJJJ8E&K Y^~?y RIAE77D8)B[[#T?[c^~?[[j[[[[BZYY i) a:I4G?iI]` 8?))8?8?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031613.723165 s, next control iter: 1743031614.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031614.123165 s.8H~,aO#AJ"J*J2J:JBJnJvJA)\u@A-X[@A^~? AAnQ%"AAIuNA"AZAbAjArAzAAAǷ6@AT*sA'i@A8Az4Amw?A?Ai=?A<*AG6:?2A0ֽ:A3BAG6:?JA0ֽRA3٘i)I9'i@Y G J<C=JJJJ=E&K Y^~?yKIAE77{7m8 B)ׯBE[[jZ?[Kx^~?[&c[[[[BZYY i) ;IG?ic LL?))LL?LL?X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031614.143165 s, next control iter: 1743031614.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031614.543165 s.IH~,âO#AA{G@AW:@A^~? A~A%"AArduNA"AZAbAjArAzAAA!HI6@A jsATi@AAoAU|?AQ?A`"?Al<*A5:?2A> ׽:A@oBA5:?JA> ׽RA@o٘i)I9i@Y=G J<B=JJJJBE&K Yt1^~?y3DIAEb7b78B)ѯBE[[`?[x^~?[[[[[[BZYY i) pY;IG?iSf .e?)).e?.e?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031614.583165 s, next control iter: 1743031614.943181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5113, header.stamp.nsec: 00 temperature: 13.567239* salinity: 33.375481, density: 1025.000000* values[0]: 0.573943F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031614.963165 s.J "J |H~*J2J,O#A:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743031614.963300F (some fields omitted in printout)AL@A?;2@A^~? AkxA:%"AA~uNA"AZAbAjArAzAAAsEE }6@AsAj?j@AYAJьA'؀?A!?A|?Af؞<*A4:?2AO׽:A~BA4:?JAO׽RA~YI?S܀?y:ьyٓH[?`] ??F8?/K^?)I? I٘i)I9?j@YG J5<C=J m<JJJHE&Kx> Y@^~?y<GJA܀?E77Ŵ8)ͯB[[f?[^~?[@T[[[[BZYY i(=) ֋;IG?igl r?))r?r?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031615.003165 s, next control iter: 1743031615.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031615.383165 s.H~,+O#AAQ@Ak'J@A^~? A8rA%"AAuNA"AZAbAjArAzAAAsAj@A ;A&AԆ?A ?A1?AA<*Ai3:?2Aa׽:A-BAi3:?JAa׽RA-٘i)I9j@YG Ja<B=JJJJME&K YO^~?yP5JAEb77̴8)ɯB[[Om?[^~?[L[[[[BZYY i) ๪;IG?itq ?))??߼*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031615.423165 s, next control iter: 1743031615.783177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5114&, header.stamp.nsec: 0&0 temperature: 13.566911&* salinity: 33.375504&, density: 1025.000000&* values[0]: 0.574653&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031615.803165 s.xAH~,gO#AJ"J*J2J:JBJnJvJAq= #@A6u @A^~? AkA-%"AAuNA"AZAbAjArAzAAA=c6@AF(sA=k@Az4<ALA-?A`O?A:~?At<*A-:?2A׽:AIBA-:?JA׽RAI٘i)I9=k@Y,G JL<C=JJJJRE&K Y^^~?y-KAE77Դ8B)B E[[s?[q^~?[D[[[[BZYY i) ;ImG?i&u ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031615.823165 s, next control iter: 1743031616.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031616.223165 s.gH~,HP#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743031616.223288F (some fields omitted in printout)A(\@A0Eu@A_~? AeA%"AAuNA"AZAbAjArAzAAA]M7@AO a>sAk@Ax$<ACAcLj?A@S?A?A <*An(:?2AOy׽:ABAn(:?JAOy׽RA٘i)I9k@YtG Jύ<JJJJXE&K Ym^~?yn&bKAEb77C۴8)B[[y?[R^~?[<[[[[BZYY i) >i;I:XG?iY}w x?))x?x?y@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031616.263165 s, next control iter: 1743031616.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031616.643165 s.u H~,*)P#AJ"J*J2J:JBJnJvJAG@A.@AL_~? A^A('%"AAuNA"AZAbAjArAzAAAe\&@7@A^GEsAQ+l@ADw;AIAZU?A?A?Aas<*A":?2A'5׽:ABA":?JA'5׽RA٘i)I9+l@YG J)<JJJJ]E&K Y|^~?yKAE{7{7m8B)B E[[-?[^~?[x4[[[[BZYY i)  Y^~?yLA?EZ7Z78)B[[Y?[%^~?[.,[[[[BZYY i) S} j?))j?j?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031617.103165 s, next control iter: 1743031617.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031617.483165 s.{_H~,^P#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031617.483287F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A)$շ@A4_~? AQA(%"AAvNA"AZAbAjArAzAAAv*7@A&sAm@A-M*AˬAm?A&?Ab?A9<*A:?2A ֽ:ABA:?JA ֽRA٘i)I9m@YQG JQ<JJJJhE&K Y%^~?y8|LAE778B)BE[[?[ _~?[#[[[[BZYY i)  " elevatorAngleAction: 0.075068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031618.743317F (some fields omitted in printout)AGz@Aj@A5^_~? A=A%"AA3OvNA"AZAbAjArAzAAA_F8@A[WsAn@Ag.';ANA(a?Av?A[?A<*A :?2AV׽:AjBA :?JAV׽RAj٘i)I9n@Y8G J,<JJJJxE&K  8Y^~? 8yMAEb7b7D8B)BE[[4!?[ 5_~?[ [[[[BZYY i) fQ8@A$CsASo@A?M<A2AF ?A /?A I?Aeו<*Am:?2A׽:AUBAm:?JA׽RAUY}?6?y<ٓH~? 琿`?@? `E_?)??)}? I٘i)I9o@YG J<JJJJ}E&Kx> Y^~?yTMA? EZ7Z7n 8B)BE[[R?[?B_~?[[[[[BZYY i) ?C` elevatorAngleAction: 0.083929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031620.003285F (some fields omitted in printout)Ap= W@A?4<@A?_~? A'AmW%"AAzvNA"AZAbAjArAzAAAh8@AsAp@A;AܖA8??AF?AX ?Aey<*A9?2A_6׽:A+ BA9?JA_6׽RA+ ٘i)I9p@Y!G Jp<JJJJE&K Y^~?yީNAEj7Z78B)BE[[d?[Z_~?[j[[[[BZYY i) ~ elevatorAngleAction: 0.083929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031621.263289F (some fields omitted in printout)A@A,σ@A_~? AA %"AASvNA"AZAbAjArAzAAAΧ?:8@AsAq@A:A 락AR?A6c?Aԟ?A?<*Ag9?2Aʗֽ:AUBAg9?JAʗֽRAUY?3?yf蝽u;ٓHL? x? "f?P` ?\ ?)? I٘i)I9q@YG J©<C=JMJJJE&K}x> Y^~?yũOA?'E77D18 B)}BE[[ \?[y_~?[iҩ[[[[BZYY i) #BAy9?JA׽RA>٘i)I9r@YG Jگ<C=JJJJE&K YR_~?y״PA2E777?8)tB[[ȩ?[w_~?[Y[[[[BZYY i)  elevatorAngleAction: 0.083929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743031622.523283F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A\;Q@Ad_~? AAB%"AAvNA"AZAbAjArAzAAAtBrp?A9@A_LsAps@A:R;AqA?A_?A1$?A<*A9?2AM׽:AuBA9?JAM׽RAu٘i)I9ps@Y*G J<JJJJE&K Y _~?yT*QA7E7F8B)mBE[[n?[_~?[[[[[BZYY i)  Q#AJ"J*J2J:Jb?BJb?nJ5vJA3333@Ab!@A_~? AA%"AA8wNA"AZAbAjArAzAAAp r9@APosA̡t@A3<A3ɪA&?A?A&p?A<*A9?2A/׽:AtBA9?JA/׽RAt٘i)I9t@YG J<JJJJE&K Y_~?yOQABEb7b7U8)bB[[d?[_~?[f[[[[BZYY i) - elevatorAngleAction: 0.083929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031623.783308F (some fields omitted in printout)AQ@AN|@A:_~? AAI{%"AA wNA"AZAbAjArAzAAA N9@Ak05sAAu@AT;A2A߯?A?A?A<*A9?2Aֽ:A4BA9?JAֽRA4٘i)I9Au@YEG JB<JJJJE&K Y) _~?y̒iRAGE77E\8)]B[[?[ۢ_~?[[[[[BZYY i) Q @))>Q @>Q @s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031624.243165 s, next control iter: 1743031624.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743031624.623165 s.XH~,a'R#AA)\@A)@A_~? AiԪA9%"AA"wNA"AZAbAjArAzAAAvF%9@AZ+sApv@A-AsA?A@:?A?AYC<*A9?2A7^ֽ:ABA9?JA7^ֽRA٘i)I9v@YG J7<JJJJE&K Y._~?yȁ elevatorAngleAction: 0.092715< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031625.043274F (some fields omitted in printout)A{Ga@Ai2G@A_~? A̪AbD&"AAc+wNA"AZAbAjArAzAAAt 9@AJzsACw@A?A.A౽A1[?A`^?A?A<*A@9?2A]sֽ:AZBA@9?JA]sֽRAZ٘i)I9Cw@Y~G J<JJJJE&K Y5_~?yEySAWE7777q8B)IBE[[g?[ج_~?[{[[[[BZYY i) i YS7_~?y~pTA?]E7x8)CB[[$?[_~?[6r[[[[ZZZZ¸>BZYY i¸> 宽) |9@A$+`}gsA?z@A8<ACA?AD?A:?A)<*A(9?2A׽:ABBA(9?JA׽RABI٘i)I9?z@YOG J=JJJJE&K Y;_~?y&VUAmE7p8)/B[[r?[_~?[(U[[[[ZZZZBZYY i) 4j Y <_~?yD?VA&?wE777Ɯ8)!B[[(?[R_~?[A[[[[ZZZZBZYY i) t`~? AA&"AAVwNA"AZAbAjArAzAAA:@AXsA~|@A7A,AZ?A`b]?Ab?AC<*A19?2A ֽ:AAؐ:BA19?JA ֽRAAؐ:٘i)I9~|@YG J%<C=JJJJE&K Y:_~?y;}VA}E7)78)B[[?[_~?[?8[[[[ZZZZBZYY i) z9 !ܨYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031628.863165 s, next control iter: 1743031629.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031629.243165 s.H~,OS#AJ"J*J2J:J?BJ?nJ5vJAGz@AMdz@A `~? A|A\&"AA]wNA"AZAbAjArAzAAA’:@A[Q JsA}@A0A|<A?A)?A#w?A;*A9?2AO~ֽ:AH<BA9?JAO~ֽRAH<٘i)I9}@YaG J<C=JJJJE&K Y6_~?yS!6WAEp8)B[[Y?[_~?[[[[[ZZZZBZYY i) aNJJJE&Kv> Y2_~?y WA?  DEb7b78)B[[+x?[3_~?[I[[[[BZYY iTpo)  <=BAF9?JAKֽRA4>=٘i)I9}@YXG J/JJJJE&K Y(*_~?y%VAE7{7ε8)B[[?[_~?[[[[[BZYY i) z}( @A.`~? AB\A&"AAd[wNA"AZAbAjArAzAAAq:@A}V6sAW}@A,@;A4x=A ?A`AMj?A3*A9?2Aֽ:Aw=BA9?JAֽRAw=٘i)I9W}@Y1G J3JJJJE&K Y%_~?ykVAE77ֵ8)B[[?[ف_~?[u[[[[BZYY i) ѣ Y_~?y)UA$?Ej7j7q8)BE[[?[4p_~?[\[[[[BZYY i[o) ;I vD?i. b)@))b)@b)@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031631.783165 s, next control iter: 1743031632.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031632.183165 s.H~,c T#AAQ @A#k @A_~? A'DA5 &"AAGQwNA"AZAbAjArAzAAAG#:@AuK`'sAV*|@A 4!AS=A?A MA`KF?A*AM9?2AQֽ:A=BAM9?JAQֽRA=٘i)I9*|@YzG J{C=JJJJ$E&K Y_~?yUAE7778)B[[6?[]f_~?[oۨ[[[[BZYY i) 8;IgD?i=* *@))*@*@!ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031632.203165 s, next control iter: 1743031632.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031632.603165 s.64 H~,&T#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058533< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031632.603288F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף @Anp @A_~? A(<AF &"AANLwNA"AZAbAjArAzAAA.z(9@A"sA{@A$A=Ac?AnA 5?A&ƥ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9{@Y*G JWB=JJJJ)E&K Y _~?yܨ1UAE778B)#BE[[ ?[[_~?[Ҩ[[[[BZYY i) 6;IYD?iŀ$ )u,@)))u,@)u,@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031632.623165 s, next control iter: 1743031633.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5131 , header.stamp.nsec: 0 0 temperature: 13.562698 * salinity: 33.375584 , density: 1025.000000 * values[0]: 0.584125 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031633.023165 s.ZH~, |AT#AA(\ @AB @A_~? A/4A &"AAFwNA"AZAbAjArAzAAAew;9@AfsA{@A];Ab=A?A1qA@#?A#Ѳ*A(9?2AZֽ:AZw=BA(9?JAZֽRAZw=٘i)I9{@YG JC=JJJJ/E&K Y_~?yӨTAEŧ778)(B[[?[P_~?[ɨ[[[[BZYY i)  h;ILD?iv W-@))W-@W-@y p[۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031633.043165 s, next control iter: 1743031633.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031633.443165 s.;H~,O]\T#AJ"J*J2J:J5?BJ5?nJ^>5vJAz @A; @Af_~? A<,A ~ &"AA@wNA"AZAbAjArAzAAAx9@AsAK|z@A<A|=Av?AA ?ALZ*A9?2A 9ֽ:A˙ =BA9?JA 9ֽRA˙ =٘i)I9|z@YtG JJJJJ4E&K  8Y^~? 8y ˨nTAE)7)78),B E[[7?["E_~?[d[[[[BZYY i) J*;I@D?ii /@))/@/@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031633.483165 s, next control iter: 1743031633.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5132, header.stamp.nsec: 00 temperature: 13.383930* salinity: 33.391624, density: 1025.000000* values[0]: 0.708539F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031633.863165 s.+H~,>wT#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058533< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031633.863286F (some fields omitted in printout)A33333 @AW\ @AH_~? AR$A &"AA8wNA"AZAbAjArAzAAAF|vM9@A5,1sAy@AN6+<A =AY?AtÿA`?A*AJ9?2A^Mֽ:A9 =BAJ9?JA^MֽRA9 =YF?)?yڒ=+<ٓHֿ @ꐿ@D?` ֿ@F? z f?`?)F? I٘i)I9y@YG JݻJO<JJJ:E&K x> Y^~?y¨TA)?E77F8)1B[[:@[8_~?[丨[[[[BZYY i) !:I3D?iJcw  1@)) 1@ 1@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031633.883165 s, next control iter: 1743031634.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031634.283165 s.6R$H~,T#AJ"J*J2J:JBJnJvJAQ @Ae @A_~? AoAI &"AA0wNA"AZAbAjArAzAAA#69@A{>asAAy@AY%;A"=A?A WTſA?At*A9?2Aֽ:Au =BA9?JAֽRAu =٘i)I9Ay@YG JJJJJ?E&K YB^~?ySAE)7ŧ7q8B)8B E[[@[+_~?[[[[[BZYY i) K:I(D?iZ! ͎2@))͎2@͎2@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031634.303165 s, next control iter: 1743031634.683178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 51332, header.stamp.nsec: 020 temperature: 13.3841842* salinity: 33.3916132, density: 1025.0000002* values[0]: 0.7072702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031634.703165 s.պ*H~, T#AAףp= @An, @A}_~? AAL&"AA'wNA"AZAbAjArAzAAATFP9@AZƸ sA8x@AٺA=Ad?A@_4ǿA`?AE*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9x@YXG JzJJJJDE&K Y^~?yB3SAEŧ7b78)H~,T#AJ"J*J2J:J4?BJ4?nJ=5vJAL@AԲ2@A_~? AMA&"AA<wNA"AZAbAjArAzAAAf)g9@AӇ`rAw@A:AȊ=AA@A ̿A[?A*A9?2A)ֽ:A^<BA9?JA)ֽRA^ Y^~?yҙRA@E77,8)KB[[ @[k^~?[e[[[[BZYY i) @?I'C?iZ.+߻  8@)) 8@ 8@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031635.983165 s, next control iter: 1743031636.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031636.383165 s.EH~,'U#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743031636.383280F (some fields omitted in printout)AQ@ARy;@A_~? AAX&"AA9vNA"AZAbAjArAzAAALN9@A͵rA-v@AUxAG=A@AοA 4?A%*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9v@YG JJJJJZE&K Y>^~?y葨QAE77G38)OB[[ @[^~?[[[[[BZYY i) E1}ILC?i$jһ :@)):@:@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031636.403165 s, next control iter: 1743031636.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5135", header.stamp.nsec: 0"0 temperature: 13.384730"* salinity: 33.391628", density: 1025.000000"* values[0]: 0.704936"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031636.803165 s.ALH~J"J*J2J,g3U#A:Jv4?BJv4?nJ:=5vJAq= #@A @A_~? AA@&"AAtvNA"AZAbAjArAzAAA`ll39@A= rAv@A3;A=A:,@A}*пA`[ ?Aĕ*A9?2AKwֽ:A<BA9?JAKwֽRA<٘i)I9v@YG J]JJJJ_E&K Y٨^~?yIQAE{7j7r:8B)UBE[[ @[l^~?[[[[[BZYY i) zIC?i&Ļ ;@));@;@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031636.823165 s, next control iter: 1743031637.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031637.223165 s.gSH~,HNU#AA(\@A6Du@Aֲ_~? AvA&"AAvNA"AZAbAjArAzAAAnrr 9@AorAu@Ao0<A=Av@A=ѿA@?AP*A9?2Aoֽ:A<BA9?JAoֽRA<٘i)I9u@YxG JJJJJeE&K Yu^~?yPAE7777A8)YB[[x @[^~?[y[[[[BZYY i) `IC?i 󲲻 )=@)))=@)=@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031637.243165 s, next control iter: 1743031637.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031637.643165 s.wYH~, *iU#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031637.643303F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@AJ$@A'_~? AީAg&"AAvNA"AZAbAjArAzAAAS8@ArAu@A<AP=A@AѿA`?A*AD9?2Aֽ:A<BAD9?JAֽRA<٘i)I9u@Y.G JzJJJJjE&K Y^~?y*zPAE7H8)]B[[ @[^~?[|r[[[[BZYY i/) )ۻIC?iCn㞻 g>@))g>@g>@^YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5136, header.stamp.nsec: 00 temperature: 13.384968* salinity: 33.391655, density: 1025.000000* values[0]: 0.703884F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743031637.663165 s, next control iter: 1743031638.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031638.063165 s.`H~,N U#AAfffff@A!YL@A_~? AשA&"AAvNA"AZAbAjArAzAAA8@AQrAt@AD2 ;Ayq=A@AZҿA@?A*A9?2Afֽ:AD<BA9?JAfֽRAD Y%^~?yr6PA@E77{7O8B)bBE[[f@[^~?[Tk[[[[BZYY i) IC?i澉k @@))@@@@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031638.083165 s, next control iter: 1743031638.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031638.483165 s.x_gH~,U#AJ"J*J2J:JBJnJvJA@ACԷ@AO_~? A'ЩAd&"AAvNA"AZAbAjArAzAAA_8@AbaQrA5t@AXAnj=Ap @A[ӿA>Q?A]*AY9?2A׽:A<BAY9?JA׽RA<٘i)I95t@YG JC=JJJJuE&K Y=r^~?y2kOAE77W8 B)gBE[[ @[^~?[Wd[[[[BZYY i)  IC?iFѾ A@))A@A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031638.523165 s, next control iter: 1743031638.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5137, header.stamp.nsec: 00 temperature: 13.385178* salinity: 33.391640, density: 1025.000000* values[0]: 0.702885F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031638.903165 s.mH~,͹U#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031638.903280F (some fields omitted in printout)A ףp=@AKX#@A)_~? AȩA&"AA`vNA"AZAbAjArAzAAAڰ8@Ado]rAs@A)A=AM @AǓԿA!?A*AY9?2A!$׽:A<BAY9?JA!$׽RA<٘i)I9s@Y_G JJJJJzE&K YSc^~?ycOAE7{7G^8 B)lBE[[O@[/z^~?[][[[[BZYY i) eIC?i.xk C@))C@C@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031638.923165 s, next control iter: 1743031639.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031639.323165 s.utH~,!U#AJ"J*J2J:J3?BJ3?nJ<5vJA\@Aɬ@A}_~? AA&"AA%vNA"AZAbAjArAzAAAd&Wov8@A0rA]s@AeAxM=A @AnտA ?Aj*A$9?2Ac׽:AS<BA$9?JAc׽RAS<٘i)I9]s@YG JJJJJE&K YjT^~?y;\-OAE7777re8)oB[[@[Dg^~?[V[[[[BZYY i) :},IC?iϚ'F D@))D@D@1YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031639.343165 s, next control iter: 1743031639.723177 s, wait time: 0.380012 sjT^~?);\*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5138*, header.stamp.nsec: 0*0 temperature: 13.385394** salinity: 33.391678*, density: 1025.000000** values[0]: 0.701937*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031639.743165 s.%W{H~,U#AAGz@Ac@Aoq_~? AyA4&"AA3vNA"AZAbAjArAzAAAFS5Q8@A0|ߒrAAr@AY|A$=AV @AEֿA@?A*A9?2Awֽ:A$=BA9?JAwֽRA$=٘i)I9r@YG JTJJJJE&K YE^~?yTNAE77l8 B)tBE[[.@[ T^~?[qP[[[[BZYY i) + Y;4^~?yMvNA@E{7j7s8 B)yBE[[&@[.@^~?[J[[[[BZYY i) KIC?iL? pG@))pG@pG@+ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031640.183165 s, next control iter: 1743031640.563183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031640.583165 s.H~,R%V#AAR@AFq@AW_~? AhAyH&"AA4[vNA"AZAbAjArAzAAA-268@A 8rA<r@Aڌ <A=A0@A׿A 4?A-*A9?2A]ֽ:AC =BA9?JA]ֽRAC =٘i)I9r@YKG JJJJJE&K Y"^~?yFNAE77z8B)BE[[2@[+^~?[C[[[[BZYY i) [IC?i*4sʺ H@))H@H@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031640.603165 s, next control iter: 1743031640.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5139, header.stamp.nsec: 00 temperature: 13.385612* salinity: 33.391693, density: 1025.000000* values[0]: 0.701000F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031641.003165 s.z H~,U4@V#AJ"J*J2J:Jt3?BJt3?nJ,<5vJAp= W@A><@AdJ_~? A~AP&"AA*GvNA"AZAbAjArAzAAAoJ{`7@AarAq@AE+<AU=A/@AiؿA?AԢ*A9?2A/lֽ:A =BA9?JA/lֽRA =٘i)I9q@YG JTJJJJE&K Y^~?y?MA#Eb78)B[[{@[}^~?[=[[[[BZYY i) qjIeC?iϽ "G))!G[J@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031641.023165 s, next control iter: 1743031641.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031641.423165 s.uH~,[V#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743031641.423283F (some fields omitted in printout)A(\@Alw@Ay<_~? AA|V&"AAr2vNA"AZAbAjArAzAAASQ-7@AG#rAq@A;AF=Aw@AٿA?Asۚ*AU9?2Alֽ:Ac =BAU9?JAlֽRAc =٘i)I9q@YG JיJJJJE&K Yn^~?y8ZMA(E77H8B)BE[[@[^~?[8[[[[BZYY i) yIC?i)tع PF))PF'K@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031641.443165 s, next control iter: 1743031641.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5140, header.stamp.nsec: 00 temperature: 13.385851* salinity: 33.391701, density: 1025.000000* values[0]: 0.699989F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031641.843165 s.ݜH~,uV#AJ"J*J2J:JBJnJvJAHz.@A%̴@A._~? AA&"AA vNA"AZAbAjArAzAAA0N7@AWPrA,p@A A_A=A@A=XڿAIn?A@*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9p@Y`G JpJJJJE&K Y*]~?y1LA.Eŧ77s8B)BE[[L@[]~?[m2[[[[BZYY iP) I0C?i<g9 D))D$AM@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031641.863165 s, next control iter: 1743031642.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031642.263165 s.H~,ؐV#AA@A4Y@AN_~? ALA]&"AAvNA"AZAbAjArAzAAArX7@Aɒ[trAo@AAp=A5/@A"ۿA`'?Aʎ*AĶ9?2A-׽:AE =BAĶ9?JA-׽RAE =YR@w$@y9o=zٓH,@r0@ #? `u?O)Qⁿ ?)R@ I٘i)I9o@YG JJHj<JJJE&KJx> Y]~?y+LA$@3E77778B)BE[[@[+]~?[,[[[[BZYY i) 1IC?iȉ=\0: mC))mC3N@ ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031642.303165 s, next control iter: 1743031642.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 51412, header.stamp.nsec: 020 temperature: 13.3861212* salinity: 33.3917122, density: 1025.0000002* values[0]: 0.6989302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031642.683165 s.lH~,^V#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086230< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031642.683290F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Aݖ@A_~? AA`&"AA7uNA"AZAbAjArAzAAA@G*7@AurA xo@A/A<=A@A?ۿA)?A垼*AD9?2A׽:Am=BAD9?JA׽RAm=٘i)I9xo@YG JНJJJJE&K YH]~?y"%-LA9Ej7j7Ȟ8B)BE[[@[X]~?['[[[[BZYY i) IC?i=P: KA))KAj"P@p֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031642.683165 s, next control iter: 1743031643.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743031643.103165 s. H~,ԚV#AA= ףp@AcV@Ae_~? AOAG]&"AAuNA"AZAbAjArAzAAAV6@A\rAn@A'vAp0=A@AܿA@ ?A*AB9?2Aֽ:A=BAB9?JAֽRA=I٘i)I9n@YlG JJJJJE&K Yִ]~?yKA>E7778)B[[ @[J]~?[a"[[[[BZYY i) GIC?ih/>:  @)) @Q@yڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031643.123165 s, next control iter: 1743031643.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031643.523165 s.J "J *J 2J :J 2?BJ 2?nJ v;5vJ H~,{V#AA(@Au@AQ^~? A}A@&"AAuNA"AZAbAjArAzAAAC6@Ac0/rAcn@Au9AЌ=Ah @ARhݿAI?Aﶬ*Af9?2Axֽ:Ah=BAf9?JAxֽRAh=٘i)I9cn@YG JJJJJE&K Yd]~?y^_KACE778B)BE[[!@[]~?[g[[[[BZYY i) ӢIIC?io>k; > ?))> ?wR@fߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031643.543165 s, next control iter: 1743031643.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5142, header.stamp.nsec: 00 temperature: 13.386366* salinity: 33.391720, density: 1025.000000* values[0]: 0.697841F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031643.943165 s.ZdH~,J]V#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086230< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031643.943293F (some fields omitted in printout)AzG@AAJ-@A^~? AwA?U&"AA'uNA"AZAbAjArAzAAAhG6@AתrAum@A;;A˥=A!O@A]"޿A^?A*A9?2AGֽ:Axb=BA9?JAGֽRAxb=٘i)I9m@YG JkJJJJE&K Y]~?yJAIEj7j7H8B)BE[[kF#@[]~?[[[[[BZYY i) _IxC?i>7G; =))=kT@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031643.963165 s, next control iter: 1743031644.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031644.363165 s.H~,>W#AJ"J*J2J:JBJnJvJA3333@A}@A^~? AqA8&"AAuNA"AZAbAjArAzAAA lje6@AijrA4m@A2<A=A+@A޿A@?AHѻ*A 9?2A:ֽ:A=BA 9?JA:ֽRA=YĠ @@y= 3<ٓH 1 -Q?A`?dP?@?)Ġ @ I٘i)I94m@Y^G JAJ<JJJE&Kw> Yx]~?y@ JA@NE{7{7s8B)BE[[e$@[h]~?[[[[[BZYY i) I@C?i۱>c; H<))H<U@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031644.403165 s, next control iter: 1743031644.763188 s, wait time: 0.360023 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5143*, header.stamp.nsec: 0*0 temperature: 13.386636** salinity: 33.391720*, density: 1025.000000** values[0]: 0.696657*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031644.783165 s.WH~,2W#AAQ@A6@A^~? AkAE&"AAuuNA"AZAbAjArAzAAAh6-06@A|jrAl@A <A}^=A@A ߿A @[?AK*A9?2Afֽ:AS=BA9?JAfֽRAS=٘i)I9l@YG JJJJEJE&K Y!c]~?yJASEj7Z7¶8B)BE[[H &@[Q]~?[r[[[[BZYY i)  IC?i>e; K:))K:jAW@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031644.803165 s, next control iter: 1743031645.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031645.203165 s.H~,MW#AJ"J*J2J:J.2?BJ.2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086230< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031645.203298F (some fields omitted in printout)Aףp=@Aq&p@A^~? AeA׹&"AAZuNA"AZAbAjArAzAAA"5@ApcP͟rAk@A:A~í=A;@@A@"A ?A[¼*Ak9?2AҲֽ:Ah=BAk9?JAҲֽRAh=٘i)I9k@YG J^JJJJE&K YM]~?yIAYE77ɶ8B)BݹE[[h'@[u:]~?[$ [[[[BZYY i) dIC?iA>H;  u9)) u9X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031645.223165 s, next control iter: 1743031645.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031645.623165 s.SH~,LgW#AA)\@AĬ@A^~? A_A^,&"AA?uNA"AZAbAjArAzAAA\}tS5@A &CrANk@AOŻA =A@A`}zAذ?AbDļ*A9?2A!ֽ:A8=BA9?JA!ֽRA8=٘i)I9Nk@Y6G JOüJJJJE&K YR8]~?y3IA^Ej7j7ж8)ůB[[(@[ #]~?[[[[[BZYY i) ǼI(C?i.?Xx;  8)) 8Z@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031645.643165 s, next control iter: 1743031646.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5144 , header.stamp.nsec: 0 0 temperature: 13.386967 * salinity: 33.391739 , density: 1025.000000 * values[0]: 0.695373 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031646.043165 s.H~,ÂW#AJ"J*J2J:JBJnJvJA{Ga@A\.G@A{^~? A%ZA&"AA#uNA"AZAbAjArAzAAA+j5@ARWKʘrAj@AI,A@=Ad @AA`Y?ApǼ*A9?2A8׽:Ad=BA9?JA8׽RAd=٘i)I9j@YG JżJJJJE&K Y"]~?ySHAcEb77ض8!B)̯BڹE[[*@[ ]~?[[[[[BZYY i) ϼIMC?i?; Ӧ6))Ӧ6x[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031646.063165 s, next control iter: 1743031646.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031646.463165 s.VH~,褝W#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086230< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743031646.463313F (some fields omitted in printout)A@A6<@At^~? ATA &"AAuNA"AZAbAjArAzAAAQcS5@AkڎdrA2i@AATQ=A8"@A $A ?A_̼*A9?2Ahֽ:A3=BA9?JAhֽRA3=YF$@k*"@yBO=-ٓH+@ݳ3?H?t^@?)F$@ I٘i)I9i@YjG JɼB=J`\<JJJE&Kx> Y ]~?yMIHA*"@iE77J߶8"B)ӯB׹E[[x+@[\~?[G[[[[BZYY i) BּIC?i#?; A5))A5\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031646.483165 s, next control iter: 1743031646.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5145, header.stamp.nsec: 00 temperature: 13.387255* salinity: 33.391739, density: 1025.000000* values[0]: 0.694037F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031646.883165 s.yH~J"J,MW#A*J2J:J1?BJ1?nJM:5vJAQ8@AemS<@Aa^~? A!OACv&"AAtNA"AZAbAjArAzAAAg'$F5@A[rAPi@Av_A=As|#@A3vAlL?AӼ*A9?2A+ֽ:A=BA9?JA+ֽRA=٘i)I9Pi@YG JϼC=JJJJE&K Y\~?yHGAnEŧ7t8$B)ٯBֹE[[,@[\~?[[[[[BZYY i) nqݼIC?iT0?; n3))n3GC^@?AɈڼ*Az9?2A,?ֽ:A=BAz9?JA,?ֽRA=٘i)I9h@Y G JּJJJJE&K Ys\~?yCWGAsE)7ŧ78%B)BӹE[[).@[\~?[2[[[[BZYY i) I D?ij??; x2))x2_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031647.323165 s, next control iter: 1743031647.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5146., header.stamp.nsec: 0.0 temperature: 13.387582.* salinity: 33.391743., density: 1025.000000.* values[0]: 0.692672.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031647.723165 s.H~,HW#AJ"J*J2J:JR1?BJR1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086230< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031647.723319F (some fields omitted in printout)A(\@APoF@A#:^~? ADA{F&"AAүtNA"AZAbAjArAzAAAOy4@Al8rAg@AE#<Ao=AU&@AA?A߼*A>9?2Aֽ:A=BA>9?JAֽRA=٘i)I9g@Y! G JݼJJJJE&K YK\~?y=FAyE778'B)BйE[[~/@[\~?[[[[[ZZ¸BZYY i¸=) AؼI D?iBP?bI< {1)){1: a@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031647.743165 s, next control iter: 1743031648.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031648.143165 s._/H~,,* X#AAGz@Anڌ`@A%^~? A?A&"AAtNA"AZAbAjArAzAAAM~td4@Al=rAi%g@AG(<A=ArP'@Am_A?A6*AD}9?2AP+ֽ:AU=BAD}9?JAP+ֽRAU=٘i)I9%g@Y G JB=JJJJE&K Y"\~?y7ܧeFA~E78)B)B͹E[[0@[\~?[[[[[ZZBZYY i) ̼I  8Yx\~? 8yקEA(@E78)B[[%2@[z\~?[[[[[ZZBZYY i) I.D?in?< U.))U.$c@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031648.583165 s, next control iter: 1743031648.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5147, header.stamp.nsec: 00 temperature: 13.387936* salinity: 33.391750, density: 1025.000000* values[0]: 0.691209F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031648.983165 s.H~,>X#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743031648.983278F (some fields omitted in printout)AQ@A|7@A]~? A5APl&"AAdStNA"AZAbAjArAzAAArF^3@A_uՕrAre@A9A8=A)@AAc?AC*A9?2Aֽ:A"<BA9?JAֽRA"<٘i)I9re@Y G J JJJJE&K Y}\~?yӧxEAE7I 8*B)BʹE[[Iy3@[Ub\~?[[[[[ZZBZYY i) 4I;D?i|?Z!< *,))*,)e@yU=DԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031649.003165 s, next control iter: 1743031649.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031649.403165 s.&H~,YX#AJ"J*J2J:J0?BJ0?nJR95vJA ףp@A[@Ay]~? A1A &"AA3tNA"AZAbAjArAzAAAJH3@AqrAd@AAOu=A8P+@Ap8A@^?A\*A9?2Aֽ:AY<BA9?JAֽRAY<٘i)I9d@Y" G JJJJJ E&K Ye\~?ynϧEA  DEŧ7b7t8-B)BƹE[[S4@[I\~?[[[[[ZZBZYY i) cIID?i?"+< ×+))×+f@몪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031649.423165 s, next control iter: 1743031649.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5148", header.stamp.nsec: 0"0 temperature: 13.388325"* salinity: 33.391773", density: 1025.000000"* values[0]: 0.689512"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031649.823165 s.H~,6tX#AA\(@A?@A]~? A,AW# &"AA\tNA"AZAbAjArAzAAAA91=Af,@A R~A`?Aμ*A9?2Aęֽ:A;BA9?JAęֽRA;٘i)I9c@Y G JJJJJ E&K YrL\~?y*˧DAEb778.B)B¹E[[6@[1\~?[[[[[ZZBZYY i) IGYD?i.?R5< :*)):* g@xYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031649.843165 s, next control iter: 1743031650.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031650.243165 s.#H~,~X#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743031650.243283F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A= lz@AI]~? A (Az &"AAsNA"AZAbAjArAzAAA&*W$3@ABzrA Y\~?ynç DA1/@E{7{7&80B)BE[[8@[[~?[[[[[ZZBZYY iI=)  ІIzD?iv?I< т'))т'j@yoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031650.683165 s, next control iter: 1743031651.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031651.083165 s.D1H~,SX#AJ"J*J2J:JBJnJvJARk@A"rlQ@A]~? AA"!&"AAsNA"AZAbAjArAzAAAډtd2@A_{V!urAfWb@A[;Ao˻A~0@AoCA?A>*A٢9?2Aֽ:Av|BA٢9?JAֽRAv|٘i)I9Wb@Y G JkJJJJ E&K Y[~?yCAEZ7SI7.81B)BE[[:@[[~?[[[[[ZZBZYY ib=) yI(D?iB?@R< '&))'&3k@=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031651.123165 s, next control iter: 1743031651.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031651.503165 s.7H~,;4X#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031651.503305F (some fields omitted in printout)Ap= @A{@A[y]~? AA|q!&"AAsNA"AZAbAjArAzAAAqjY2@ARnrrAb@Aq+<A"A1@A`A?Apλ*A9?2Aֽ:A.ࣼBA9?JAֽRA.ࣼ٘i)I9b@Y G J JJJJ E&K Y[~?y}CAEb77J583B)"BE[[N;@[[~?[ާ[[[[ZZBZYY i) :&fID?i?\< $))$Rm@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031651.523165 s, next control iter: 1743031651.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5150, header.stamp.nsec: 00 temperature: 13.388901* salinity: 33.391773, density: 1025.000000* values[0]: 0.687137F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031651.923165 s.:>H~,X#AJ"J*J2J:J/?BJ/?nJs85vJA(\B@A|(@Ab]~? AA+!&"AA{ksNA"AZAbAjArAzAAA{'2@ADXprAa@A<AMA3@A@kAi?ALغ*AW9?2APֽ:AɼBAW9?JAPֽRAɼ٘i)I9a@Y G JbB=JJJJ! E&K Y[~?yCAE7777u<84B)$BE[[<@[[~?[Zݧ[[[[BZYY i) SfRI D?iq?3f< s#))s#n@y%ę=l2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031651.943165 s, next control iter: 1743031652.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031652.343165 s.IsD?iͽ?wr< "))"p@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031652.363165 s, next control iter: 1743031652.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5151*, header.stamp.nsec: 0*0 temperature: 13.389003** salinity: 33.391781*, density: 1025.000000** values[0]: 0.686851*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031652.763165 s.DKH~,V0Y#AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031652.763292F (some fields omitted in printout)A@A@A4]~? AA O"&"AA%sNA"AZAbAjArAzAAA<@i1@AyP*krA@b@A@ջAGXAp5@A (A`??AF;*A9?2Akֽ:ABA9?JAkֽRAY'@5@yFX ֻٓH@(@ӿ`#˨?@j? F@?zh?)'@ I٘i)I9b@Y G J?;B=JJJJ, E&Kv> Y[~?y겧DA5@Ej7Z7J85B)E[[#)?@[ł[~?[ڧ[[[[BZYY iNae=) Y.ID?i?لz< - ))- Zq@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031652.783165 s, next control iter: 1743031653.163187 s, wait time: 0.380022 s[~?)겧 rAdjusting time to match Gazebo time: 1743031653.183165 s.RH~,oKY#AAQ@A, k@A]~? A3 AZ"&"AAsNA"AZAbAjArAzAAA5?1@AAirA[b@A53AwA6@A[A`c?AH3<*A9?2Aս:Ah BA9?JAսRAh ٘i)I9[b@Y G J<C=JJJJ1 E&K Y{[~?yIeDAE77Q86B)E[[q@@[i[~?[x٧[[[[BZYY i)  IDD?i{?< /o))/or@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031653.203165 s, next control iter: 1743031653.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031653.603165 s.=4YH~,ȚfY#AJ"J*J2J:J/?BJ/?nJp85vJA= ף@A@A]~? A A"&"AA+rNA"AZAbAjArAzAAA"0@A0grAܲb@AstA{A=8@A;A?AdHl<*Ax9?2A{ ֽ:ABAx9?JA{ ֽRA٘i)I9b@Y G JN<JJJJ6 E&K Y`[~?yDAE{7{7 Y89B)#BE[[A@[P[~?[ا[[[[BZYY i=) U IE?i?u<  %)) %s@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031653.643165 s, next control iter: 1743031654.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5152 , header.stamp.nsec: 0 0 temperature: 13.388953 * salinity: 33.391788 , density: 1025.000000 * values[0]: 0.687093 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031654.023165 s.Z`H~,|Y#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743031654.023297F (some fields omitted in printout)A(\ @A CB @A\~? AA#&"AArNA"AZAbAjArAzAAAp[640@A^OerAc@AeA A֑9@AA?A<*A}9?2Akֽ:Al BA}9?JAkֽRAl ٘i)I9c@Y: G JU<JJJJ< E&K YE[~?yDAE77J`8:B)!BE[[B@[8[~?[ק[[[[BZYY i) I[E?i?݋< ))=u@y1e=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031654.043165 s, next control iter: 1743031654.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031654.443165 s.:fH~,J]Y#AJ"J*J2J:J/?BJ/?nJ85vJAz @A @A\~? AAN#&"AArNA"AZAbAjArAzAAAne0@A drARc@Ac;AA:@ADA?A<*A}9?2Aֽ:A\u BA}9?JAֽRA\u ٘i)I9c@Y G J<B=JJJJA E&K Y*[~?ye?EAEb7ug8;B)BE[[:D@[\[~?[ק[[[[BZYY i) 7ڻI7E?i?P͑< $))$~v@yKq=#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031654.463165 s, next control iter: 1743031654.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5153, header.stamp.nsec: 00 temperature: 13.388830* salinity: 33.391804, density: 1025.000000* values[0]: 0.687779F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031654.863165 s.+mH~,>Y#AA33333!@Aoc#!@A8\~? AA#&"AAprNA"AZAbAjArAzAAA0@A!mjbrAd@AL%<A$4A<<@A@7A ?A<*AF9?2A>ֽ:A BAF9?JA>ֽRA Y_*.@0<@y(21%<ٓHDyɿ#?G? [8&t?@k??)_*.@ I٘i)I9d@Y G Jܖ<C=JQJJJF E&Kx> Y[~?yEA0<@E)7ŧ7n8 elevatorAngleAction: 0.065415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743031655.283293F (some fields omitted in printout)AQ!@A3R梅!@A\~? AhAP#&"AAKrNA"AZAbAjArAzAAAT /@A4EX`rAad@A!)<A)OAn=@A=A!?A4<*AF9?2AFֽ:A7 BAF9?JAFֽRA7 ٘i)I9d@Y! G J<JJJJL E&K YVZ~?yᤧ FAE77{7u8)B[[BF@[Z~?[(֧[[[[BZYY i) 㶝IjE?i=? < |))|9y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031655.303165 s, next control iter: 1743031655.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 51542, header.stamp.nsec: 020 temperature: 13.3886532* salinity: 33.3917772, density: 1025.0000002* values[0]: 0.6886852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031655.703165 s.غzH~,Y#AAףp= "@AJ8!@A\~? AA#&"AAO&rNA"AZAbAjArAzAAA /@A eF_rA$e@Aܨ;A{$A5>@A@?cA?A걩<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9$e@Yu G J<B=JJJJQ E&K YZ~?yrFAEb77|8=B)BE[[%H@[Z~?[է[[[[BZYY i) J~IwE?i?x< ))Dz@M*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031655.723165 s, next control iter: 1743031656.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031656.123165 s.8H~,aZ#AJ"J*J2J:JBJnJvJA)\u"@Ah["@A r\~? AA$&"AArNA"AZAbAjArAzAAADZqB6v.@A]rAҵe@AM4AњA@@AA ??Ac<*A)9?2A7Tֽ:A7 BA)9?JA7TֽRA7 ٘i)I9e@Y G J<C=JJJJW E&K YZ~?y\FAE7 8)BE[[^=I@[}Z~?[է[[[[BZYY i) rBIE?i?ң< `))`U{@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031656.163165 s, next control iter: 1743031656.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031656.543165 s.IH~,"Z#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031656.543293F (some fields omitted in printout)A{G"@AS."@AY\~? AdAWJ$&"AAqNA"AZAbAjArAzAAA~l-@A|\rAJf@AtA=|A.ZA@AAm?A2<*Aӫ9?2A/ֽ:A BAӫ9?JA/ֽRA ٘i)I9Jf@Y( G J<JJJJ\ E&K YYZ~?y>GAE777K8>B) BE[[UxJ@[1Z~?[է[[[[BZYY i) IsE?i@< ic))icL|@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031656.563165 s, next control iter: 1743031656.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5155, header.stamp.nsec: 00 temperature: 13.388452* salinity: 33.391766, density: 1025.000000* values[0]: 0.689696F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031656.963165 s.}H~,=Z#AJ"J*J2J:JBJnJvJAL#@A82#@A?\~? A]As$&"AAqNA"AZAbAjArAzAAA\E-@A1NG[rA@f@A0A[AB@AA?A8<*As9?2At=ֽ:ABAs9?JAt=ֽRAYݬ4@B@yDY ^1ٓHL n(?@V?l@?@')?)ݬ4@ I٘i)I9f@Y G J2<J:JJJa E&Kw> Y@Z~?yGAB@E{7j7u8?B)BE[[ƶK@[Z~?[=֧[[[[BZYY i) IE?iV@:< $))$}@Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031657.003165 s, next control iter: 1743031657.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743031657.383165 s.ؕH~, elevatorAngleAction: 0.065415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743031657.803285F (some fields omitted in printout)Aq= #$@Ar $@A \~? AAü$&"AA5hqNA"AZAbAjArAzAAA;,@A7YrAh@A7wy:AwA:OE@AA ?Aru<*A9?2Aֽ:ABA9?JAֽRA٘i)I9h@Y4 G J<JJJJl E&K YLZ~?yoHAE7ˠ8)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #21q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) H?:) *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031657.823165 s, next control iter: 1743031658.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031658.223165 s.gH~,HZ#AA(\$@AMGu$@A[~? A?A$&"AAAqNA"AZAbAjArAzAAA+?lw+@AI'XrAoh@A<AiAF@A A?A<*A9?2Arֽ:AXBA9?JArֽRAX٘i)I9h@Y G J\<B=JJJJq E&K Y/Z~?yHAE{78AB)BE[[fO@[BZ~?[ק[[[[BZYY i) =:IF?i4@X$< t)) taՀ@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031658.263165 s, next control iter: 1743031658.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031658.643165 s.uЩH~,*Z#AJ"J*J2J:JBJnJvJAG$@A$@A[~? AA$&"AAqNA"AZAbAjArAzAAAq*@Aj7-VWrAki@AR:<AAG@A@@A ٝ?AXV<*Am:?2AѤ½:AWBAm:?JAѤ½RAW٘i)I9i@Y G J<C=JJJJw E&K YZ~?y;:IA E{7j7!8)B[[P@[4+Z~?[ا[[[[BZYY i) );I08F?i@\< '|))>|p@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031658.663165 s, next control iter: 1743031659.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5157, header.stamp.nsec: 00 temperature: 13.388035* salinity: 33.391762, density: 1025.000000* values[0]: 0.691786F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031659.063165 s.H~,[ Z#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743031659.063288F (some fields omitted in printout)Afffff%@A+OL%@A[~? AA~%&"AApNA"AZAbAjArAzAAA"͓F?*@A 9_VrAYi@A<A0A_H@ASNA7~?Aޗ<*A:?2Aý:ABA:?JAýRAYO:@UH@y슽]<ٓH `E ^`? E/?3 ? 0Z?@@??)O:@ II٘i)I9i@Y&G J<Jl<JJJ| E&KV> YY~?y"IAUH@ Eb77K8)BE[[Q@[AZ~?[٧[[[[BZYY i=) f;I5YF?i@x< )) @*Y6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031659.083165 s, next control iter: 1743031659.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031659.483165 s.u_H~,Z#AJ"J*J2J:J71?BJ71?nJ95vJA%@A>sַ%@AB[~? AAu(%&"AApNA"AZAbAjArAzAAAG|)@AObUrASj@A:A1AQHA\A.ٷ?Aؖ<*A:?2AŇŽ:A`BA:?JAŇŽRA`٘i)I9j@YsG J%<JJJJ E&K Y]Y~?yIA E7v8BB)BE[[@ S@[Y~?[ڧ[[[[BZYY i) n;IzF?i@^<  )) @*Y]gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031659.503165 s, next control iter: 1743031659.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5158, header.stamp.nsec: 00 temperature: 13.387870* salinity: 33.391754, density: 1025.000000* values[0]: 0.692743F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031659.903165 s.ȽH~,Z#AA ףp=&@A(\#&@AX[~? AA=%&"AAbpNA"AZAbAjArAzAAA% >X)@AxJˈ[UrA̋j@AAAGAhA'ܴ?AI<*Ae:?2AȽ:AGBAe:?JAȽRAG٘i)I9j@YG J_<JJJJ E&K YY~?yRJA E77ķ8)BE[[BT@[Y~?[ۧ[[[[BZYY i) 1g;IF?i @< ' ))' GC@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031659.923165 s, next control iter: 1743031660.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031660.323165 s.sH~,[#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074554< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031660.323287F (some fields omitted in printout)J"J*J2J:JBJnJvJA\&@A;܎&@A`r[~? AAO%&"AA~pNA"AZAbAjArAzAAAg(@AJTrAk@A?A)͇A]nFA}tA`x?Aޒ<*A:?2Aʽ:AfpBA:?JAʽRAfp٘i)I9k@Y G Jx<JJJJ E&K YY~?y՚JA E˷8CB)BE[[uU@[Y~?[Eݧ[[[[BZYY i) &Z;IF?i$@< 9f ))9f ܃@yT=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031660.343165 s, next control iter: 1743031660.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5159*, header.stamp.nsec: 0*0 temperature: 13.387672** salinity: 33.391735*, density: 1025.000000** values[0]: 0.693626*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031660.743165 s.%WH~,/[#AAGz'@A"5b&@A]X[~? A$A<^%&"AAVpNA"AZAbAjArAzAAA[#'@Ak<nTrA k@A;*AvAo"EA]~A8L?A瀐<*A:?2Aͽ:AטBA:?JAͽRAט٘i)I9k@YUG J<JJJJ E&K YY~?y KA Eb77ҷ8)BE[[DV@[Y~?[ާ[[[[BZYY i) Q;IqF?i|)@< {5 )){5 u@w*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031660.763165 s, next control iter: 1743031661.143187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743031661.163165 s.x}H~,qJ[#AJ"J*J2J:J1?BJ1?nJQ:5vJA'@AձJe'@AO>[~? AAqj%&"AA=/pNA"AZAbAjArAzAAA9(,'@Ao^TrA5k@AoqAACA(A`?Aj<*A:?2A6н:AȡBA:?JA6нRAȡYS@@CynqٓH=?u!?`L`(g^?v?@-n?)S@@ I٘i)I9k@YG J <JI;JJJ E&Ke> YxjY~?yvhKAC$ E77{7!ڷ8)B|E[[W@[|Y~?[`[[[[BZYY i) k1 elevatorAngleAction: 0.074554< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031661.583299F (some fields omitted in printout)AR'@An'@A:$[~? A:As%&"AApNA"AZAbAjArAzAAAl\&@AJUSrAol@A;AiAlBAA@0G?A<*A:?2Aҽ:A{PBA:?JAҽRA{P٘i)I9ol@YG J<JJJJ E&K YQNY~?y0KA* Eŧ7b7L8DB)ByE[[: Y@[Y~?[![[[[BZYY i) B׆@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031662.443165 s, next control iter: 1743031662.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5161, header.stamp.nsec: 00 temperature: 13.387364* salinity: 33.391724, density: 1025.000000* values[0]: 0.695373F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031662.843165 s.H~,[#AJ"J*J2J:J2?BJ2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074554< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743031662.843313F (some fields omitted in printout)AHz.)@AT2)@AZ~? AA{%&"AAoNA"AZAbAjArAzAAA菺'$@ASrA]m@A)<;AӐAp>A HA` A]<*Ah:?2A7ս:A BAh:?JA7սRA ٘i)I9m@YG J<JJJJ E&K YX~?y^LA: E778)֯BsE[[R\@[SDY~?[[[[[BZYY i) TE YX~?y;MA#=? E77j78)үBpE[[]@[.Y~?[Z[[[[BZYY i) 2T2?BJ>2?nJ:5vJAQ*@A)@AġZ~? AAq%&"AABoNA"AZAbAjArAzAAAI%v#@A<4TrAn@A;f$AȫA;A 7A "AM<*A Y:?2A)ս:A BA Y:?JA)սRA ٘i)I9n@Y[G J<JJJJ E&K  8YZX~? 8yMAE Ej7Z7!8EB)ίBmE[[ ^@[Y~?[[[[[BZYY i) Cc elevatorAngleAction: 0.074554< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031664.103275F (some fields omitted in printout)A= ףp*@A6V*@AZ~? A^Ag%&"AAoNA"AZAbAjArAzAAAy "@ARyTrA\o@AM@AjAL:AvA@iAB<*A/R:?2A/ֽ:Aߺ BA/R:?JA/ֽRAߺ ٘i)I9\o@YG J<JJJJ E&K YX~?yCNAJ Eŧ7b7L 8)ʯBjE[[`@[^Y~?[4[[[[BZYY ia=) "!sW\#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J> elevatorAngleAction: 0.084170"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500 dt: 0.420010:JBJ2 time: 1743031665.363291nJF (some fields omitted in printout)vJA3333+@AdX+@A9Z~? A%A6%&"AAnNA"AZAbAjArAzAAAL8!@A7ŖCVrANp@A1<A^AL6A WIAEdAq<*A7:?2Az׽:A BA7:?JAz׽RA YyM@6yܙR<ٓH@8I? ݱ?@1ҿ- ,?N? 7݁?[?)yM@ I٘i)I9p@YG J֟<J-JJJ E&Kz> YTX~?y-OA6Z Ej7j7!8)B[[͛c@[X~?[R[[[[BZYY i) z\ elevatorAngleAction: 0.084170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199242 time: 1743031666.623283F (some fields omitted in printout)A)\,@A,@AY~? AfA$&"AA/nNA"AZAbAjArAzAAAr]@AXrADr@AZ~:AA2A]A`XÿA<*A:?2A׽:A6BA:?JA׽RA6٘i)I9r@YG J<JJJJ E&K YX~?yePAj Eŧ7b7M78DB)B\E[[g@[X~?[t[[[[BZYY i) 8)BYE[[#8h@[pX~?[[[[[BZYY i) {@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031667.063165 s, next control iter: 1743031667.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031667.463165 s.W7H~,\#AA-@A$A-@A1Y~? A AD$&"AAzmNA"AZAbAjArAzAAAqB@A6\ [rAs@AԱ@A A0A AN ǿArϿ<*A :?2A[ֽ:AgBA :?JA[ֽRAg٘i)I9s@YaG JP<JJJJ E&K YW~?y4QAu E7ŧ7E8)BVE[[{Zi@[\X~?[[[[[BZYY i)  elevatorAngleAction: 0.084170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031667.883298F (some fields omitted in printout)AQ8.@ARy;.@AY~? AA~$&"AA-mNA"AZAbAjArAzAAA#0@A'V\rAnt@AQ$A A7.AjA ȿA<*A:?2Aֽ:AvlBA:?JAֽRAvl٘i)I9nt@YG J<JJJJ E&K YW~?yQAz E77L8)B[[zj@[IX~?[i [[[[BZYY i) \ elevatorAngleAction: 0.093370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743031669.143267F (some fields omitted in printout)AGz/@A5a`/@ALVY~? A8A#&"AAJmNA"AZAbAjArAzAAA~OU:@AS<*A9?2A׽:ABA9?JA׽RA٘i)I9_v@YG J<JJJJ E&K Yz`W~?yRA  D E7Mb8)~BME[[m@[X~?[[[[[BZYY i) P#%mNA"AZAbAjArAzAAAىA@A+UbrAw@Ao3<A>An)A`AAпA<*A9?2A1l׽:ALBA9?JA1l׽RALYZ@~)yY4<ٓH D@Z?@?A0޿`d+?;?m?@?)Z@ I٘i)I9w@YYG J4<J߼JJJ E&K> YGW~?yçKSA~) E7xi8)xBJE[['n@[ W~?[[[[[BZYY i) Y elevatorAngleAction: 0.093370vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743031670.403284F (some fields omitted in printout)A ףp0@Ac0@A1 Y~? AAV#&"AA\lNA"AZAbAjArAzAAAS @A 0erAax@A{mA𒷽A&ARAѿA <*A9?2Aֽ:A!BA9?JAֽRA!٘i)I9ax@Y,G J<C=JJJJ E&K YW~?y̧:TA Ew8)mB[[y,q@[W~?[ [[[[ZZZZ¸>BZYY i¸>) A~hAX$ARA`ӿAD}=*A 9?2Aֽ:A—BA 9?JAֽRA—٘i)I9y@YG J<JJJJ E&K Y@V~?ypԧ)UA E77#80B)aBBE[[5fs@[}W~?[)[[[[ZZZZBZYY i) ̑ YV~?y_٧UA" E77{7N8)YB?E[[t@[(W~?[Q-[[[[ZZZZBZYY i) ҲAmZ A A`-ֿAc <*A9?2Aֽ:AV׻BA9?JAֽRAV׻٘i)I9q|@YG J<JJJJ( E&K YV~?y=iVA E778)LB<JJJJ3 E&K Y[oV~?y?WA E778)BB6E[[ax@[cW~?[5?[[[[ZZZZBZYY i) ׃=wrA~@A3:A W;AvA}AKؿA0)I<*A?9?2A*ֽ:Ayr<BA?9?JA*ֽRAyrJJJ8 E&K`x> YYV~?y:WAu E88$8)?B7E[[z@[SW~?[C[[[[ZZZZBZYY it}) t E&K YCV~?yo6WA Ej7j7N8)=B4E[[.{@[9DW~?[H[[[[ZZZZBZYY i5Ք) a5vJ :4H~,^#AA= ף4@AT4@AA(X~? A,A &"AA`~kNA"AZAbAjArAzAAA8L@A!}rA s~@Au@AP<AAtAsLڿAr(;*A9?2AL׽:A+M<BA9?JAL׽RA+M<٘i)I9s~@YG J;JJJJC E&K Y9.V~?y1WA Eb7ŧ7y8);B0E[[fJ|@[4W~?[M[[[[ZZZZBZYY i) ڕN5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031675.443311F (some fields omitted in printout)Az5@A5@AW~? A 6A'&"AAj=kNA"AZAbAjArAzAAA+ 9?AЂrA ]~@A#AR=ABAoA@>ۿA)̻*A9?2Aֽ:AȖ<BA9?JAֽRAȖ<٘i)I9]~@YG J+zJJJJN E&K YV~?yo (WA E7͸8.B)-E[[L~~@[W~?[sW[[[[BZYY i) ȃ(^#AA333336@AK6@AW~? A:An&"AAkNA"AZAbAjArAzAAASc ?ABDžrA~%~@An;AUr=AAAOܿA!'*A69?2AUֽ:A" =BA69?JAUֽRA" =Y!n@yr=;ٓH%K?~`GWkzXy?o?)!n@ I٘i)I9%~@YG J=J>JJJS E&KPw> YU~?yVA E7{7Ը8)5vJAQ6@A\6@AmW~? A?A&"AAOjNA"AZAbAjArAzAAA5@?A"шrA.}@A;C<A3y=AATAYݿAH^*A|9?2A 3ֽ:A=BA|9?JA 3ֽRA=٘i)I9}@Y}G JAJJJJY E&K YXU~?yVA Eb77$ܸ8)@B+E[[uY@[lV~?[a[[[[BZYY i) қG JmwJJJEJ^ E&K YU~?y^4VA E777O8)CB(E[[@[V~?[f[[[[BZYY i) O;Ii@7=  )) @ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031676.723165 s, next control iter: 1743031677.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031677.123165 s.9H~,eG_#AJ"J*J2J:JBJnJvJA)\u7@Aʢ[7@AtW~? ANJAG&"AA-jNA"AZAbAjArAzAAAdn?A+""rA|@A^^;A-y=AAgA`޿A**Ah9?2Aֽ:A=BAh9?JAֽRA=٘i)I9|@YG J<JJJJc E&K YU~?y"UA Eŧ7ŧ7z8)FB[[Wr@[V~?[$l[[[[BZYY iE) i;Ii@E9= #))#R@yYgͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031677.143165 s, next control iter: 1743031677.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031677.543165 s.IH~,b_#AA{G7@A57@AW~? AOA/&"AAcjNA"AZAbAjArAzAAAs(# ?AgrAp|@A&@AbI=AMAeA\߿Aܭ*A 9?2Aֽ:AȤ =BA 9?JAֽRAȤ =٘i)I9p|@YG J JJJJi E&K Y+U~?y(UA E77{78-B)JB%E[[@[V~?[uq[[[[BZYY i) ;Iiё@:= C))C @y gѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031677.563165 s, next control iter: 1743031677.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5176, header.stamp.nsec: 00 temperature: 13.384806* salinity: 33.391552, density: 1025.000000* values[0]: 0.708541F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031677.963165 s.J "J *J 2J :J b5?BJ b5?nJ 2>5vJ H~, }_#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743031677.963334F (some fields omitted in printout)AL8@AQ28@AW~? A'UA^v&"AA#jNA"AZAbAjArAzAAAڄQ?ATrA{@A/2AEo=A5eAA A"*A*9?2A)׽:A$ =BA*9?JA)׽RA$ =Yt@ryl=3ٓH ?@m%? )P?)t@ I٘i)I9{@YRG JIJ==JJJn E&Kix> YU~?y/)UAr Eŧ7b78)NB"E[[R@[V~?[v[[[[BZYY i) Q;Ii!@ ;= 7))7M@y񨈽%ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031678.003165 s, next control iter: 1743031678.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743031678.383165 s.H~,U_#AAQ8@A(A8@A#sW~? AZA+ &"AAoijNA"AZAbAjArAzAAA9[?A-rA^{@AkDAə=AKA fA@hyAz*A9?2AD׽:A =BA9?JAD׽RA =٘i)I9^{@YG JУJJJJs E&K Y}U~?y6TA E7ŧ78.B)SB#E[[g@[>V~?[T|[[[[BZYY i) Fj;Ii@;= ]))]b8@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031678.403165 s, next control iter: 1743031678.783185 s, wait time: 0.380020 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5177&, header.stamp.nsec: 0&0 temperature: 13.385035&* salinity: 33.391563&, density: 1025.000000&* values[0]: 0.707622&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031678.803165 s.xAH~,g_#AJ"J*J2J:JBJnJvJAq= #9@AN(D 9@A`W~? A{`A&"AAIMjNA"AZAbAjArAzAAAc#Aͯ]rAbz@AF%޻AfV=A7 AfA@nA]*Ar9?2Aֽ:A.=BAr9?JAֽRA.=٘i)I9z@YG JOJJJJy E&K  8YkU~? 8y=[TA E77{7%8-B)WB E[[>@[V~?[ځ[[[[BZYY i) :-;IiM@<= .)).9Ĝ@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031678.843165 s, next control iter: 1743031679.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031679.223165 s.gH~,H_#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743031679.223277F (some fields omitted in printout)A(\9@ASDu9@ANW~? AQfA*&"AA1jNA"AZAbAjArAzAAAܠ=#ֿAIx;rABz@AR;AD'=Aa AA@A#A*A19?2A ֽ:At=BA19?JA ֽRAt=٘i)I9Bz@YQG J5JJJJ~ E&K YYU~?yDSA Ej7j7O8)[B[[-@[V~?[m[[[[BZYY i) h:Ii(@== ))O@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031679.243165 s, next control iter: 1743031679.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031679.643165 s.vH~,*_#AJ"J*J2J:JBJnJvJAG9@A9@A)=W~? ADlA&"AAjNA"AZAbAjArAzAAAv͡AZݣrAy@AȾ<A'N=AG A@j߿A VuAq*A9?2Abֽ:AT=BA9?JAbֽRAT=٘i)I9y@YG J筼JJJJ E&K YqHU~?yyKSA E77z8,B)_BE[[@[QV~?[ [[[[BZYY i) T:Ii3@5>= Ԭ))Ԭڝ@ ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031679.663165 s, next control iter: 1743031680.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5178, header.stamp.nsec: 00 temperature: 13.385287* salinity: 33.391544, density: 1025.000000* values[0]: 0.706645F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031680.063165 s.H~,R `#AAfffff:@ArCQL:@A+W~? ASrAB&"AADiNA"AZAbAjArAzAAAB4UuEA2rAgy@A,I<A=AAp޿AAՅ*A9?2AFhֽ:A=BA9?JAFhֽRA=Y+{@y:=I<ٓH`0?5SA@HyZ%?@?)+{@ I٘i)I9y@YG JJsѻJJJ E&K2x> Y;9U~?yR*SA E778-B)eBE[[TD@[V~?[[[[[BZYY i) IiU@%?= /))/Of@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031680.103165 s, next control iter: 1743031680.463177 s, wait time: 0.360012 s.;9U~?).R rAdjusting time to match Gazebo time: 1743031680.483165 s.x_H~,`#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743031680.483281F (some fields omitted in printout)J"J*J2J:JBJnJvJA:@Aշ:@AW~? A}xA&"AApiNA"AZAbAjArAzAAApA)%8SrA8x@An <A!M=AtAݿA@A**A(9?2A,ֽ:AZ1=BA(9?JA,ֽRAZ1=٘i)I9x@YHG JwJJJJ E&K Y*U~?yPZRA E{7Z7#8)hBE[[υ@[}V~?[[[[[BZYY i) yIi@?= 7x))7x@;ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031680.503165 s, next control iter: 1743031680.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5179, header.stamp.nsec: 00 temperature: 13.385521* salinity: 33.391560, density: 1025.000000* values[0]: 0.705620F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031680.903165 s. H~,9`#AA ףp=;@AY#;@A W~? A~A)R&"AA:iNA"AZAbAjArAzAAAX`ianAC'rAx@A8A=ARA<:ݿA cA{*AT9?2AGֽ:A ><BAT9?JAGֽRA ><٘i)I9x@YG JJJJJ E&K YU~?yadRA! E{7*8)mB[[[@[*sV~?[Q[[[[BZYY i) Ii&@0@= K))K}@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031680.923165 s, next control iter: 1743031681.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031681.323165 s.yH~,2T`#AJ"J*J2J:J4?BJ4?nJG=5vJA\;@AT;@AV~? A#A&"AAiNA"AZAbAjArAzAAAvA_ rABw@A4AAj=AA @wܿA ߯A*2*A9?2A)/׽:A<BA9?JA)/׽RA<٘i)I9w@YG J9JJJJ E&K Y U~?y&iRA& Eb7b7%28,B)pBE[[7@[hV~?[,[[[[BZYY i) ~>IiԖ@A= ))2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031681.343165 s, next control iter: 1743031681.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5180*, header.stamp.nsec: 0*0 temperature: 13.385769** salinity: 33.391521*, density: 1025.000000** values[0]: 0.704711*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031681.743165 s.'WH~,o`#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743031681.743347F (some fields omitted in printout)AGz<@A4f;@A"V~? AAVY&"AAiNA"AZAbAjArAzAAAM4jA9|YrAw@A JAe=AAۿA@A *A9?2AG:׽:A<BA9?JAG:׽RA<٘i)I9w@YWG JJJJJ E&K YdT~?ypQA+ E77P98-B)uBE[[p@[^V~?[[[[[BZYY i) {Ii@7*B= ))󡿩꒠@澪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031681.783165 s, next control iter: 1743031682.143191 s, wait time: 0.360026 s rAdjusting time to match Gazebo time: 1743031682.163165 s.u}"H~,q`#AJ"J*J2J:JBJnJvJA<@At e<@AV~? A0A&"AAfiNA"AZAbAjArAzAAAo/HABJrA v@A!AA=A_AڿA@A/*A9?2A׽:A<BA9?JA׽RA`F?)׀@ I٘i)I9v@Y G JґJPJJJ E&KTx> YT~?yoxAQAi1 EZ7Z7{@8*B)vBE[[ @[TV~?[[[[[BZYY i3) ߜIi@B= Oǟ))Oǟ@μYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031682.183165 s, next control iter: 1743031682.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031682.583165 s.(H~,S`#AAR<@Ago<@AHV~? AۘAX&"AAjiNA"AZAbAjArAzAAA\(ACrAav@A vAA=AA`!ڿA@A8*A9?2Aֽ:AM<BA9?JAֽRAM<٘i)I9v@YG J֐JJJJ E&K YT~?yLPA6 E{7j7G8)zB[[*@[KV~?[ [[[[BZYY i) IiǗ@FB= ך))ך%@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031682.623165 s, next control iter: 1743031682.983183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5181, header.stamp.nsec: 00 temperature: 13.385959* salinity: 33.391506, density: 1025.000000* values[0]: 0.703842F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031683.003165 s.z 0H~,U4`#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075964< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031683.003296F (some fields omitted in printout)Ap= W=@AW><=@AV~? AA&"AATiNA"AZAbAjArAzAAAr:cA  5rADu@A;A=AAVٿA`Av*A9?2Aيֽ:AN<BA9?JAيֽRAN<٘i)I9u@YyG J1JJJJ E&K Y>T~?y*PA; E77N8)~B[[)@[{BV~?[[[[[BZYY i) ~ۻIi@`B= n))n$4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031683.043165 s, next control iter: 1743031683.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031683.423165 s.u6H~,`#AA(\=@AƉv=@A.V~? AvAQ&"AAn?iNA"AZAbAjArAzAAA(ԥA/GbrAu@A#C<A(=AA@ؿA`A!*A9?2Arֽ:A0=BA9?JArֽRA0=٘i)I9u@Y0G J3JJJJ E&K YT~?y-PAA E7)7U8)BE[[@[9V~?[1¨[[[[BZYY i) Ii@QC= C))C@yz YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031683.443165 s, next control iter: 1743031683.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5182, header.stamp.nsec: 00 temperature: 13.386168* salinity: 33.391487, density: 1025.000000* values[0]: 0.703032F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031683.843165 s.@A@e>@AͣV~? AdA&"AA*iNA"AZAbAjArAzAAAv='A`}rAtt@AH4<A=A}A׿A`FA%*A9?2Aֽ:At=BA9?JAֽRAt=٘i)I9t@YG JKJJJJ E&K YϼT~?y䗨OAF Eb77%]8)B[['@[X1V~?[SȨ[[[[BZYY i) \ IiE@d0D= ?))?I@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031683.883165 s, next control iter: 1743031684.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031684.263165 s.DH~,0a#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075964< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031684.263313F (some fields omitted in printout)A>@A4Y>@AV~? AhAqB&"AAiNA"AZAbAjArAzAAA20AcDBrA1t@A;A4=AiAֿA`A*Al9?2Acֽ:A=BAl9?JAcֽRA=YP@yD4=y;ٓH`ֿD??` sֿ9?#\q??)P@ I٘i)I91t@YG JOJq9JJJ E&KPx> YT~?yuOAK E7)7Pd8)B[[[@[E)V~?[Ψ[[[[BZYY i)  Ii @C= ))Vԣ@༪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031684.303165 s, next control iter: 1743031684.663181 s, wait time: 0.360016 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 51832, header.stamp.nsec: 020 temperature: 13.3863762* salinity: 33.3914872, density: 1025.0000002* values[0]: 0.7022362F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031684.683165 s.lJH~,Z+a#AJ"J*J2J:JBJnJvJAQ?@Ap>@AmV~? AA&"AAiNA"AZAbAjArAzAAAe^Ad';rAs@Au8A=A#AֿAA)*A9?2A<׽:A~=BA9?JA<׽RA~=٘i)I9s@YYG JJJJJ E&K YT~?yYOAQ Ej7Z7{k8)B)BE[['=@[!V~?[Ԩ[[[[BZYY i) +Ii@C= ’))’"_@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031684.683165 s, next control iter: 1743031685.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743031685.103165 s.QH~,КFa#AA= ףp?@A\V?@Ar~V~? A©Ay-&"AAhNA"AZAbAjArAzAAAi$A WrAJs@A5AP=A zA2+տA@A=*Av9?2AA׽:A=BAv9?JAA׽RA=٘i)I9Js@YG JՈJJJJ E&K YT~?yNAV E777r8)BE[[Nj@["V~?[ۨ[[[[BZYY i) 8';Ii@C= ))@oªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031685.123165 s, next control iter: 1743031685.503183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031685.523165 s.WH~,|aa#AJ"J*J2J:J3?BJ3?nJf<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075964< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031685.523305F (some fields omitted in printout)A(?@A?@ArV~? AɩA&"AA3hNA"AZAbAjArAzAAAK?!AkL$vrApr@A@A=AANԿA@,Amƌ*A59?2A+׽:AO=BA59?JA+׽RAO=٘i)I9r@YG JwJJJJ E&K YxT~?y͸`NA\ E7y8)B[[R@[V~?[M[[[[BZYY i) JIip@fD= l))lt@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031685.543165 s, next control iter: 1743031685.923183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5184, header.stamp.nsec: 00 temperature: 13.386541* salinity: 33.391476, density: 1025.000000* values[0]: 0.701447F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031685.943165 s.Xd^H~,B]|a#AAzG@@AM/1-@@AgV~? A=ѩA&"AAhNA"AZAbAjArAzAAAE.AkmrA]r@A|ɻA=AOAyqӿA#`A]C*A<9?2Aֽ:A=BA<9?JAֽRA=٘i)I9]r@YG JeJJJJ E&K YbT~?yNAa E8(B)BE[[9݌@[a V~?[[[[[BZYY i) 5ZIi@T E= B))B4@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031685.983165 s, next control iter: 1743031686.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031686.363165 s.eH~,>a#AJ"J*J2J:Jx3?BJx3?nJ0<5vJA3333@@A3k) @@A_]V~? AةA&"AAhNA"AZAbAjArAzAAAK A;crAxq@A.;A=A(AҿA`ːA*A9?2AMֽ:A =BA9?JAMֽRA =Y[@y=Aq/;ٓHп 9?@`@Zп@DZa@Pe?`R?)[@ I٘i)I9q@Y5G JJ1_<JJJ E&Kx> YT~?yɨMAf EZ7SI7&8)B[[g@[V~?[[[[[BZYY i) liIi@D= g))g@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031686.383165 s, next control iter: 1743031686.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5185&, header.stamp.nsec: 0&0 temperature: 13.386739&* salinity: 33.391460&, density: 1025.000000&* values[0]: 0.700658&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031686.783165 s.WkH~,a#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075964< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4196572 time: 1743031686.783291F (some fields omitted in printout)AQA@AD/A@ANSV~? AAM&"AAhNA"AZAbAjArAzAAAKc A%rAZq@A@%<Ab=AAAѿA EA̡*Af9?2A`Yֽ:A=BAf9?JA`YֽRA=٘i)I9Zq@YG J-JJJJ E&K Y{T~?yҨ[ AɈrAEp@Aw<A=AAϿA@vAuΦ*A9?2Aֽ:AF0=BA9?JAֽRAF0=٘i)I9Ep@Y<G JJJJJ E&K YlT~?y tLAv E{78'B)B E[[@[U~?[K[[[[BZYY i) Ii]@KOD= )))@gӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031687.643165 s, next control iter: 1743031688.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5186 , header.stamp.nsec: 0 0 temperature: 13.386968 * salinity: 33.391438 , density: 1025.000000 * values[0]: 0.699745 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031688.043165 s.H~,b#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031688.043303F (some fields omitted in printout)A{GaB@AD.8GB@A8V~? AA8&"AAhNA"AZAbAjArAzAAA#o$, AujrAo@AA=A@TA@οA>A*A9?2APֽ:A.:=BA9?JAPֽRA.:=٘i)I9o@YG JSJJJJ E&K YeT~?yLA| E77Ѥ8)B[[~@[U~?[[[[[BZYY i) #Ii@D= m))my@KժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031688.063165 s, next control iter: 1743031688.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031688.463165 s.YH~,b#AAB@AQB@A/V~? AuAo&"AAvhNA"AZAbAjArAzAAAZc ArA$1o@A A_=AfݿAU,̿AdAM墼*AB9?2A)׽:AY=BAB9?JA)׽RAY=Y9@Bݿyw^=-bٓH@Ŀ ?n }}Ŀڦ@ž?)9@ I٘i)I91o@YG JJ <JJJ E&K^x> YaT~?y9KAݿ E778)BE[[@[sU~?[I[[[[BZYY i) Ii@nC= ~))~>@ylb]تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031688.503165 s, next control iter: 1743031688.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5187, header.stamp.nsec: 00 temperature: 13.387179* salinity: 33.391441, density: 1025.000000* values[0]: 0.698799F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031688.883165 s.yH~,88b#AJ"J*J2J:J2?BJ2?nJ;5vJAQ8C@A:q9C@Am(V~? A/A &"AAkhNA"AZAbAjArAzAAAɘYA Q sAn@AHAP1=ADۿATʿA@AW*A9?2Aa.׽:A(=BA9?JAa.׽RA(=٘i)I9n@Y@G JJJJJ E&K Y\T~?y=KA  D E{7&8)B[[@[1U~?[[[[[BZYY i) Ii@hC= 2z))2zɩ@.ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031688.903165 s, next control iter: 1743031689.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031689.303165 s.XH~,gSb#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743031689.303290F (some fields omitted in printout)Aq= ףC@A{-轉C@A_!V~? A Au&"AA_hNA"AZAbAjArAzAAAaRAJsAn@A@ANL=AmؿA,}ȿA Am*A+9?2Aֽ:AV=BA+9?JAֽRAV=٘i)I9n@YG JJJJJ E&K YXT~?yJA E77j7Q8)B[[X2@[IU~?[c[[[[BZYY i) Iim@XC= =u))=uST@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031689.323165 s, next control iter: 1743031689.703180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5188*, header.stamp.nsec: 0*0 temperature: 13.387412** salinity: 33.391430*, density: 1025.000000** values[0]: 0.697864*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031689.723165 s.H~,Hnb#AJ"J*J2J:J2?BJ2?nJT;5vJA(\D@ANGC@AV~? AA&"AAUhNA"AZAbAjArAzAAA_WAs)T sA·m@AɺAUc=AjտA`ƿAA *A9?2Aֽ:A(=BA9?JAֽRA(=٘i)I9m@YG JJJJJ E&K Y{ST~?yIjJA E7)7|8)B[[>@[U~?[![[[[BZYY i) QIi_@ C=  q)) q9ߪ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031689.743165 s, next control iter: 1743031690.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031690.143165 s.\/H~, *b#AAGzD@A8I`D@AV~? AAD&"AALhNA"AZAbAjArAzAAA?׆AAFssAZl@A;A?4=A6dӿA@+ĿAA*A9?2AnHֽ:AS=BA9?JAnHֽRAS=٘i)I9l@Y3G J뷼JJJJ E&K YNT~?yJA E777ȹ8&B)B E[[H@[U~?[([[[[BZYY i) Ii@G3C= .m)).m j@YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743031690.163165 s, next control iter: 1743031690.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031690.563165 s.H~,c b#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743031690.563264F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffD@A6ND@AEV~? A%A &"AA6ChNA"AZAbAjArAzAAA -=A 3sALl@AE<A=AпA`*¿A`,A ü*A_9?2AO+ֽ:Au=BA_9?JAO+ֽRAu=Yeߍ@пy=F<ٓHvI?N`2%l@Һ??)eߍ@ II٘i)I9Ll@YG JJT<JJJ E&Kw> YBMT~?yIAп Ej7{7Ϲ8)įB[[Ғ@[U~?[//[[[[BZYY i) d翼Ii@3B= h))h@YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743031690.583165 s, next control iter: 1743031690.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5189, header.stamp.nsec: 00 temperature: 13.387645* salinity: 33.391418, density: 1025.000000* values[0]: 0.696863F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031690.983165 s.H~,b#AAQE@A1]7E@AC V~? An-A &"AA2;hNA"AZAbAjArAzAAA'E$oAsA k@AN/<A==A7οA oA.A7gǼ*A9?2AQֽ:A=BA9?JAQֽRA=٘i)I9k@YkG JżJJJJ E&K YKT~?y(IA E{7ֹ8)ɯB[[_]@[>U~?[5[[[[BZYY i) D5ǼIi@oA= d))dZ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031691.003165 s, next control iter: 1743031691.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031691.403165 s.&H~,b#AJ"J*J2J:JBJnJvJA ףpE@AS:XE@AV~? Aa5Au &"AA3hNA"AZAbAjArAzAAAA`sAj@A t;AZ8=A˿AcA%Aȼ*AC9?2Aֽ:AN=BAC9?JAֽRAN=٘i)I9j@YG JHȼJJJJ E&K YIT~?yP1HA E77'޹8)ίB E[[Z@[!U~?[x<[[[[BZYY i) ^μIi@7@= -,`))-,`U @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031691.423165 s, next control iter: 1743031691.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5190", header.stamp.nsec: 0"0 temperature: 13.387920"* salinity: 33.391396", density: 1025.000000"* values[0]: 0.695714"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031691.823165 s.H~,-b#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743031691.823306F (some fields omitted in printout)A\(F@A=bF@AV~? A[=Ae &"AA-hNA"AZAbAjArAzAAA'AyR~#sA'Uj@AAxǰ=AȿAA`a8Aȼ*A 9?2A.ֽ:A=BA 9?JA.ֽRA=٘i)I9Uj@YG JȼJJJJ E&K Y4HT~?y:3HA E7R8)ԯB[[s@[`U~?[$C[[[[BZYY i) ռIiw@ؘ@= [))[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031691.843165 s, next control iter: 1743031692.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031692.243165 s.H~,uc#AJ"J*J2J:JBJnJvJAGzF@AazF@AcU~? AZEAp> &"AA'hNA"AZAbAjArAzAAA>vgQA6iC`(sAi@A':AS=A'ƿA⼶A+HAʼ*A29?2A׽:A=BA29?JA׽RA=٘i)I9i@Y7G JaɼJJJJ% E&K YFT~?yBGA E{7j7|8)ٯB[[@[U~?[I[[[[BZYY i) ݼIii@@= %yW))%yW @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031692.263165 s, next control iter: 1743031692.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031692.663165 s.H~,q*c#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5191, header.stamp.nsec: 00 temperature: 13.571660* salinity: 33.374981, density: 1025.000000* values[0]: 0.570983F (some fields omitted in printout)AG@A"F@A}U~? A_MA &"AA#hNA"AZAbAjArAzAAAǢftAc0AE-sAi@AS=A ӳ=AÿA` AGUA ͼ*Aw9?2Aֽ:A=BAw9?JAֽRA=YT!@ԭÿyϳ==ٓH@q??A? ;`& ?`8Mr 袇?)T!@ I٘i)I9i@Y G J˼J<JJJ* E&K%x> YGT~?yKHGAÿ E778)ޯB[[|@[U~?[~P[[[[BZYY i) DNIis@L?= #S))#Sw@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031692.683165 s, next control iter: 1743031693.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031693.083165 s.DH~,"SEc#AJ"J*J2J:J+?BJ+?nJE5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743031693.083338F (some fields omitted in printout)ARkG@AhsQG@AU~? AhUAX &"AAhNA"AZAbAjArAzAAA6RA.YV,2sA Rh@ALA%=AKALA _A̔Ӽ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Rh@Ye G J7мJJJJ0 E&K YHT~?ytTFA E7778'B)BE[[@[LU~?[/W[[[[BZYY i) YIi@JL>= N))N6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031693.103165 s, next control iter: 1743031693.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031693.503165 s.H~,@4`c#AAp= G@A%ZG@ACU~? At]AXh &"AAhNA"AZAbAjArAzAAA㝫§A-x+7sAޝg@A$hR;As'=AĂAƦAgA#ڼ*A9?2A*Lֽ:A=BA9?JA*LֽRA=٘i)I9g@Y G JּJJJJ5 E&K  8YJT~? 8y<]VFA E8)B[[@[U~?[][[[[ZZ¸BZYY i¸DΧ=) y߼Ii@/== nJ))nJ@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031693.523165 s, next control iter: 1743031693.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5192, header.stamp.nsec: 00 temperature: 13.571982* salinity: 33.374973, density: 1025.000000* values[0]: 0.570173F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031693.923165 s.EH~,{c#AJ"J*J2J:J?BJ?nJ5vJA(\BH@AKy(H@AU~? AeA"&"AA]hNA"AZAbAjArAzAAAԇA,  elevatorAngleAction: 0.081936< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743031694.343279F (some fields omitted in printout)AHzH@Al|&H@A U~? AmA-&"AAhNA"AZAbAjArAzAAA1A@sAnf@AsF<AT)=AfA@A`mA*A9?2A;ֽ:A=BA9?JA;ֽRA=٘i)I9f@Y G JFJJJJ@ E&K YrLT~?yneEA E777R8)B[[aſ[U~?[Tk[[[[ZZBZYY i) (mǼIik@<= A))AAy=.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031694.363165 s, next control iter: 1743031694.743176 s, wait time: 0.380011 srLT~?)n*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5193*, header.stamp.nsec: 0*0 temperature: 13.572340** salinity: 33.375011*, density: 1025.000000** values[0]: 0.569301*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031694.763165 s.4H~,ذc#AJ"J*J2J:JBJnJvJAI@A1H@AU~? AuAo&"AAhNA"AZAbAjArAzAAAisOA_EsA"7e@A;A],=AA`SAsnA*A9?2ASֽ:A|P<BA9?JASֽRA|P Y~PT~?ywDA E7~8(B)BE[[4ÿ[NU~?[r[[[[ZZBZYY i) ҼIiH@=;= cX=))cX=cX=y==ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031694.803165 s, next control iter: 1743031695.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743031695.183165 s.H~,^c#AAQI@ApkI@AU~? A}A&"AAhNA"AZAbAjArAzAAA?AsJsAW_d@AwϺAVx=A3Aύ?A mA]*AE9?2A;ֽ:A m<BAE9?JA;ֽRA m<٘i)I9_d@Y G JC=JJJJK E&K YTT~?y;DA E78)B[[5[yU~?[x[[[[ZZBZYY i) IiS@:= 8))88YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031695.203165 s, next control iter: 1743031695.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031695.603165 s.:4H~,c#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081936< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743031695.603293F (some fields omitted in printout)A= ףI@AKI@AU~? AAU&"AAhNA"AZAbAjArAzAAA~AOsAc@Ah>#A4=AAnA?A"kAμ*A9?2AEֽ:AC;BA9?JAEֽRAC;٘i)I9c@Y G JJJJJP E&K YXT~?y.DA E77%8,B)B[[Ծ[U~?[w[[[[ZZBZYY i) ?bIi@ 9= C4))C4C4}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031695.643165 s, next control iter: 1743031696.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5194 , header.stamp.nsec: 0 0 temperature: 13.572754 * salinity: 33.374973 , density: 1025.000000 * values[0]: 0.568253 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031696.023165 s.ZH~,|d#AA(\J@ABJ@A0U~? A΍AE&"AAhNA"AZAbAjArAzAAA IA5yTsASb@A|\Ah<AcԮA 4?A:fA)*A19?2Atֽ:A BA19?JAtֽRA ٘i)I9b@Y' G JJJJJU E&K Y\T~?yCA E{7{7,8)BE[[[U~?[3[[[[ZZBZYY i) ﲘIi@}E8= W50))W50W50YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031696.063165 s, next control iter: 1743031696.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031696.443165 s.<H~,S]d#AJ"J*J2J:JBJnJvJAzJ@A˙J@AU~? AٕA &"AAqhNA"AZAbAjArAzAAAz"OA òYsAcb@AE&At/<Ax?A`?A^A⁼*AU9?2Avmֽ:A6BAU9?JAvmֽRA6٘i)I9b@Y G JIJJJJ[ E&K Y`T~?y__CA EZ7(48)B[[o[9U~?[[[[[ZZBZYY i) ZIi@'7= G+))G+G+%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031696.483165 s, next control iter: 1743031696.843182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5195, header.stamp.nsec: 00 temperature: 13.573086* salinity: 33.374977, density: 1025.000000* values[0]: 0.567465F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031696.863165 s.+ H~,>7d#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081936< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031696.863318F (some fields omitted in printout)A33333K@A uK@AdU~? A❪A~&"AAhNA"AZAbAjArAzAAAf9uAYj^sAb@AA3~AA/?ADTA?:*Aթ9?2A ֽ:ATxBAթ9?JA ֽRATxY@Ӧy!~էٓH@y? ?@ !C?| E?hu?/t?^?)@ I٘i)I9b@Y G JeJCJJJ` E&K1x> YgT~?yfCA E7777S;8)B[[Y>[U~?[[[[[ZZBZYY idw=) ،Ii=@6= l'))l'l'(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031696.903165 s, next control iter: 1743031697.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031697.283165 s.7RH~,Rd#AJ"J*J2J:JBJnJvJAQK@A(GK@AIU~? A楪AF&"AA"hNA"AZAbAjArAzAAAמ9zRA,NcsAFa@A};AO䞼AA?AGAX+*A9?2Aֽ:A"gBA9?JAֽRA"g٘i)I9a@Yv G JwJJJJe E&K YinT~?ymCA Ej7}B8)B[[ [U~?[X[[[[ZZBZYY i୑=) F'tIi@ݞ4= #))##X)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031697.303165 s, next control iter: 1743031697.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5196., header.stamp.nsec: 0.0 temperature: 13.573243.* salinity: 33.374989., density: 1025.000000.* values[0]: 0.567009.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031697.703165 s.ۺH~,&md#AAףp= L@A):K@AV~? A歪AD&"AAN'hNA"AZAbAjArAzAAA(AC0hsAa@AE<AaAhA@е?A 7A[*A9?2Aֽ:A}üBA9?JAֽRA}ü٘i)I9a@Yb G JB=JJJJk E&K YKuT~?ytCA E77I8-B)BE[[Գ[TU~?[[[[[BZYY i) p2aIi)@bh3= ۙ))ۙۙ.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031697.723165 s, next control iter: 1743031698.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031698.123165 s.8!H~,ad#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743031698.123289F (some fields omitted in printout)A)\uL@A >[L@AV~? A൪A٨&"AA,hNA"AZAbAjArAzAAA)ʦ- AWAmsAa@A*<AL/AСA`y?A]%Ad!;*AB9?2Aֽ:A/BAB9?JAֽRA/Ἑ٘i)I9Yc G Jv8C=JJJJp E&K Y+|T~?yzCA E)7b7P8)[[![ U~?[ǧ[[[[BZYY i) ANIif@n2= g,))g,g,y}=@k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031698.163165 s, next control iter: 1743031698.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031698.543165 s.I(H~,âd#AA{GL@A+C3L@A V~? AӽAP &"AA33hNA"AZAbAjArAzAAAyzAqsA7a@AJ;ATAAA ?AAt;*A9?2Aaֽ:ABA9?JAaֽRA٘i)I9a@Yu G J#;JJJJv E&K Y T~?y/ũCA Eb77W8)B[[e[MU~?[|[[[[BZYY i) P;Iiӊ@a1= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031698.583165 s, next control iter: 1743031698.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5197, header.stamp.nsec: 00 temperature: 13.573280* salinity: 33.374973, density: 1025.000000* values[0]: 0.566940F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031698.963165 s.|.H~,d#AJ"J*J2J:JBJnJvJALM@A毐2M@AV~? AŪAQr&"AAR:hNA"AZAbAjArAzAAA*~cnAJvsA9b@AŻAtA˹A@?AAg/<*Al9?2Aֽ:A]BAl9?JAֽRA]YJ@ytƻٓH? T?,ύ !???` x@N?)J@ I٘i)I9b@Y G J{ <JGJJJ{ E&Kw> YT~?yyͩCA Ej7Z7)_8)B[[E2[U~?[[[[[BZYY ib=) b+IiZ@/= T))TT*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031698.983165 s, next control iter: 1743031699.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031699.383165 s.5H~,4d#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055398< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031699.383267F (some fields omitted in printout)AQM@Aj=M@AV~? AͪA&"AA8BhNA"AZAbAjArAzAAA!5CA{sAzjb@A]FA΋AG-A?A`Ae<*A 9?2Aս:A/"BA 9?JAսRA/"٘i)I9jb@Y G JH<JJJJ E&K YAT~?yթ%DA E{7{7Sf8/B)BE[[1[U~?[[[[[BZYY i) sIi@g).=  ))  b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031699.403165 s, next control iter: 1743031699.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5198", header.stamp.nsec: 0"0 temperature: 13.573149"* salinity: 33.374981", density: 1025.000000"* values[0]: 0.567191"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031699.803165 s.zA&"AAJhNA"AZAbAjArAzAAAaAZsAb@A5CAztAA?AAŔ<*A9?2Alֽ:AUBA9?JAlֽRAU٘i)I9b@Y G J|<JJJJ E&K YܟT~?y ީwDA E77~m8)B[[è[U~?[b©[[[[BZYY i)  Ii@,= w))ww*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031699.823165 s, next control iter: 1743031700.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031700.223165 s.gCH~,He#AA(\N@Ai9CuN@A!!V~? AMݪA6%"AA[ThNA"AZAbAjArAzAAA8WA5sAsOc@AAA\锿A?A`jA<*Aל9?2ABdֽ:A BAל9?JABdֽRA ٘i)I9Oc@YX G J<JJJJ E&K YvT~?yVDA E77{7t8)B[[[U~?[ɩ[[[[BZYY iP„=) S+Ii @j+= ))y9c=*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743031700.243165 s, next control iter: 1743031700.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031700.643165 s.zIH~,*)e#AJ"J*J2J:JU?BJU?nJe5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031700.643297F (some fields omitted in printout)AGN@A^)N@A*(V~? AA %"AA^hNA"AZAbAjArAzAAA A\@݉sAWc@A4t;A A8A_?A`A4!<*A(9?2Aпֽ:A BA(9?JAпֽRA ٘i)I9c@Y G J<JJJJ E&K YT~?yEA E{7{80B)BE[[M[V~?[ϩ[[[[BZYY i) K׻IiN@`*= ))ywSc=*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5199, header.stamp.nsec: 00 temperature: 13.572903* salinity: 33.374985]:, density: 1025.000000* values[0]: 0.567717F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743031700.663165 s, next control iter: 1743031701.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031701.063165 s.PH~,[ De#AAfffffO@A4OLO@A/V~? AAu%"AAihNA"AZAbAjArAzAAAa# AfGsAZd@A*4<AחAA8?A@`AЯ<*A9?2Aֽ:APBA9?JAֽRAPY6#@Jy՗#4<ٓH S?T?fw?縯?@?? %? ?)6#@ I٘i)I9Zd@Y G JR<J JJJ E&K0x> YPT~?yEA" E78) B E[[[ V~?[%֩[[[[BZYY i) 2Ii@܋(= ;));;y|=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031701.083165 s, next control iter: 1743031701.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031701.483165 s.x_WH~,^e#AJ"J*J2J:JBJnJvJAO@A$ӡӷO@A7V~? AxAE%"AAmuhNA"AZAbAjArAzAAACka2 A :YDsAd@A]L<A嗽AJ팿A ?A;AC2<*AJ9?2Aֽ:A BAJ9?JAֽRA ٘i)I9d@YN G J<JJJJ E&K YT~?y}EA' E{7)8) B[[ݟ[V~?[ܩ[[[[BZYY i) QIi:@&= fT))fTfT*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031701.503165 s, next control iter: 1743031701.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5200, header.stamp.nsec: 00 temperature: 13.572631* salinity: 33.374996, density: 1025.000000* values[0]: 0.568375F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031701.903165 s.]H~,ye#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743031701.903308F (some fields omitted in printout)A ףp=P@AY#P@AV@V~? AAI%"AAhNA"AZAbAjArAzAAAemb AȵsAne@A;A1A%_A?A5Al<*As9?2A1ֽ:AۛBAs9?JA1ֽRAۛ٘i)I9ne@Y G J<JJJJ E&K YT~?ylMFA- Eb77T81B)B#E[[[V~?[-[[[[BZYY i) @xIi@E%= b))b侩b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031701.923165 s, next control iter: 1743031702.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031702.323165 s.ydH~,2e#AJ"J*J2J:JBJnJvJA\P@A|ݎP@AdIV~? AAx%"AAMhNA"AZAbAjArAzAAA A8UsAe@AʺA͕AڇA?AFA<*A9?2Abhֽ:ABA9?JAbhֽRA٘i)I9e@Y G J<JJJJ E&K Y T~?yZFA2 E{7j7~8)B[[#b[V~?[[[[[BZYY i) m?A(A6<*A˹9?2AD6ֽ:AFBA˹9?JAD6ֽRAF٘i)I9f@YQ G JS<JJJJ E&K YKT~?yJGA7 E)7ŧ782B)B'E[[!['V~?[&[[[[BZYY i) Ii~@"= fҾ))fҾfҾo*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031702.763165 s, next control iter: 1743031703.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031703.163165 s.x}rH~,qe#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031703.163321F (some fields omitted in printout)AQ@A@xeQ@A\V~? AA %"AA*hNA"AZAbAjArAzAAA ! AƫsAg@AOAFAA`א?AA<*Aн9?2A8;ֽ:ABAн9?JA8;ֽRAYd@kyCmPٓH ?I?ך`$5@#?`*?@$??)d@ I٘i)I9g@Y G J<JE;JJJ E&Kx> YT~?yzGA= EԦ8)B[[喿[/V~?[[[[[BZYY i) BIiqz@wH = Vwɾ))VwɾVwɾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031703.183165 s, next control iter: 1743031703.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031703.583165 s. xH~,&Se#AARQ@ACrQ@A}gV~? AA"%"AAhNA"AZAbAjArAzAAA1D8AƮ-sA1g@APAhAA`Bq?A@]Aݣ<*A9?2AQvֽ:ABA9?JAQvֽRA٘i)I9g@Y G Jd<JJJJ E&K Y U~?yL%GAB E{7{78)B[[妔[w8V~?[[[[[BZYY i) 0Ii>w@<= {)){{D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031703.603165 s, next control iter: 1743031703.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5202, header.stamp.nsec: 00 temperature: 13.572000* salinity: 33.375011, density: 1025.000000* values[0]: 0.569745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031704.003165 s.} H~,a4f#AJ"J*J2J:J?BJ?nJ5vJAp= WR@A>BA9?JAֽRA>٘i)I90h@YP G J<JJJJ E&K YU~?y,=HAG E77)83B)B*E[[e[AV~?[>[[[[BZYY i) e_:Iilt@3n= t))tt*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031704.023165 s, next control iter: 1743031704.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031704.423165 s.uH~,f#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743031704.423298F (some fields omitted in printout)A(\R@A'NwR@A}V~? A(A>%"AAhNA"AZAbAjArAzAAAF@zAsAh@A@<AoAvyuAA/?A@Aw*<*A9?2A׽:ABA9?JA׽RA󼙘٘i)I9h@Y G Ju<JJJJ E&K Y^+U~?yO4HAM E77T84B)B+E[[ [JV~?[ [[[[BZYY i) 2:Iiq@B= fc))fcfcK*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031704.463165 s, next control iter: 1743031704.823179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5203", header.stamp.nsec: 0"0 temperature: 13.571721"* salinity: 33.375015", density: 1025.000000"* values[0]: 0.570428"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031704.843165 s.݌H~,5f#AJ"J*J2J:J?BJ?nJ5vJAHz.S@A.S@AV~? A/AeT%"AAhNA"AZAbAjArAzAAAICiA#drsAK*i@ActO<AXA0pA`X ?A`A=<*Aw9?2A`׽:ArBAw9?JA`׽RAr𼙘٘i)I9*i@Y G Jj<B=JJJJ E&K Y$:U~?y;IAR E{7j7ú85B)B.E[[ ڍ[TV~?[[[[[BZYY i) 3a2;Iio@6= nH))nHnH*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031704.883165 s, next control iter: 1743031705.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031705.263165 s.H~,Pf#AAS@AaS@AaV~? A6A%"AA4iNA"AZAbAjArAzAAAE;A~5ǻsAi@A+<AAkA|?AÀAYI<*A9?2Aֽ:ABA9?JAֽRAY@2ky򅽙*,<ٓH `? k?攨 [aSo?T?M?wy??)@ I٘i)I9i@Y0G JQ<C=JW<JJJ E&KBx> YGKU~?yBZIA2kX Eb7b7ʺ8)B[[ݘ[^V~?[ [[[[BZYY i`=) p;Ii l@= C))CCz*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031705.283165 s, next control iter: 1743031705.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 52042, header.stamp.nsec: 020 temperature: 13.5714262* salinity: 33.3750232, density: 1025.0000002* values[0]: 0.5710232F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031705.683165 s.lH~,Ikf#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031705.683259F (some fields omitted in printout)J"JAQT@*J2J:JAS@BJnJAFV~?vJ A=A+?%"AA^iNA"AZAbAjArAzAAAvAǤVsAj@A8;AAeA`?A DA$v<*A9?2AЭֽ:ABA9?JAЭֽRA򼙘٘i)I9j@YxG J/<JJJJ E&K Yi\U~?yIIA] EZ7Z7Ѻ86B)B1E[[MT[tiV~?[7[[[[BZYY i) 8;Iih@s= ~1))~1~1*YFFF]I:Waiting for Gazebo time sync: latest Gz time: 1743031705.683165 s, next control iter: 1743031706.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743031706.103165 s.H~,̚f#AA= ףpT@A^VT@AV~? ADA%"AA9(iNA"AZAbAjArAzAAA]6AYJsAj@AϻAIA`A`H?AaAsӊ<*A9?2Alֽ:ABA9?JAlֽRA٘i)I9j@YG JF<B=JJJJ E&K YmU~?yPJAb E77غ87B)B2E[[ [ftV~?[]"[[[[BZYY i) ܶ;Iive@L= V))VV*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031706.123165 s, next control iter: 1743031706.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031706.523165 s.H~,{f#AJ"J*J2J:JA?BJA?nJ\5vJA(T@AU+T@AkV~? AKA>0%"AA elevatorAngleAction: 0.075248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031706.943280F (some fields omitted in printout)AzGU@Ak+-U@AV~? AfRAI%"AAQiNA"AZAbAjArAzAAAoP-Aw@sAsk@A}=AAVA?AA<*A9?2Aoֽ:ABA9?JAoֽRAI٘i)I9sk@YMG J<JJJJ E&K Y܏U~?y^JAm E77j7U8)ܯB[[!s[}V~?[.[[[[BZYY i) 2S;Iie`@Ԝ= Yo))YoYo*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031706.963165 s, next control iter: 1743031707.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031707.363165 s.H~,>f#AJ"J*J2J:JBJnJvJA3333U@AX7U@AWV~? AYA(%"AAgiNA"AZAbAjArAzAAAb9eA!K|IsAk@A3AxA6QA?Ah=AJ<*A9?2AVֽ:A%BA9?JAVֽRA%Y@!Qy.xٓH? V?,'`oG-?7?`˰?j&t??)@ I٘i)I9k@YG Jȇ<JJJJ E&K9x> Y3U~?y?eKA!Qr Eŧ7b788B)ٯB8E[[y+[uV~?[}4[[[[BZYY i) ED elevatorAngleAction: 0.075248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031708.203292F (some fields omitted in printout)Aףp=V@A`>Y1pV@AV~? AfA@'%"AAiNA"AZAbAjArAzAAA4PA-8sAl@A8<AЊAFA|?A@A+̈́<*A9?2AH;ֽ:A*lBA9?JAH;ֽRA*l٘i)I9l@YG JR<B=JJJJ E&K YU~?yrKA} E7778:B)ԯBjsA5m@AH<AA pAA:?A@`ASO<*A9?2ADֽ:A)BA9?JADֽRA)٘i)I95m@Y^G J<C=JJJEJ E&K  8Y6U~? 8yx+LA D E)7ŧ78;B)ѯB?E[[;}r[߽V~?[!F[[[[BZYY i) 9 elevatorAngleAction: 0.075248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031709.463287F (some fields omitted in printout)AW@A!oW@A,+W~? AxAu%"AAiNA"AZAbAjArAzAAAA މA:#sA4%n@A2>A9ӒAyZ7A ?AA<*A9?2Aս:A BA9?JAսRA Y"@O7y ӒٓH&?`_?a檿 #??]V?@ŧb`?)"@ I٘i)I9%n@YG J_<JMkJJJ E&Ku> YV~?yLAO7 Eb77U8)ʯB[[5i[LV~?[Q[[[[BZYY i) WB)įBIE[[_[+V~?[\[[[[BZYY iSӬ=) zv elevatorAngleAction: 0.084387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031710.723277F (some fields omitted in printout)A(\Y@A~NX@A_W~? AΊA T%"AA .jNA"AZAbAjArAzAAAM09¿Ay7sAͶo@A_ AؗA (A@c?A SA<*A9?2Aս:AiBA9?JAսRAi٘i)I9o@YG Ja<B=JJJJ E&K YEV~?yNA E77'8)B[[-[[=W~?[Db[[[[BZYY i)  Y!rV~?y꠪NA ES77+68?B)BOE[[Q[N$W~?[m[[[[BZYY i)  elevatorAngleAction: 0.084387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031711.983299F (some fields omitted in printout)AQZ@AQ7Z@AW~? AAZ%"AA,jNA"AZAbAjArAzAAAHc?ATOsApLq@AKN<AŒAA`*`?A߿AH<*A|9?2A]cֽ:ABA|9?JA]cֽRA٘i)I9Lq@YG J<JJJJ" E&K Y0V~?yDOA E77V=8)B[[OM[W4W~?[Gr[[[[BZYY i) Š elevatorAngleAction: 0.084387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743031713.243284F (some fields omitted in printout)AGz[@A/dz[@ARW~? AgA%"AA4jNA"AZAbAjArAzAAA|%?A3)&tAr@AuA}A 9 A jJ?ArݿA<*A:9?2AԽ:ABA:9?JAԽRA٘i)I9r@YG J <JJJJ2 E&K YVV~?y=}PA ESI7'7R8)B[['>[fW~?[[[[[BZYY i) t> YV~?yPA E77Z8)BZE[[g:[MxW~?[[[[[BZYY i) Oi elevatorAngleAction: 0.084387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031714.503273F (some fields omitted in printout)Ap= \@A| \@AX~? A A%"AA8kNA"AZAbAjArAzAAAUrb?A2W tAt@AAA `A(?A *ۿAM<*A9?2A Խ:AiBA9?JA ԽRAi٘i)I9t@YG J<JJJJB E&K YW~?y>ªQA E777Vh8)B`E[[g0[LW~?[-[[[[BZYY i) ,)) > >*YTYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031715.363165 s, next control iter: 1743031715.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5214&, header.stamp.nsec: 0&0 temperature: 13.568117&* salinity: 33.375114&, density: 1025.000000&* values[0]: 0.577857&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031715.763165 s.I;H~,kh#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743031715.763322F (some fields omitted in printout)J"J*J2J:JBJnJvJA^@AAF@]@ARX~? AxǫAE%"AArkNA"AZAbAjArAzAAAN@AO tA1v@AE<ARAԾA?A@-ؿA<*AT9?2A`qս:AI6BAT9?JA`qսRAI6Yô@ʎԾyF<ٓH`+? ߿?Z+ٿ K?`L?;?`J? r?)ô@ I٘i)I9v@YAG J<JWJJJR E&Ks> YbW~?yvΪ/SAԾ E{7}8DB)BfE[[/![W~?[Ꝫ[[[[BZYY i) ))Kt>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031715.783165 s, next control iter: 1743031716.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031716.183165 s.BH~,c i#AAQ^@ARk^@AhX~? A˫AO%"AAkNA"AZAbAjArAzAAAR6@Aez4tAw@Ae;AnAɾA ,?A ؿA<*A9?2A}ս:AHBA9?JA}սRAH٘i)I9w@YG Ja<JJJJW E&K Y|W~?yҪSA E778FB)BjE[[[zW~?[F[[[[BZYY i=) _!))+$ =0> =0>*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743031716.203165 s, next control iter: 1743031716.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031716.603165 s.64IH~,&i#AJ"J*J2J:JBJnJvJA= ף^@A^@A;X~? AϫA%"AAkNA"AZAbAjArAzAAA=. @A_8tA=x@AV;AnqA+-A@Lm?A1׿A+y<*A.9?2Au^ӽ:ABA.9?JAu^ӽRA٘i)I9=x@YG J<JJJJ] E&K YW~?yժTA E77,8)BmE[[[bW~?[[[[[ZZZZ¸>BZYY i¸>v)  )) `C>`C>*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031716.623165 s, next control iter: 1743031717.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5215 , header.stamp.nsec: 0 0 temperature: 13.567696 * salinity: 33.375130 , density: 1025.000000 * values[0]: 0.578737 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031717.023165 s.ZPH~,|Ai#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082746< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031717.023292F (some fields omitted in printout)A(\_@A-ͭB_@AX~? AӫA%"AAlNA"AZAbAjArAzAAAT3Y= @AtAx@A*AQA҃A>?A`fֿA<*A9?2A=ӽ:AZBA9?JA=ӽRAZ٘i)I9x@YG J<JJJJb E&K YZW~?y٪TA E77W8)BpE[[,[X~?[[[[[ZZZZBZYY i) * ))W>W>U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031717.043165 s, next control iter: 1743031717.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031717.443165 s.8VH~,B]\i#AJ"J*J2J:JBJnJvJAz_@A4c_@AX~? As׫A$e%"AA"lNA"AZAbAjArAzAAAX (Bk@A>JLtAy@AmMAQtA1kAA?A`,տA=*AE9?2A`ӽ:A8`BAE9?JA`ӽRA8`٘i)I9y@YG J<JJJJg E&K Y)W~?yܪ UA E78)xB[[6[_%X~?[ծ[[[[ZZZZBZYY i) ))ek>ek>yT*YXYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031717.463165 s, next control iter: 1743031717.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5216, header.stamp.nsec: 00 temperature: 13.567234* salinity: 33.375134, density: 1025.000000* values[0]: 0.579650F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031717.863165 s.+]H~,>wi#AA33333`@AG`@A0X~? A۫Aj%"AAElNA"AZAbAjArAzAAA AP'O@AR tAez@Au A`A衾At?A ڿԿA=*A9?2A{Խ:ABA9?JA{ԽRAY@y^iٓH`U?`?`tӿi?`?\?A@?)@ I٘i)I9z@YG J =J<JJJm E&Kr> YW~?ybߪtUA Ej7Z78GB)rBsE[[N [:X~?[²[[[[ZZZZBZYY i) w))rP>P>y䧽*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031717.883165 s, next control iter: 1743031718.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031718.283165 s.2RdH~,i#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237235@ elevatorAngleAction: -0.082746< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031718.283272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ`@A~`@AX~? AޫA%"AAhlNA"AZAbAjArAzAAActk@Ag5k+"tAWt{@A:A tA:AB?A`ӿA7<*A):?2Aս:AhBA):?JAսRAh٘i)I9t{@Y G J<JJJJr E&K YW~?yUA E77ר8)kBvE[[OZ[9OX~?[[[[[ZZZZBZYY i) Χ))_k>k>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031718.303165 s, next control iter: 1743031718.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5217., header.stamp.nsec: 0.0 temperature: 13.566703.* salinity: 33.375149., density: 1025.000000.* values[0]: 0.580748.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031718.703165 s.ԺjH~,i#AAףp= a@A 8`@AOX~? AA%"AAlNA"AZAbAjArAzAAAAɡ@Ad27$tA1|@A$!<A 0AAz?A@vӿA<*AG(:?2ATӽ:A\BAG(:?JATӽRA\٘i)I91|@Y~G J<B=JJJJx E&K YX~?y@VA Eŧ7b78)fByE[[[dX~?[S[[[[ZZZZBZYY i) %)) !h>!h>t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031718.723165 s, next control iter: 1743031719.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031719.123165 s.7qH~,]i#AJ"J*J2J:JBJnJvJA)\ua@A[a@A6 Y~? A&A[S%"AAlNA"AZAbAjArAzAAAD눬@A+&tAD|@Ab<ABּAA@ ?A`-ҿA<*Ap/:?2A"Mӽ:A&;BAp/:?JA"MӽRA&;٘i)I9|@YG J<C=JJJJ} E&K Y5X~?yVA E777-8)aB|E[[e[zX~?[[[[[ZZZZBZYY i) A))Qt>Qt>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031719.143165 s, next control iter: 1743031719.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031719.543165 s.IxH~,i#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082746< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743031719.543298F (some fields omitted in printout)A{Ga@A/a@AR#Y~? A5A%"AAlNA"AZAbAjArAzAAAB@AD (tAM}@A1b0<A:AqA[?AUѿA}<*A]*:?2A ӽ:A<BA]*:?JA ӽRA<٘i)I9M}@Y+G J~<JJJJ E&K Y]PX~?yP WA E77W8HB)]BE[[[X~?[v[[[[ZZZZBZYY i) ׄ))ɑ>ɑ>2b)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031719.563165 s, next control iter: 1743031719.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5218, header.stamp.nsec: 00 temperature: 13.566269* salinity: 33.375156, density: 1025.000000* values[0]: 0.581670F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031719.963165 s.~~H~, i#AJ"J*J2J:J?BJ?nJ$5vJALb@A{Ic2b@A;Y~? AA%"AAlNA"AZAbAjArAzAAANk@Ar=y)tA}@A;A;AE]A?A`,wпAXx4<*A :?2A}Խ:A4<BA :?JA}ԽRA4JJJ E&Kr> YlX~?y4WAA] E{7Z7Ż8)ZB[[ņ[IX~?[Ī[[[[ZZZZBZYY iVz) v))"Br>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031719.983165 s, next control iter: 1743031720.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031720.383165 s.؅H~,Dj#AAQb@AXl:b@ATY~? AA%"AAmNA"AZAbAjArAzAAA3j @A)Y+tA}@A5A <AWHA -?A9(ϿA;*A:?2A+ս:A[<BA:?JA+սRA[<٘i)I9}@YG J<JJJJ E&K YX~?yVA E77{7̻8)XBE[[h־[X~?[ Ȫ[[[[ZZZZBZYY i#) c))NA>>YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031720.403165 s, next control iter: 1743031720.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5219", header.stamp.nsec: 0"0 temperature: 13.565977"* salinity: 33.375172", density: 1025.000000"* values[0]: 0.582229"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031720.803165 s.AH~,g3j#AJ"J*J2J:J ?BJ ?nJJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256358@ elevatorAngleAction: -0.071846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743031720.803337F (some fields omitted in printout)Aq= #c@A c@AlY~? A{Ao%"AACmNA"AZAbAjArAzAAAe/K@A p-tA}~@AwJA=A3AY?A 3KͿA:*A=/:?2Avӽ:A><BA=/:?JAvӽRA><٘i)I9~@YG J ;JJJJ E&K YUX~?yVA E777ӻ8)E[[5̾[X~?[*˪[[[[BZYY i)  Q)) 5>5>9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031720.843165 s, next control iter: 1743031721.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031721.223165 s.gH~,HNj#AA(\c@AzCuc@AY~? AA >%"AAyimNA"AZAbAjArAzAAA@y@AX.tAP~@A5AX3=A? A}?A˿A<*A7.:?2Azpӽ:A<BA7.:?JAzpӽRA<٘i)I9~@YG JJJJJ E&K YX~?yVA# E{7{7ۻ8JB)ZBE[[[X~?[)Ϊ[[[[BZYY i) &>))0>0>y杖uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031721.243165 s, next control iter: 1743031721.623182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031721.643165 s.wЙH~, *ij#AJ"J*J2J:JBJnJvJAGc@ABc@AY~? A;Av%"AA:mNA"AZAbAjArAzAAA-"@A3Qa/tA8}@Ai rAGY=A A ?A`jɿA *Ab':?2Aӽ:A<BAb':?JAӽRA<٘i)I9}@YG JJJJJ E&K YX~?yVA) EZ7Z7-8)[BE[[햷[hY~?[Ѫ[[[[BZYY i) D+))Ɉ>Ɉ>˔YEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031721.663165 s, next control iter: 1743031722.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5220, header.stamp.nsec: 00 temperature: 13.565808* salinity: 33.375191, density: 1025.000000* values[0]: 0.582433F (some fields omitted in printout)BX~?)B rAdjusting time to match Gazebo time: 1743031722.063165 s.H~,[ j#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.071846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743031722.063324F (some fields omitted in printout)Afffffd@A iTLd@AY~? AaA%"AA2mNA"AZAbAjArAzAAA @A('L1tAL}@A:;Abx=A,A?A ȿA6*A :?2A. Խ:Az =BA :?JA. ԽRAz =YN@tyax=;ٓH@??@x? Ͻ??ZPw?`?)N@ I٘i)I9}@YaG JaB=J>JJJ E&Kq> YX~?yVAt. E77X8)]BE[[`[Y~?[Ӫ[[[[BZYY ie) *b))mrž>ž>MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031722.103165 s, next control iter: 1743031722.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031722.483165 s.v_H~,j#AJ"J*J2J:JBJnJvJAd@Aٷd@AY~? A`A(%"AA_mNA"AZAbAjArAzAAAb0mL @AV<2tAN}@A'J<A=AǽA ?A@@ƿAl*A:?2AlԽ:A=BA:?JAlԽRA=٘i)I9N}@Y,G JPC=JJJJ E&K YY~?y))׀u >u >YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031722.503165 s, next control iter: 1743031722.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5221, header.stamp.nsec: 00 temperature: 13.565785* salinity: 33.375210, density: 1025.000000* values[0]: 0.582307F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031722.903165 s.ȭH~,͹j#AA ףp=e@A]#e@AgY~? A6A%"AAnNA"AZAbAjArAzAAA‹ E?@Aʛ3tAM|@AoL<A}=A18A?AVĿA׎*A=:?2Aҽ:A_=BA=:?JAҽRA_=I٘i)I9|@YG JJJJJ E&K Y.Y~?yUA9 E77778)kB[[[LY~?[ت[[[[BZYY i) Q>;Ii?iD< m>)) m>m>OȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031722.943165 s, next control iter: 1743031723.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031723.323165 s.tH~,j#AJ"J*J2J:J?BJ?nJB5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056124< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743031723.323293F (some fields omitted in printout)A\e@At ގe@AZ~? AA/s%"AAU(nNA"AZAbAjArAzAAA:9^6t@A*,4tAb|@A);An=AlA<?A q¿A*AG:?2ACӽ:A:=BAG:?JACӽRA:=٘i)I9b|@YG JJJJJ E&K YJY~?yUA> E778)oBE[[;[ZeY~?[ڪ[[[[BZYY if4) 1;Iii?g;< ?))??yK2fEϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031723.363165 s, next control iter: 1743031723.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5222*, header.stamp.nsec: 0*0 temperature: 13.565867** salinity: 33.375233*, density: 1025.000000** values[0]: 0.581878*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031723.743165 s.WH~,mj#AAGzf@AOce@AZ~? AhAS%"AAOnNA"AZAbAjArAzAAA3AӵU @AT@5tAS{@AR8_A=AA)?ApAw*AL:?2AԽ:AF =BAL:?JAԽRAF =٘i)I9{@YJG JeJJJJ E&K  8YfY~? 8yBUAD Eb778)sBE[[E[o~Y~?[!ݪ[[[[BZYY i) j;Ii?))3< 86?))86?86?yJfҪYtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031723.783165 s, next control iter: 1743031724.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031724.163165 s.}}H~J,q k#A"J*J2J:J?BJ?nJ 5vJAf@Aef@AA7Z~? AAi7%"AAunNA"AZAbAjArAzAAAj @AмJk6tA?AA֥*AJ:?2AԽ:Ap=BAJ:?JAԽRAp=Y~@W y֙=-6ٓH?2?A?`_a??`:6(d?)~@ I٘i)I9P{@YG JB=J" =JJJ E&Kr> Y:Y~?yTA I Ej7Z7. 8)wBE[[ r[XY~?[ߪ[[[[BZYY i) d;Ii3?&< Xj ?))sXj ?Xj ?yӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031724.183165 s, next control iter: 1743031724.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031724.583165 s.H~,S%k#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237827@ elevatorAngleAction: -0.065530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031724.583282F (some fields omitted in printout)ARf@A}vuf@A QZ~? AA.%"AAnNA"AZAbAjArAzAAAd !@AP'7tAz@ASA*=AE.;A`O?AA0*AI:?2Aս:A=BAI:?JAսRA=٘i)I9z@YG JC=JJJJ E&K YuY~?y8tTAN E77Y8)|BE[[c][Y~?[[[[[BZYY i) v;Iir??< B?)) B?B?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031724.603165 s, next control iter: 1743031724.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5223, header.stamp.nsec: 00 temperature: 13.565997* salinity: 33.375240, density: 1025.000000* values[0]: 0.581323F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031725.003165 s.{ H~,Y4@k#AJ"J*J2J:J?BJ?nJ 5vJAp= Wg@AJ:A;ܗ=A9,=Ao?ASAڮ*Ao:?2Anӽ:AAd=BAo:?JAnӽRAAd=٘i)I9y@YG J.B=JJJJ E&K YY~?ySAY E{7{7"8)BE[[3[Y~?[[[[[BZYY i) f:Ii%T?< J?))J?J?!ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031725.443165 s, next control iter: 1743031725.823182 s, wait time: 0.380017 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5224", header.stamp.nsec: 0"0 temperature: 13.566141"* salinity: 33.375252", density: 1025.000000"* values[0]: 0.580751"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031725.843165 s.H~,uk#AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::J( dropWeightState: 1BJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743031725.843289F (some fields omitted in printout)AHz.h@Ah@AޞZ~? AAo%"AAoNA"AZAbAjArAzAAAne#@A8tAy@A#<AG=Ap{=AKz?A`LϭA<*AEo:?2Aӽ:Ar=BAEo:?JAӽRAr=٘i)I9y@YG JɯC=JJJJ E&K Y#Y~?y>SA^ E77j7)8)BE[[[5Y~?[p[[[[BZYY i) ʃ:IiG?v; !?))!?!?lΪY(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031725.863165 s, next control iter: 1743031726.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031726.263165 s.H~,ؐk#AAh@Azh@AZ~? A.A%"AA2:oNA"AZAbAjArAzAAAh$@ARb9tAt|x@A V<A}o=A=Aࡂ?A`jAoP*Am:?2AeԽ:AK=BAm:?JAeԽRAK=Y@Ҩ=y?l=W<ٓH@ ?`ִ埲?@???`V} ui`ъ??)@ I٘i)I9|x@Y<G JB=J]JJJ E&K0s> YJZ~?yRAҨ=d E18PB)BE[[\[,Z~?[[[[[BZYY i) ԛ8IiZ4?; &?))/u&?&?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031726.283165 s, next control iter: 1743031726.663179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5225., header.stamp.nsec: 0.0 temperature: 13.566313.* salinity: 33.375263., density: 1025.000000.* values[0]: 0.580157.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031726.683165 s.lH~,Rk#AJ"J*J2J:J?BJ?nJ5vJAQi@A h@AZ~? AA%"AAaoNA"AZAbAjArAzAAAgۡ$@Ah KN[9tAw@AZ<AN=A =A?AĝAĨ*Al:?2A:'ս:A=BAl:?JA:'սRA=٘i)I9w@YG J>C=JJJJ E&K Ym,Z~?y:xRAi ESI7SI7.88)B[[F[n2Z~?[[[[[BZYY i) `Ii"?F|; T,?))T,?T,?_ǪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031726.683165 s, next control iter: 1743031727.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743031727.103165 s.!H~,ؚk#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259710@ elevatorAngleAction: -0.065530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031727.103296F (some fields omitted in printout)A= ףpi@A2!Vi@AZ~? AA%"AA6oNA"AZAbAjArAzAAA@%@At9tA`w@Ap:A =AC=A?A-A*A:?2Aӽ:A"<BA:?JAӽRA"<٘i)I9`w@YG JJJJJ E&K YHZ~?yRAn E77Y?8)BE[[&[LZ~?[v[[[[BZYY i) "SIi*?_; 1?)) 1?1?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031727.123165 s, next control iter: 1743031727.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031727.523165 s.H~,{k#AJ"J*J2J:JBJnJvJA(i@Ap'i@A.[~? AAc%"AAǰoNA"AZAbAjArAzAAA|lo%@Adg~9tAfv@A_Aa=AU>A?A=O?A 3*AY:?2AԽ:Awk<BAY:?JAԽRAwk<٘i)I9v@Y?G JJJJJ E&K YdZ~?yQAt E7777F8OB)BE[[[gZ~?[#[[[[BZYY i) &2IiA?W;  .7?)) .7? .7?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031727.543165 s, next control iter: 1743031727.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5226, header.stamp.nsec: 00 temperature: 13.566440* salinity: 33.375290, density: 1025.000000* values[0]: 0.579599F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031727.943165 s.XdH~,B]k#AAzGj@A`-j@AK![~? AAS%"AA[oNA"AZAbAjArAzAAA&|&@A0-^~9tA^v@ATA؉=AW+'>A ,?Aӏ?Aˆ*A:?2A'ս:A[<BA:?JA'սRA[<٘i)I9^v@YG JfB=JJJJ E&K YZ~?y OQAy Eŧ7b7M8)BE[[,]F[ςZ~?[[[[[BZYY i) v4oIiH>; l#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743031728.363304F (some fields omitted in printout)A3333j@Ag*#j@Ae;[~? AAi%"AAoNA"AZAbAjArAzAAA$ '@AɻѦW9tAEu@Aܒ5A"_=A%;>A=?A ?A|(*A:?2Aٌս:Aw<BA:?JAٌսRAwy\=5ٓH`e?Vǿk;? 2?`*v??@f =W?)@ I٘i)I9u@YG J C=JRJJJ E&KEt> YZ~?ytPA;> D E77{7T8)BE[[)߼[Z~?[[[[[BZYY i]) &Ii> ; B?))RwB?B?ܻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031728.383165 s, next control iter: 1743031728.763187 s, wait time: 0.380022 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5227*, header.stamp.nsec: 0*0 temperature: 13.566546** salinity: 33.375286*, density: 1025.000000** values[0]: 0.579073*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031728.783165 s.W H~,2l#AAQk@A*k@AzU[~? A'A%"AAw'pNA"AZAbAjArAzAAA{0'@Af19tAviu@AZA%=AP>A@̈́?A ?At*Aw~:?2A@ս:A<BAw~:?JA@սRA<٘i)I9iu@Y]G JJJJJ E&K YmZ~?yPA E77\8NB)BE[[^[Z~?[[[[[BZYY i) ʵIiʪ>WZ; G?)) G?G?1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031728.803165 s, next control iter: 1743031729.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031729.203165 s.H~,Ml#AJ"J*J2J:JBJnJvJAףp=k@A&pk@Ao[~? AA%"AANpNA"AZAbAjArAzAAA58&W(@AUR8tA t@Ai;A=A6c>A`}?A@?A<*A:?2AԽ:Aq\<BA:?JAԽRAq\<٘i)I9t@YG JJJJJ E&K Y4Z~?yA3; M?))M?M?{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031729.223165 s, next control iter: 1743031729.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031729.623165 s.[H~,mgl#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031729.623294F (some fields omitted in printout)A)\k@A|eުk@A[~? AA%"AAnvpNA"AZAbAjArAzAAA`Z(@AK8tA$wt@A'NJ<A)׆=AIw>Ar?A ?A*A:?2AGcԽ:AY=BA:?JAGcԽRAY=٘i)I9wt@YG JꏼJJJJ E&K YZ~?yOA Eb77Yj8KB)BE[[4E=[IZ~?[[[[[BZYY i) 0Iic>; .R?)).R?.R?yCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031729.643165 s, next control iter: 1743031730.023181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5228, header.stamp.nsec: 00 temperature: 13.566650 * salinity: 33.375305 , density: 1025.000000 * values[0]: 0.578602 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031730.043165 s.J "J *J 2J :J ?BJ ?nJ Q5vJ H~,Âl#AA{Gal@A*D/Gl@A[~? AAf%"AAѝpNA"AZAbAjArAzAAAF)@Ao"7tAs@A_F<A#=A4>A@d?A?A5*A7:?2AԽ:A=BA7:?JAԽRA=٘i)I9s@YG JuJJJJ E&K Y [~?yOA E7q8)BE[[r=[ [~?[g[[[[BZYY i)  Ii5>;j: A_T?Au?A*Abx:?2Aս:AZ=BAbx:?JAսRAZ=YX=m>yk'=d;ٓH?7ѿ4ذ??E? k?!v??)X= I٘i)I9s@Y8G JJp:JJJ E&KIu> Y&[~?y)OA> E7x8JB)BE[[꺥=[-&[~?[[[[[BZYY i) dIi=m: 8]?))@z8]?8]?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031730.503165 s, next control iter: 1743031730.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5229, header.stamp.nsec: 00 temperature: 13.566745* salinity: 33.375320, density: 1025.000000* values[0]: 0.578128F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031730.883165 s.J "J *J 2J :J ?BJ ?nJ 05vJ z-H~,]l#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244748@ elevatorAngleAction: -0.075862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743031730.883298F (some fields omitted in printout)AQ8m@AV9m@A4[~? AA7%"AALpNA"AZAbAjArAzAAA)c*@Atɿ&]6tA[s@A AS=A>A:A?A`T@?A,|*Avo:?2Abֽ:Ae=BAvo:?JAbֽRAe=٘i)I9s@YG JJJJJ E&K YB[~?y"NA E7b78IB)BĹE[[n=[A[~?[[[[[BZYY i) (Ii.=_9 ]c?)) ]c?]c?\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031730.903165 s, next control iter: 1743031731.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031731.303165 s.W4H~,{gl#AAq= ףm@A4wm@A[~? ANAx6%"AA]qNA"AZAbAjArAzAAAܑg+@Am05tA(r@A9A}=AK#>A ,?A?A}*A}:?2A[ս:A=BA}:?JA[սRA=٘i)I9r@YG JBB=JJJJ E&K Y(][~?yqNA E{7{78)BǹE[[=[N][~?[[[[[BZYY i) %8II?i#e< h?))h?h?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031731.343165 s, next control iter: 1743031731.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5230., header.stamp.nsec: 0.0 temperature: 13.566823.* salinity: 33.375332., density: 1025.000000.* values[0]: 0.577657.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031731.723165 s.;H~,Hl#AJ"J*J2J:JBJnJvJA(\n@A*TPm@A \~? AAR%"AAK:qNA"AZAbAjArAzAAA53J,@AF2r4tA(r@A#PA2=A`>A K?A@?A**A7v:?2A ս:As=BA7v:?JA սRAs=٘i)I9(r@YbG JڋC=JJJJ E&K YIx[~?y5NA E7708HB)BʹE[[Uw>[y[~?[[[[[BZYY i) έGII?i% 0n?))0n?0n?GƪY.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031731.763165 s, next control iter: 1743031732.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031732.143165 s.U/BH~,* m#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031732.143298F (some fields omitted in printout)AGzn@AG`n@A$\~? AAer%"AAaqNA"AZAbAjArAzAAA3,@Aj 3tAq@AA=A@>AX?At?A*An:?2AWս:Aȵ=BAn:?JAWսRAȵ=٘i)I9q@YG J̐JJJJ$ E&K Yd[~?yMA EY8GB)B͹E[[I->[[~?[x[[[[BZYY i) w1WIY I?i+׽ t?))t?t?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031732.163165 s, next control iter: 1743031732.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031732.563165 s.HH~,N $m#AJ"J*J2J:JBJnJvJAffffn@ANn@A=\~? A4A%"AAqNA"AZAbAjArAzAAATq-8-@Ag2tAG/q@A:A~=A>A?A`ٌ?AӜ*A3f:?2Aս:AF =BA3f:?JAսRAF =Y(>K>yn=V:ٓH`?@׿I}???8?@V^?*?)(> I٘i)I9/q@YG J.JEk<JJJ) E&Ku> Y[~?ysުTMA> E{7j78)B[[EC>[X[~?[[[[[BZYY i) cfI I?i 1 ;y?))};y?;y?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031732.583165 s, next control iter: 1743031732.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5231, header.stamp.nsec: 00 temperature: 13.566921* salinity: 33.375359, density: 1025.000000* values[0]: 0.577194F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031732.983165 s.OH~,>m#AAQo@A 7o@AV\~? A0A%"AAqNA"AZAbAjArAzAAAA~-@A?-1tAp@Ay&<A럗=A>AH?A0^?A)*A^:?2Aս:AC8=BA^:?JAսRAC8=٘i)I9p@YxG J2JJJJ. E&K Y[~?y&۪LA E778FB)BйE[[Z>[[~?[$[[[[BZYY i)  uII?iot L?)) L?L?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031733.003165 s, next control iter: 1743031733.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031733.403165 s.&VH~,Ym#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031733.403288F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpo@A8>[o@Ao\~? AAT%"AAUqNA"AZAbAjArAzAAAzjAi.@A]}}/tAp@AV<A@=A >A?A 8??A$Ҩ*Ak:?2AԽ:A=BAk:?JAԽRA=٘i)I9p@Y#G JJJJJ4 E&K Y[~?yתLA E777ڪ8)ůBӹE[[uq>[[~?[+ߪ[[[[BZYY i) dII?i; OZ?))OZ?OZ?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031733.423165 s, next control iter: 1743031733.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5232, header.stamp.nsec: 00 temperature: 13.567062* salinity: 33.375366, density: 1025.000000* values[0]: 0.576674F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031733.823165 s.\H~,-tm#AA\(p@Ahp@A\~? AA'%"AAXqNA"AZAbAjArAzAAAe܃e/@AXm.tADo@A<Aw=A+E>A |?A?A*A{e:?2A~aս:A? =BA{e:?JA~aսRA? =٘i)I9o@YG JJJJJ9 E&K Y[~?yԪ'LA Eb778EB)ȯBֹE[[ck>[H\~?[ܪ[[[[BZYY i)  I%"AA! rNA"AZAbAjArAzAAA{19/@A ,tAo@A9A0=A>AV?A@?AЦ*AZ:?2A ֽ:AH=BAZ:?JA ֽRAH=٘i)I9o@YvG JB=JJJJ> E&K YO\~?y@ѪKA E7708DB)̯BٹE[[O>[\~?[ڪ[[[[BZYY i) I"H?ir ?))??Z֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031734.263165 s, next control iter: 1743031734.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031734.663165 s.jH~,qm#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084933< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031734.663296F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5233, header.stamp.nsec: 00 temperature: 13.567194* salinity: 33.375366, density: 1025.000000* values[0]: 0.576086F (some fields omitted in printout)Aq@Ah$p@Aw\~? AAo%"AAErNA"AZAbAjArAzAAA6L0@AFdvL+tAun@A A+=Aż>A -?A?A?ȥ*AP:?2A2ֽ:A0=BAP:?JA2ֽRA0=Y5>f>y'*=J ٓH 9?ݿ`t??K? E?@=\I?)5> I٘i)I9un@Y!G J*C=J$<JJJD E&Kv> YF/\~?y&ͪYKAf> Eb77Z8AB)ίBعE[[㖛>[;:\~?[ ت[[[[BZYY i) kI'H?iv޾p` lъ?))Clъ?lъ?y&ۭe٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031734.683165 s, next control iter: 1743031735.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031735.083165 s.DqH~, Sm#AJ"J*J2J:Jz?BJz?nJ5vJARkq@AIpQq@A\~? AAפ%"AAjrNA"AZAbAjArAzAAA>T*a0@A=)tA]m@AWSAd=A?A?Aø?Aৼ*ASE:?2ABֽ:A=BASE:?JABֽRA=٘i)I9m@YG JXJJJJI E&K Y?H\~?y ɪJA E7Ǽ8@B)ѯB۹E[[8>[U\~?[Dժ[[[[BZYY i) IeH?ix ǣ?)) ǣ?ǣ?/ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031735.103165 s, next control iter: 1743031735.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031735.503165 s.wH~,74m#AAp= q@ABq@A@\~? AA%"AArNA"AZAbAjArAzAAAuhԪ0@An'tA`Zm@As6-AR =Az?A?A?A歼*ACI:?2Aֽ:A}=BACI:?JAֽRA}=٘i)I9Zm@YuG J0JJJJO E&K Y9a\~?yĪJA E{7j7μ8?B)կB޹E[[>[p\~?[FҪ[[[[BZYY i) } IH?iO  }?))}?}?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031735.523165 s, next control iter: 1743031735.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5234, header.stamp.nsec: 00 temperature: 13.567337* salinity: 33.375374, density: 1025.000000* values[0]: 0.575539F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031735.923165 s.9~H~,m#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084933< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031735.923286F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Br@A ~{(r@AY]~? AA%"AArNA"AZAbAjArAzAAA¸0@A!J%tAOl@AT,A{!=A ?A ?AE{?Adj*A9?:?2Aս:A=BA9?:?JAսRA=٘i)I9l@YG J{JJJJT E&K Y1z\~?yJA E)7b7ռ81z\~?)9B)ӯBE[[ø>[ \~?[Ϫ[[[[BZYY i) 䅯IH?iۡ ^?))^?^?YLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031735.943165 s, next control iter: 1743031736.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031736.343165 s.]~? AvAU%"AArNA"AZAbAjArAzAAA{S<1@AMT#tA(l@A2;A=A?Au?A`IU?As*A6:?2AZս:A=BA6:?JAZսRA=٘i)I9(l@YG JJJJJY E&K Y(\~?yIA E77ݼ8)ׯBE[[;>[&\~?[˪[[[[BZYY i) IzH?iɻ WE?))WE?WE?}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031736.383165 s, next control iter: 1743031736.743175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5235*, header.stamp.nsec: 0*0 temperature: 13.567513** salinity: 33.375412*, density: 1025.000000** values[0]: 0.574907*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031736.763165 s.;H~,00n#AJ"J*J2J:J-?BJ-?nJS5vJAs@Ar@A2]~? AޫAS%"AArNA"AZAbAjArAzAAAft.1@A'0m!tAk@AN<AK=A?AA?A@/?AaƼ*AP-:?2A[ս:A=BAP-:?JA[սRA=Y>p ?yH=N<ٓH'?̭ȳ?]??Wl?@?a?)> I٘i)I9k@YWG J¼Jm<JJJ_ E&Kv> Y\~?yܷ[\~?[Ȫ[[[[BZYY i) KI0H?i,LGݻ @?))@?@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031736.783165 s, next control iter: 1743031737.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031737.183165 s.˒H~,Kn#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084933< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743031737.183280F (some fields omitted in printout)AQs@A[ks@A]J]~? AګA%"AA sNA"AZAbAjArAzAAAsp:01@ArtAVj@AWB<A1=A?A P ?AO ?Aڠʼ*A%:?2A2ֽ:AOW=BA%:?JA2ֽRAOW=٘i)I9j@YG JȼJJJJd E&K Y(\~?yHA Eb77Z88B)BE[[')>[\\~?[EĪ[[[[BZYY i) żI-H?i6:nZ ?))??\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031737.223165 s, next control iter: 1743031737.583186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743031737.603165 s.64H~,fn#AJ"J*J2J:J?BJ?nJ%5vJA= ףs@A4ތs@Aa]~? A֫A] %"AADsNA"AZAbAjArAzAAAd<2@AKlwmtAu1j@Au,;AwƯ=A{ ?A@W?A?A.˼*A(:?2Aֽ:A=BA(:?JAֽRA=٘i)I91j@YG Jg˼JJJJi E&K Y\~?y UHA E7{784B)BE[[>[\~?[@[[[[BZYY i) ̼IH?iEx X?))X?X?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031737.643165 s, next control iter: 1743031738.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5236 , header.stamp.nsec: 0 0 temperature: 13.567679 * salinity: 33.375408 , density: 1025.000000 * values[0]: 0.574238 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031738.023165 s.ZH~,{n#AA(\t@A6Bt@Ax]~? AӫAi%"AAgsNA"AZAbAjArAzAAA"W2@A\tALi@A~ڕAD==An%?A༖?Aj?Az˼*A:?2A-+׽:A6=BA:?JA-+׽RA6=٘i)I9i@Y G J˼JJJJo E&K Y(\~?yBGA E7783B)BE[[o>[ ]~?[[[[[BZYY i) ,ԼIlH?iN\v %ҡ?))%ҡ?%ҡ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031738.043165 s, next control iter: 1743031738.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031738.443165 s.8æH~,B]n#AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084933< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743031738.443285F (some fields omitted in printout)Azt@A񝘭t@A7]~? AϫA%"AAsNA"AZAbAjArAzAAAT2@Ad8YtAh@A >A=A(Q+?AX?A@g?A@̼*AR:?2Ao׽:A=BAR:?JAo׽RA=٘i)I9h@Y G J˼JJJJt E&K  8Y]~? 8ydnGA E{7j78)B[[?[:+]~?[[[[[BZYY i) wۼIH?i[V)0  Ƥ?)) Ƥ? Ƥ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031738.463165 s, next control iter: 1743031738.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5237, header.stamp.nsec: 00 temperature: 13.567892* salinity: 33.375443, density: 1025.000000* values[0]: 0.573493F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031738.863165 s.+H~,>n#AA33333u@AL!u@A]~? AʫA%"AAsNA"AZAbAjArAzAAAn2@A&#tAo.h@A%NA'=AՐ0?A 6?A@?g?A~yϼ*Aj:?2ALh׽:A=BAj:?JALh׽RA=Y^>H0?yh#=NٓH?D\@?`A? ?.ɰ?|ĉ ?)^> II٘i)I9.h@YO G JͼJ<JJJz E&Ky> Yq]~?y͞FAH0? Eb7782B)BE[[ ?[D]~?[[[[[BZYY i) IH?ind1 d?))d?d?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031738.883165 s, next control iter: 1743031739.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031739.283165 s.3RH~,n#AJ"J*J2J:J?BJ?nJ5vJAQu@AIӠu@Aƻ]~? AƫAV%"AAsNA"AZAbAjArAzAAA24#3@Aq tA%~g@A6&Ar=AC5?A?Ai5?A!ռ*A:?2A ׽:Ad=BA:?JA ׽RAd=٘i)I9~g@Y G JѼJJJJ E&K Y64]~?y7|FA E77{7081B)BE[[m?[1^]~?[$[[[[ZZ¸BZYY i¸\=) ּIH?ip 4?))4?4?QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031739.303165 s, next control iter: 1743031739.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5238., header.stamp.nsec: 0.0 temperature: 13.568110.* salinity: 33.375435., density: 1025.000000.* values[0]: 0.572771.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031739.703165 s.պH~, n#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031739.703272F (some fields omitted in printout)Aףp= v@A2u@A]~? A<«A(%"AA sNA"AZAbAjArAzAAAiHe3@A'tAf@A9;Ap=A:?A1?A?Aۼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9f@Yu G J׼B=JJJJ E&K YJ]~?yFA E77\8)B[[ ?[bw]~?[[[[[ZZBZYY i) |ʼI6zH?iz'b ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031739.723165 s, next control iter: 1743031740.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031740.123165 s.5H~,To#AJ"J*J2J:JBJnJvJA)\uv@A1[v@A/]~? AAB%"AAtNA"AZAbAjArAzAAA/좦3@An=tADe@A+<A=Af??AN?A?A5%*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9e@Y G JC=JJJJ E&K Y_]~?y EA E778-B)BE[[/7?[I]~?[ڣ[[[[ZZBZYY i) IQlH?iSʼn% ?))??8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031740.143165 s, next control iter: 1743031740.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031740.543165 s.IH~,"o#AA{Gv@AQ0v@Ao]~? AA[%"AAg0tNA"AZAbAjArAzAAAv-3@A2; tAe@AR<A=A+D?A?A M?A*AQ :?2ASֽ:Ad<BAQ :?JASֽRAd<٘i)I9e@Yn G JJJJEJ E&K Yu]~?ysEA E{7{7$8,B)BE[[T!?[]~?[e[[[[ZZBZYY i) ĊI^H?iVd) ?))??yʩ=?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031740.563165 s, next control iter: 1743031740.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5239, header.stamp.nsec: 00 temperature: 13.568357* salinity: 33.375458, density: 1025.000000* values[0]: 0.571940F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031740.963165 s.|H~,=o#AJ"J*J2J:Jj?BJj?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743031740.963304F (some fields omitted in printout)ALw@A2w@A^^~? A<AE%"AAcPtNA"AZAbAjArAzAAAR~&4@A MtA&?d@A7_<AI#p=A?1J?A?AN?AČ*A:?2Aֽ:A{(e<BA:?JAֽRA{(e Yp]~?y0DAPJ? E77+8) B[[Ll'?[]~?[ǘ[[[[ZZBZYY i) QI-OH?iX1 z?))z?z?aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031740.983165 s, next control iter: 1743031741.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031741.383165 s.H~,8Xo#AAQw@Az):w@A%^~? AMA,%"AAotNA"AZAbAjArAzAAAJ e4@AT_KtApc@AjA*=AւO?As?A?A̼*A{:?2Aֽ:AX8;BA{:?JAֽRAX8;٘i)I9c@Yu G J=JJJJ E&K YS]~?y{pDA% E7738+B)BE[[-?[]~?[[[[[ZZBZYY i) I?H?iR8 0v?))0v?0v?]pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031741.403165 s, next control iter: 1743031741.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5240", header.stamp.nsec: 0"0 temperature: 13.568656"* salinity: 33.375469", density: 1025.000000"* values[0]: 0.571006"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031741.803165 s.xAH~,gso#AJ"J*J2J:JBJnJvJAq= #x@A8 x@AH:^~? A>Ax%"AAtNA"AZAbAjArAzAAA4@As4tAXb@A%A4<A&T?A@(?A?Aآ*A:?2Aqֽ:A"LBA:?JAqֽRA"L٘i)I9b@Y G J-JJJJ E&K Y8]~?yuDA* Eb771:8*B)BE[[3?[D]~?[猪[[[[ZZBZYY i) ߐI/H?iM= ~x?))~x?~x?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031741.823165 s, next control iter: 1743031742.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031742.223165 s.gH~,Ho#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031742.223284F (some fields omitted in printout)A(\x@ADux@A?N^~? A A%"AAutNA"AZAbAjArAzAAA>4@AJ sAfb@A0gA<AY?A?A?Ar*A:?2Aֽ:A-BA:?JAֽRA-٘i)I9fb@Y G J㑼JJJJ E&K Y]~?ygoCA/ E77[A8'B)E[[79?[]^~?[[[[[ZZBZYY i) IsH?iB P?))P?P?IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031742.243165 s, next control iter: 1743031742.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031742.643165 s.H~,9*o#AJ"J*J2J:JBJnJvJAGx@Ayx@Aa^~? AAC%"AAztNA"AZAbAjArAzAAA655@ApҼsAlb@AJ5AV,Az'_?A?AG?A%*AA:?2Aֽ:AωBAA:?JAֽRAω٘i)I9b@Y G JyRJJJJ E&K Y]~?y$i~CA5 E{7{7H8&B)BE[[O@?[ ^~?[:[[[[ZZBZYY i) tIH?i̙.D b?))b?b?)YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5241, header.stamp.nsec: 00 temperature: 13.568822* salinity: 33.375492, density: 1025.000000* values[0]: 0.570349F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743031742.663165 s, next control iter: 1743031743.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031743.063165 s.H~,c o#AAfffffy@A̳VLy@A!u^~? ALA%"AAtNA"AZAbAjArAzAAAf*T5@A$ysAa@A%AhJAdd?A6?A?AB*A9?2A ֽ:ASqBA9?JA ֽRASqYO,?Hhd?yEJٓH? ? Y?`h?c?)O,? I٘i)I9a@Yr G J,B=J=DJJJ E&Klx> Y]~?yDbCAhd?: Ej7j7O8)B[[hPF?[&4^~?[y[[[[ZZBZYY io=) bIG?i\sK  ?)) ? ?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031743.083165 s, next control iter: 1743031743.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031743.483165 s.x_H~,o#AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743031743.483331F (some fields omitted in printout)Ay@A ٷy@A^~? AAK%"AAuNA"AZAbAjArAzAAA?I5@A<sAa@A$;AABi?An?A`\X?Ab˺*A9?2A$׽:A&ռBA9?JA$׽RA&ռ٘i)I9a@Ya G J(C=JJJJ E&K Y]~?yf[CA@ Eŧ7b7V8$B)BE[[L?[I^~?[r[[[[BZYY iLi=) PI&G?i⣿Q ~?))~?~?=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031743.503165 s, next control iter: 1743031743.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5242, header.stamp.nsec: 00 temperature: 13.568864* salinity: 33.375458, density: 1025.000000* values[0]: 0.570065F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031743.903165 s.H~,o#AA ףp=z@A|\#z@A^~? AA%"AAL"uNA"AZAbAjArAzAAAä{w5@AsA a@AQ<Ay;An?AƊ?A ?AM];*A^9?2A<׽:ABA^9?JA<׽RA鼙٘i)I9a@Yd G J/:JJJJ E&K YL^~?yTCAE Eb77^8)[[R?[_^~?[k[[[[BZYY i) >I'G?i]9V  ?)) ? ?{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031743.923165 s, next control iter: 1743031744.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031744.323165 s.tH~,p#AJ"J*J2J:JBJnJvJA\z@A,ݎz@A^~? ACA%"AA>uNA"AZAbAjArAzAAA1J]5@AsAa@A%;<A_A?+t?A2?A?AC;*A9?2A׽:AWBA9?JA׽RAW٘i)I9a@Yz G J;JJJJ E&K Y ^~?yMCAJ E71e8 B)BE[[Y?[s^~?[d[[[[BZYY i) ,IG?i˩WVY ¹?))¹?¹?yO=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031744.343165 s, next control iter: 1743031744.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5243., header.stamp.nsec: 0.0 temperature: 13.568768.* salinity: 33.375488., density: 1025.000000.* values[0]: 0.570174.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031744.743165 s.W H~,q/p#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069048< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031744.743288F (some fields omitted in printout)AGz{@Ajdrz@A|^~? A[Ag%"AA]YuNA"AZAbAjArAzAAA'A_36@A%:6wsA!b@A ;AT}A8Dy?Aɳ?AW?Aӄ8<*A@9?2A ֽ:A}BA@9?JA ֽRA}٘i)I9!b@Y G J<B=JJJJ E&K Y1^~?yFDAP Ej7j7]l8B)BE[[[_?['^~?[_][[[[BZYY i) I|G?i,[ b?))b?b?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031744.763165 s, next control iter: 1743031745.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031745.163165 s.u}H~,qJp#AJ"J*J2J:J?BJ?nJ5vJA{@A[e{@A^~? AV}Ak%"AAtuNA"AZAbAjArAzAAA.yh6@Ao-]OsA5zb@A6BASAiO~?A>?A?Ap<*A9?2Atֽ:A*BA9?JAtֽRA*YpPF?i~?yjٓHj?_?|w?@gP? >w?)pPF? I٘i)I9zb@Y G JR<C=Jn߽JJJ E&Kw> Y>A^~?yh?rDAi~?U Eb77s8) B[[e?[^~?[U[[[[BZYY if=) O IG?iׯa ?))?? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031745.203165 s, next control iter: 1743031745.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031745.583165 s.H~,Sep#AAR{@At{@A^~? A6wAQ%"AAuNA"AZAbAjArAzAAAD⑛6@A)څ.sAxb@AUMAzA?A@G?A@?As<*AL9?2AHֽ:A8BAL9?JAHֽRA8٘i)I9b@Y G J><JJJJ E&K YP^~?y8DAZ Ej7SI7z8B)B E[[ k?[î^~?[LN[[[[BZYY i) IJG?ix~e :?)):?:?P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031745.603165 s, next control iter: 1743031745.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5244, header.stamp.nsec: 00 temperature: 13.568534* salinity: 33.375504, density: 1025.000000* values[0]: 0.570565F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031746.003165 s.w H~,H4p#AJ"J*J2J:J?BJ?nJ(5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743031746.003297F (some fields omitted in printout)Ap= W|@A 8<|@Aq^~? ApAi%"AAuNA"AZAbAjArAzAAAi6@A@sAhc@A~|QA AOM?A@?AD?Aԣ<*A9?2AJdֽ:ABA9?JAJdֽRA٘i)I9hc@Yg G J<JJJJ E&K Y`^~?y0,EA` E77܁8)B[[1r?[F^~?[F[[[[BZYY i) ػI{G?i i ?))?? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031746.023165 s, next control iter: 1743031746.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031746.423165 s.u&H~,p#AA(\|@Aw|@A_~? AjAE%"AAluNA"AZAbAjArAzAAAb]Y6@A&bsAc@AϻA[cA?A?A`q?A<*A9?2Aֽ:AOBA9?JAֽRAO٘i)I9c@Y G J<JJJJ E&K Yyo^~?yC)EAe Ej7Z78B)B E[[ix?[6^~?[>[[[[BZYY i) IgG?iRj ?))??y g=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031746.443165 s, next control iter: 1743031746.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5245, header.stamp.nsec: 00 temperature: 13.568214* salinity: 33.375488, density: 1025.000000* values[0]: 0.571203F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031746.843165 s.,H~,p#AJ"J*J2J:J:?BJ:?nJT5vJAHz.}@A!}@A]_~? A6dA%"AAuNA"AZAbAjArAzAAA3ɫ.7@A3@usAd@A_;AoAr?A`?A`?AD<*A+9?2A4׽:A BA+9?JA4׽RA ٘i)I9d@Y G J<JJJJ E&K Y~^~?y!EAj Eŧ7b728B)B E[[j~?[^~?[n6[[[[BZYY ie=) DI1TG?i|k >?))>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031746.883165 s, next control iter: 1743031747.243183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743031747.263165 s.4H~,p#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743031747.263275F (some fields omitted in printout)A}@Al}@A _~? A]A8@%"AA5uNA"AZAbAjArAzAAAo]7@AMwsAe@A+j:<AՙA\?A Y͋^~?y MFA@?p E{7j7]8)B[[?['^~?[8.[[[[BZYY i) TyI@G?iɻ]p VR?))VR?VR?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031747.283165 s, next control iter: 1743031747.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5246., header.stamp.nsec: 0.0 temperature: 13.567883.* salinity: 33.375538., density: 1025.000000.* values[0]: 0.571937.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031747.683165 s.l:H~,Vp#AJ"J*J2J:JBJnJvJAQ~@Ay}@A/_~? A WA%"AAvNA"AZAbAjArAzAAAJ57@A[e,ksA˧e@A?[<AA?Ar?Abl?AK<*A9?2AJ׽:AyBA9?JAJ׽RAy٘i)I9e@Y G J^<JJJJ E&K Y^~?y9FAu EZ7Z78B)BE[[?[-_~?[%[[[[BZYY i) &_~? AQPAC%"AAavNA"AZAbAjArAzAAA=7@A$PsA5f@Am. <AG-A:?Au?A)?A<*A9?2A ׽:A{BA9?JA ׽RA{٘i)I95f@Y G Jר<JJJJ E&K Y^~?ye GA D{ Eb778B)BE[[?[_~?[X[[[[BZYY i) nIG?i%u ?))??_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031748.123165 s, next control iter: 1743031748.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031748.523165 s.GH~,9|!q#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031748.523302F (some fields omitted in printout)J"J*J2J:JBJnJvJA(~@Au~@AL_~? AIA<%"AA2vNA"AZAbAjArAzAAAsg8w7@AG6S"'sA*f@AF섺A~Ae?A?A o?A<*As9?2Aֽ:A`BAs9?JAֽRA`٘i)I9f@Yr G J<JJJJ E&K Y^~?yGA E77ݬ8B)ݯBE[[?[M#_~?[[[[[BZYY i) Wq#AJ"J*J2J:JBJnJvJA3333@A֎@Af_~? A;A%"AA"\vNA"AZAbAjArAzAAA_Q18@AH?sAdg@A\A4A,?A9?An?AM<*A9?2Avֽ:A BA9?JAvֽRA Y}z?DK?y1&]ٓH*G? K@?b? R? ͓?)}z? I٘i)I9g@Y G Js<Jp<JJJE&Kax> Y^~?yIHAK? Eb7728)ԯB[[q?[>_~?[[[[[BZYY i) lW:I~F?iÿly ?))??~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031749.383165 s, next control iter: 1743031749.763176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5248*, header.stamp.nsec: 0*0 temperature: 13.567187** salinity: 33.375538*, density: 1025.000000** values[0]: 0.573387*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031749.783165 s.W[H~,rq#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031749.783282F (some fields omitted in printout)AQ@A"@AXs_~? A4A]%"AAovNA"AZAbAjArAzAAA W8@A{(\sA(dh@Aύ#AVsAћ?A[c?Aɩ?A<*A9?2A8ֽ:AQfBA9?JA8ֽRAQf٘i)I9dh@Yp G J<JJJJE&K Y ^~?yVHA E77]½8B)̯BE[[ޟ?[SK_~?[$[[[[BZYY i) 5:IQF?iĿ/{  ?)) ? ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031749.823165 s, next control iter: 1743031750.183178 s, wait time: 0.360013 s ^~?)V rAdjusting time to match Gazebo time: 1743031750.203165 s.cH~,q#AJ"J*J2J:J?BJ?nJ5vJAףp=@Aq&p@A_~? Af-Av%"AAvNA"AZAbAjArAzAAA'|8@AGsAh@AhAA?A?A ?A[<*A9?2A ׽:ABA9?JA ׽RA٘i)I9h@Y G J <JJJJ E&K YZ^~?y#IA E{7{7ɽ8)ȯB[[Ϙ?[FW_~?[[[[[BZYY i) A1;IF?iſ.| 1-?))1-?1-?U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031750.223165 s, next control iter: 1743031750.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031750.623165 s.ViH~,Xq#AA)\@Aۀ@A;_~? A-&At%"AAvNA"AZAbAjArAzAAA/8@AposA`i@A6<AA0?A?A?Ad<*A9?2A3O׽:A<BA9?JA3O׽RA<񼙘٘i)I9`i@Y G J<JJJJE&K Y^~?y٩fIA E777н8)įB[[?[~b_~?[[[[[BZYY i) qn;IF?i+ſa| S?))S?S?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031750.643165 s, next control iter: 1743031751.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5249 , header.stamp.nsec: 0 0 temperature: 13.566895 * salinity: 33.375557 , density: 1025.000000 * values[0]: 0.574378 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031751.043165 s.pH~,q#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031751.043290F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@AC</G@Au_~? AAj%"AAvNA"AZAbAjArAzAAAgt8@AR#sAi@A5Z<AA֣?A@?AP?AI<*A+9?2A)`׽:A%BA+9?JA)`׽RA%٘i)I9i@YPG J<JJJJE&K Y^~?yѩIA E7׽8 B)BE[[*/?[l_~?[ީ[[[[BZYY iLј=) 2O;IكF?iÿz >@))>@>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031751.063165 s, next control iter: 1743031751.443189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743031751.463165 s.YwH~,q#AÁ@A* @A3_~? AA%"AAvNA"AZAbAjArAzAAA0T8@A "KsAEj@As;<A϶A n?A#?AK?AZ<*A 9?2A8׽:ABA 9?JA8׽RAYI?U?y];<ٓH?vKy ?`?`s?]n?@?)I? I٘i)I9Ej@YG Jچ<B=J4<JJJE&KIx> Y^~?y?ɩJAU? EZ7Z7 ߽8 B)BE[[^?[v_~?[Rթ[[[[BZYY i) 嬵;InF?iſ| *@))*@*@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031751.483165 s, next control iter: 1743031751.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5250, header.stamp.nsec: 00 temperature: 13.566599* salinity: 33.375561, density: 1025.000000* values[0]: 0.574677F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031751.883165 s.y}H~,@q#AJ"J*J2J:JBJnJvJAQ8@A(A@Au_~? AA!%"AAvNA"AZAbAjArAzAAAd9@A/JsAj@A'i;AAz?A ?AҲ?A&o<*A9?2Aֽ:ABA9?JAֽRA٘i)I9j@YG Jj<C=JJJJ E&K Y_~?yuJA E77{738)B[[d?[_~?[˩[[[[BZYY i) B;IDYF?icƿ]} `@))`@`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031751.903165 s, next control iter: 1743031752.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031752.303165 s.SH~,jgr#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074618< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743031752.303274F (some fields omitted in printout)Aq= ף@A@A:_~? AA%"AAvNA"AZAbAjArAzAAA"Mh9@A&凟sA&k@A˻A8DA?A ,?A?A<*A9?2Aoֽ:A0)BA9?JAoֽRA0)٘i)I9&k@YG J<JJJJ&E&K Y _~?yFJA E777]8)B[[?[_~?[n©[[[[BZYY i) ];ICF?iƿX} `@))`@`@y= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031752.343165 s, next control iter: 1743031752.703175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5251., header.stamp.nsec: 0.0 temperature: 13.566338.* salinity: 33.375572., density: 1025.000000.* values[0]: 0.575236.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031752.723165 s.H~,H.r#AJ"J*J2J:JB?BJB?nJi5vJA(\@AH@A_~? A A|F%"AA_vNA"AZAbAjArAzAAACVj;9@A rsA.k@AGPAuA ?AI?A@ ?AB<*A 9?2AM~ֽ:ABA 9?JAM~ֽRA٘i)I9k@YcG J|<JJJJ+E&K Y<_~?yɯ&KA E778B)BE[[ ?[q_~?[帩[[[[BZYY i) M elevatorAngleAction: 0.074618< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031753.563280F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff惴@AP̃@A_~? AAo%"AAvNA"AZAbAjArAzAAA!N7Oo9@AYsA%l@AͽA[AS?A@?A`Z?AI<*A9?2Aֽ:AL{BA9?JAֽRAL{YFT?`?yĩi9ٓHu? _x?`*?3? w@?)FT? I٘i)I9l@YG J<J׼JJJ6E&Kax>  8Y_~? 8yKA`? E778)B[[_M?[_~?[[[[[BZYY i) )<AM A(?A`! elevatorAngleAction: 0.074618< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743031754.823279F (some fields omitted in printout)A\(@A]P@A__~? A{ڪA4%"AAX!wNA"AZAbAjArAzAAA>Z9@AΏWbsAgm@AfW<A"AP?AN`?A?A<*Al9?2AL׽:ABAl9?JAL׽RAI٘i)I9m@YG Jn<JJJJFE&K Y+_~?yLA E77{7^8)B[[ ػ?[I_~?[[[[[BZYY iք=) *W Y2_~?ysMAg? E7777&8)B[[.?[1_~?[-u[[[[BZYY i) wv elevatorAngleAction: 0.083749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031756.083294F (some fields omitted in printout)ARk@A.oQ@A_~? AªAG&"AA9?2Aֽ:ALBA>9?JAֽRAL٘i)I9cp@YNG J:<JJJJaE&K YB8_~?yXNA Eb774<8)~B[[?[¯_~?[W[[[[BZYY i)  elevatorAngleAction: 0.083749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031757.343309F (some fields omitted in printout)AHz@A@A `~? AꪪAw&"AAPwNA"AZAbAjArAzAAA+eJ :@A$ZfsAp@AJ0AA?A`I?A G?AS+<*A߻9?2Aֽ:ABA߻9?JAֽRA٘i)I9p@YG J<JJJJfE&K Y*:_~?yO=OA Ej7j7^C8B)xBE[[?[_~?[VN[[[[BZYY i)  Y39_~?y,GOAr? E77J8)tB[[?[_~?[D[[[[BZYY i) PA E7Q8)oB[[.?[q_~?[;[[[[BZYY i) p~ elevatorAngleAction: 0.083749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031758.603289F (some fields omitted in printout)A= ף@Acֈ@A `~? AВA&"AA]wNA"AZAbAjArAzAAAGB-":@AGPoWsAΥr@A4<A_tA?A?Aj?A µ<*A׭9?2A׽:ApBA׭9?JA׽RAp٘i)I9r@YG Jұ<C=JJJJvE&K YC7_~?y5PAEŧ7b7X8)jB[[8?[*_~?[n1[[[[BZYY i) s#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743031759.863302F (some fields omitted in printout)A33333@AS%@A `~? AzA&"AAcwNA"AZAbAjArAzAAA)Ee+:@AHsAit@A:RAAS?A ]w?Apv?A<*A9?2A%ֽ:ANBA9?JA%ֽRANYk?w?yKSSٓHI 1S?6*?wQ;?)k? I٘i)I9t@YG J<B=JeJJJE&Kw> Y1_~?yFQAw?Ej7j7`n8)ZB[[?[_~?[[[[[BZYY i) Y1@A' `~? AxjA"&"AAcwNA"AZAbAjArAzAAA]uTJ):@A=U?sA/u@AA+A?A@X̘Ar?A1A<*A9?2Aֽ:AGBA9?JAֽRAG٘i)I9u@YG J<JJJJE&K Y)_~?y RAES77|8B)PBE[[^?[Ջ_~?[`[[[[BZYY i) x elevatorAngleAction: 0.083749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743031761.123267F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@AfG[@A `~? AhbAZ&"AAlbwNA"AZAbAjArAzAAAXzl&:@Aq:sAv@AP;AwAW?A"A` m?AIp<*AQ9?2Aֽ:ABAQ9?JAֽRA٘i)I9v@YG J<JJJJE&K Y&_~?y#9SA!E777߃8)JB[[R?[B_~?[3[[[[BZYY i$=) Զ Y_~?y'TA?+E758)?BE[[}?[ s_~?[[[[[BZYY i) -) elevatorAngleAction: 0.092654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743031762.383276F (some fields omitted in printout)AQ@A9@A`~? AIJA2 &"AAYwNA"AZAbAjArAzAAAW:@AB$=^+sAzx@A;A=A;/?ĀA3L?AG<*A>9?2Aֽ:AUBA>9?JAֽRAU٘i)I9x@YSG J<JJJJE&K Y_~?yUTA1E{7{7_8):B[[! ?[li_~?[#ި[[[[ZZZZ¸>BZYY i¸>) "%{@AZ A΁{Ah?A`8¿A?AO<*Aʫ9?2ADKֽ:A{BAʫ9?JADKֽRA{Yn?Qz?yg{ ٓHAտ`l.?@?Bտ`Nj?JA?)n? I٘i)I9{@YKG J=JR=JJJE&K*w> Y^~?yaŨ]VAz?FE7 8)!B[[@[<_~?[~[[[[ZZZZBZYY i) nɮ5vJAю@Ao ӷ@A5_~? A"A; &"AA;wNA"AZAbAjArAzAAAF%9@A7%sA|@Ab:A?S7A?AĿA?A<*A89?2Ahֽ:AٻBA89?JAhֽRAٻ٘i)I9|@YG J<JJJJE&K Y.^~?yVALEŧ7ŧ758B)B E[[-@[/_~?[[[[[ZZZZBZYY i) }ox9@A"LcMsAF}@A'<ALA~?A KſA$?A<*A9?2A bֽ:Aa:BA9?JA bֽRAa:٘i)I9F}@Y&G J<JJJJE&K Y^~?yôWAQE777`ľ8)B[[G@[~"_~?[ͪ[[[[ZZZZBZYY i) H15vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743031766.163294F (some fields omitted in printout)A@A.=e@A_~? ARA&"AA|wNA"AZAbAjArAzAAAOSQ9@A sAc~@A1;A<AԾ@A r˿Al?Ax;*A9?2A~ֽ:Aԩ<BA9?JA~ֽRAԩJJJE&Kw> Y^~?y)WA@aE77j7پ8B)E[[˔@[&^~?[˒[[[[ZZZZBZYY i6|n) q5vJAp= W@A[w<@A_~? AAd&"AAvNA"AZAbAjArAzAAA-$Q9@A( rA~@A`"WA31=Ab@A 'ϿA ?AM*A+9?2Aֽ:A<BA+9?JAֽRA<٘i)I9~@YG Jw9JJJJE&K Y^~?y2`WAlE68B)BE[[ @[v^~?[i[[[[BZYY i) L@))*>@*>@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031767.863165 s, next control iter: 1743031768.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031768.263165 s.H~,<v#AA@A‚@A_~? AgݩAG&"AAfvNA"AZAbAjArAzAAA;SP8@A~rA}@A34;A =A6@A9ҿA`?Ac*AR9?2Akֽ:Ax =BAR9?JAkֽRAx =Yn?&=@y =;ٓHzj @YY? Hl?Pް}w?`?)n? I٘i)I9}@YG JDJ=JJJE&K8w> Y^~?ytVA=@|E7{78B)BE[[!@[q^~?[m[[[[BZYY i|d) 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.055873< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743031768.683295F (some fields omitted in printout)AQ@Aq 뒴@AA_~? AթA&"AA&vNA"AZAbAjArAzAAA_XF8@A, crAu}@AR<A^k=A{@AkӿAm?A=*A 9?2Aս:A=BA 9?JAսRA=٘i)I9u}@YCG JyJJJJE&K  8Ygx^~? 8y%mwVAEZ7Z78 B)BE[[g@[u^~?[f[[[[BZYY i) - 5vJA(ܓ@Aȯ“@A)_~? AbǩAb6&"AAuvNA"AZAbAjArAzAAA S#8@AUwrAr|@A,;AM=A @A*ԿA@?A*A'9?2Abֽ:A^=BA'9?JAbֽRA^=٘i)I9r|@YG JB=JJJJE&K Y<[^~?y ^UAE77{778)'B[[4K@[Ym^~?[X[[[[BZYY i) t;I C?i̓.= D@))D@D@y"eӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031769.543165 s, next control iter: 1743031769.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5268, header.stamp.nsec: 00 temperature: 13.383701* salinity: 33.391655, density: 1025.000000* values[0]: 0.709531F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031769.943165 s.[dH~,O]|v#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.055873< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031769.943298F (some fields omitted in printout)AzG@A-@Ae}_~? A/A&"AAvNA"AZAbAjArAzAAAWv8@AjrAl{@AVYA칙=Aw @AFտA &?Ae*A9?2AVֽ:A =BA9?JAVֽRA =٘i)I9{@YOG JC=JJJJE&K YL^~?yVgUAE77a8 B)-BE[[6@[SZ^~?[R[[[[BZYY i) մ;IC?ic ˌE@))ˌE@ˌE@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031769.983165 s, next control iter: 1743031770.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031770.363165 s.H~,y>v#AJ"J*J2J:JBJnJvJA3333@Ay@A'q_~? AAO&"AA؀vNA"AZAbAjArAzAAAT!P8@AY rAU{@A$!>Aco=A\ @A`ֿA@|?AX*A9?2A׽:A=BA9?JA׽RA=Yv?/ @yl=C>ٓH)ۑ࿟l?<ܪ? ć?)v? I٘i)I9U{@YG J J<JJJ E&K;x> Y;^~?yxOUA @Eb7!8 B)2BE[[(@[F^~?[L[[[[BZYY i) ;IzC?i|:&  G@)) G@ G@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031770.383165 s, next control iter: 1743031770.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5269&, header.stamp.nsec: 0&0 temperature: 13.383967&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.708382&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031770.783165 s.VH~,v#AAQ@A@Apd_~? AA&"AAmvNA"AZAbAjArAzAAA=X*8@AslhmrA[z@A7bA"`=AN@Aa׿AY?AW*A9?2A,׽:A&8=BA9?JA,׽RA&8=I٘i)I9z@YG JB=JJJJE&K Y*^~?ynHTAEŧ7b7(8B)8BE[[@[2^~?[E[[[[BZYY i) δp;IC?i Q xH@))xH@xH@ ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031770.803165 s, next control iter: 1743031771.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031771.203165 s.H~,&v#AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J:JBJ8 propOmegaAction: 25.132812nJ< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065263vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031771.203295F (some fields omitted in printout)Aףp=@AY$p@ADW_~? AAb&"AA_ZvNA"AZAbAjArAzAAA]g8@Aʀ-rA8)GB[[@[]~?[[4[[[[BZYY i) )m:IC?iU=~: NE))NEL@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031772.063165 s, next control iter: 1743031772.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031772.463165 s.^H~, w#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031772.463294F (some fields omitted in printout)A̖@A캷@A-_~? AA&"AAvNA"AZAbAjArAzAAAb%s7@AJ|޽rAϚx@A\3c<A=A4@A qڿA \X?A*A\9?2AH<ֽ:A[=BA\9?JAH<ֽRA[=Yf>@D@y =c<ٓH1ࠅ뙢r?@?َ/f??)f>@ I٘i)I9x@YOG JJaJJJ(E&Kx> Y]~?y, SAD@E77{7bE8B)OBE[[:@[]~?[.[[[[BZYY i) ISC?i=y: C))CAN@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031772.483165 s, next control iter: 1743031772.863183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5271, header.stamp.nsec: 00 temperature: 13.384500* salinity: 33.391689, density: 1025.000000* values[0]: 0.706050F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031772.883165 s.yH~,<8w#AJ"J*J2J:JBJnJvJAQ8@Ao%;@A_~? AAu&"AA<vNA"AZAbAjArAzAAA$U7@AҴrAx@A*<A*ى=A@A]aۿA]?A*AO9?2Avֽ:A<BAO9?JAvֽRA<٘i)I9x@YG J[JJJEJ-E&K Y]~?y`&RAE777L8)SB[[ @[]~?[d)[[[[BZYY i) fITC?i$>: #nB))#nBO@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031772.903165 s, next control iter: 1743031773.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031773.303165 s.^H~,gSw#AAq= ף@A@A_~? AA&"AAHuNA"AZAbAjArAzAAA2&7@A꺺rAw@AB:A]=AH@A(ܿA`?A*A9?2Aֽ:A b<BA9?JAֽRA b<٘i)I9w@YG J昼JJJJ2E&K Y`]~?yLRAE77S8B)XBE[[ @[!]~?[0$[[[[BZYY i) I C?i)P>9; t@))t@A Q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031773.323165 s, next control iter: 1743031773.703181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5272*, header.stamp.nsec: 0*0 temperature: 13.384767** salinity: 33.391689*, density: 1025.000000** values[0]: 0.704994*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031773.723165 s.H~,Hnw#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743031773.723302F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AHK@A^~? A$A.t&"AAuNA"AZAbAjArAzAAAlA~6@Ah0бrAdw@A²A_=AU6@A@ܿA ~?A*A9?2AE׽:AfK<BA9?JAE׽RAfK<٘i)I9w@YeG J]B=JJJJ8E&K Y3]~?ypQAEŧ7Z8B)^BE[[tg!@[]~?[,[[[[BZYY i) շ;IC?iA>Y/; !?))!?R@ܷYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031773.743165 s, next control iter: 1743031774.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031774.143165 s.W/H~, *w#AAGz@A0`@A^~? A|A&"AAluNA"AZAbAjArAzAAA3c6@AtrAv@AQ `A3=Ak@AݿA`2?AU*A9?2A(׽:A<BA9?JA(׽RA<٘i)I9v@YG JSC=JJJJ=E&K Y ]~?yQAE777 b8)aB[["@[]~?[Y[[[[BZYY i) qyI~C?i>^; &>))&>S@ܵYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031774.163165 s, next control iter: 1743031774.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031774.563165 s.H~,g w#AJ"J*J2J:JX4?BJX4?nJ=5vJAffff昴@A̳V̘@A^~? AvAj&"AAuNA"AZAbAjArAzAAA 6@A+rA7v@AuBA=A@AQk޿A?AȄ*AG9?2A׽:A<BAG9?JA׽RA Y؂]~?y# 7QA@Eb778i8B)hBE[[^($@[%q]~?[[[[[BZYY i) q!IC?iA>||; <))<0dU@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031774.603165 s, next control iter: 1743031774.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5273, header.stamp.nsec: 00 temperature: 13.385003* salinity: 33.391716, density: 1025.000000* values[0]: 0.703999F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031774.983165 s.H~,w#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076600< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743031774.983284F (some fields omitted in printout)AQ@A&k7@A^~? ApAE&"AA uNA"AZAbAjArAzAAABo?_6@Aи=qrAMu@AC|ABQ=A@A@#߿AF?A*A9?2Akֽ:A'M<BA9?JAkֽRA'M<٘i)I9u@YG JC=JJJJHE&K Ym]~?yOPAE)7ŧ7bp8B)mBE[[O%@[9Z]~?[[[[[BZYY i) IC?i!>[q; yQ;))yQ;; u9))u9@7X@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031775.423165 s, next control iter: 1743031775.803177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5274&, header.stamp.nsec: 0&0 temperature: 13.385205&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.703070&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031775.823165 s.H~,:w#AA\(@Aw*@A©^~? AdA&"AA?WuNA"AZAbAjArAzAAA:ɩV5@Ad0rA t@AT<A?=A@A+CA`?A{*AJ9?2ALֽ:A(=BAJ9?JALֽRA(=٘i)I9t@YG JJJJJSE&K YKC]~?y/PAE77~8B)vBݹE[[@(@[+]~?[[[[[BZYY i) KInD?i]?ɸ; 8))8՞Y@yœYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031775.843165 s, next control iter: 1743031776.223181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031776.243165 s.H~,~x#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076600< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743031776.243280F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@Am6Vbz@A^~? A^A?&"AA;uNA"AZAbAjArAzAAA.Bi'5@A\BrA>vt@AFWT<A?Ʉ=A@A,AG?AC*A9?2A.gֽ:AbI=BA9?JA.gֽRAbI=٘i)I9vt@YG JNJJJJXE&K Y.]~?yOAE{7Z7ⅿ8!B)}BڹE[[)@[]~?[[[[[BZYY i)  I3D?i,#?&;  7)) 7[@ζYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031776.263165 s, next control iter: 1743031776.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031776.663165 s. H~,q*x#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5275, header.stamp.nsec: 00 temperature: 13.385424* salinity: 33.391739, density: 1025.000000* values[0]: 0.702149F (some fields omitted in printout)A@A&m嚴@A^~? A3YAD&"AA! uNA"AZAbAjArAzAAAZԄ5@A0Mu6rA t@A9;Aц=AE!@A`)A@CB?A|ׄ*A 9?2Aֽ:Az=BA 9?JAֽRAz=YcF@L!@y;ц=@;ٓH @'?@M)? װy?`?)cF@ I٘i)I9t@YG JB=J,;JJJ]E&K+x> Y"]~?y}OAL!@Ej7j7 8)B[[*@[\~?[[[[[BZYY i) eqID?i,/?@9; 5))5 j\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031776.683165 s, next control iter: 1743031777.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031777.083165 s.DH~,REx#AJ"J*J2J:JBJnJvJARk@A,`pQ@A r^~? ASA&"AAuNA"AZAbAjArAzAAAZ8cK5@A ՔrA s@A"AV=A"@A DA`?A_*A9?2AY׽:A=BA9?JAY׽RA=٘i)I9s@YAG J&C=JJJJcE&K Y)]~?y"OAEZ7Z788$B)BֹE[[L,@[$\~?[ [[[[BZYY i) ,I#D?itNA"AZAbAjArAzAAA>mS<4@AMBMrAr@A~]A=A_D%@A@A]?A/*A9?2A&׽:A6=BA9?JA&׽RA6=٘i)I9r@YG JJJJJnE&K Y8\~?yPmNAE8)B[[.@[B\~?[6[[[[BZYY i) Q6KI:D?i]? < 1))1`@_ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031777.943165 s, next control iter: 1743031778.323175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031778.343165 s.<%H~,x#AAHz@A@A7^~? ACAgV&"AA5tNA"AZAbAjArAzAAAP"C4@AHl&rABr@Ar"Aٲ=A=&@A 5A?ACE*AW9?2Aֽ:Ai =BAW9?JAֽRAi =٘i)I9Br@YrG J‹JJJJsE&K Y>\~?y/ܧNAEŧ7b78'B)BйE[[G0@[M\~?[[[[[BZYY i) 6ZIGD?ip?v,< +0))+0a@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031778.383165 s, next control iter: 1743031778.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5277&, header.stamp.nsec: 0&0 temperature: 13.385882&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.700289&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031778.763165 s.:+H~,,ذx#AJ"J*J2J:JF3?BJF3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076600< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031778.763290F (some fields omitted in printout)A@A8Q@A"^~? A>A&"AAtNA"AZAbAjArAzAAAGxZ4@AdrAq@A:Ah=A'@A"A Y\~?yקMA'@E)7㰿8(B)B͹E[[.1@[\~?[[[[[BZYY i) xjICUD?i}?b!< :.)):.{Sc@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031778.803165 s, next control iter: 1743031779.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031779.183165 s.2H~,kx#AAQ@A1 k@A^~? A9AX&"AAmtNA"AZAbAjArAzAAA@;~Q4@Ax'`rAAq@A!,<A=Af)@A@A$?A*A9?2A#8ֽ:Ab=BA9?JA#8ֽRAb=٘i)I9Aq@YG JMJJJJ~E&K Y9\~?yqӧJMAE777 8*B)BʹE[[_2@[nl\~?[:[[[[BZYY i) 0yIcD?i?*< m-))m-2d@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031779.203165 s, next control iter: 1743031779.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031779.603165 s.949H~,x#AJ"J*J2J:JBJnJvJA= ף@A&֝@A]~? A5Az&"AANtNA"AZAbAjArAzAAA.f3@A>)rA÷p@A3c<Aݙ=AX*@AA`_?A *A9?2A3ֽ:A=BA9?JA3ֽRA=٘i)I9p@YG JbB=JJJJE&K Yq\~?yϧLA E{7{798+B)BɹE[[L>4@[S\~?[[[[[BZYY i) 1IrD?ib?"4< ,)),f@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031779.623165 s, next control iter: 1743031780.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5278 , header.stamp.nsec: 0 0 temperature: 13.386139 * salinity: 33.391754 , density: 1025.000000 * values[0]: 0.699282 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031780.023165 s.Z@H~,|y#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076600< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743031780.023287F (some fields omitted in printout)A(\@A@B@A]~? Am0A/&"AA!.tNA"AZAbAjArAzAAA>3@A̒iSrA*p@A*#<At9=Aj+@ACWA>?A*A[9?2AQrֽ:AL=BA[9?JAQrֽRAL=٘i)I9*p@Y+G J7C=JJJJE&K Y3Y\~?yʧLAEŧ77cƿ8-B)BƹE[[S5@[;\~?[[[[[BZYY iBD) YʋID?i?`@< *))*.lg@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031780.063165 s, next control iter: 1743031780.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031780.443165 s.6FH~,:]y#AJ"J*J2J:J2?BJ2?nJ;5vJAzǞ@A]@AB]~? A+A/ &"AA tNA"AZAbAjArAzAAAZ3@AzaR|rAo@A\S:AP=A-@A@$A@?Arէ*AS9?2Aֽ:Ajc=BAS9?JAֽRAjc=٘i)I9o@YG JB=JJJJE&K Y@\~?ySƧLAE7777Ϳ8.B)B¹E[[6@[&#\~?[[[[[BZYY i) cI D?i?[[L< X)))X)h@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031780.463165 s, next control iter: 1743031780.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5279, header.stamp.nsec: 00 temperature: 13.386400* salinity: 33.391758, density: 1025.000000* values[0]: 0.698182F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031780.863165 s.+MH~,>7y#AA33333@AhW!@Ac]~? A'Aw &"AAsNA"AZAbAjArAzAAAXh03@AtzCyrANo@AXAѝ=A>^.@AA??A^o*A9?2A{׽:A =BA9?JA{׽RA =٘i)I9o@YG J+C=JJJJE&K Y,(\~?yKAE7Կ80B)BE[[8@[ \~?[[[[[BZYY i) IiD?i ?eY< '))'j@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031780.883165 s, next control iter: 1743031781.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031781.283165 s.8RTH~,Ry#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.086068"J*J< massPositionAction: 0.0000002J:J4 buoyancyAction: 0.000500BJnJvJ dt: 0.4200062 time: 1743031781.283321F (some fields omitted in printout)AQ@A(G@A<]~? AR#A &"AAmsNA"AZAbAjArAzAAA_ŋZ2@AUCSwrA1n@A2`A<4=A/@A@Au&?AR*Ar9?2Ac-׽:A=BAr9?JAc-׽RA=٘i)I9n@Y,G JqJJJJE&K Y\~?ySKA"E77ۿ81B)BE[[B`9@[[~?[[[[[BZYY i) ID?iD?%h< &))&vk@yw26ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031781.303165 s, next control iter: 1743031781.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5280., header.stamp.nsec: 020 temperature: 13.3866572* salinity: 33.3917542, density: 1025.0000002* values[0]: 0.6970912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031781.703165 s.ԺZH~,my#AAףp= @AR@Aϋ]~? A;A+!&"AAsNA"AZAbAjArAzAAAU*]2@A;+trAm@A:A=A10@A` \AR?AwY*A 9?2AUֽ:Al=BA 9?JAUֽRAl=٘i)I9m@YG JڦB=JJJJE&K Y[~?y4JA(Eŧ78)B[[:@[[~?[ߧ[[[[BZYY i) J1I D?i Q? qw< S%)) S% l@ YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031781.723165 s, next control iter: 1743031782.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031782.123165 s.5aH~,Ty#AJ"J*J2J:JP2?BJP2?nJ:5vJA)\u@Aͪ[@A u]~? AJA^z!&"AAsNA"AZAbAjArAzAAA t'L2@A/@lrrAhm@A%KA=AS>2@A@A?Am*A9?2Aֽ:Ao=BA9?JAֽRAo=٘i)I9hm@Y~G JC=JQ>JJJE&K> Y[~?y״JA-E777982B)ǯBE[[;@[[~?[@ާ[[[[BZYY i) ƱID?i?< $))$n@AYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031782.143165 s, next control iter: 1743031782.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031782.543165 s.IhH~,ây#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031782.543279F (some fields omitted in printout)A{Gᠴ@A*D/Ǡ@A1^]~? A|A#!&"AAdsNA"AZAbAjArAzAAA߿2@AeKprAl@A?;A=A~3@A A?A*Aw9?2Ae4ֽ:AL=BAw9?JAe4ֽRAL=٘i)I9l@Y G JJQ>JJJE&K> Y"[~?yx&JA2E77c84B)ͯBE[[%=@[7[~?[ܧ[[[[BZYY i) x_IvD?i?렌< "))"Yo@.YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743031782.563165 s, next control iter: 1743031782.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5281, header.stamp.nsec: 00 temperature: 13.386943* salinity: 33.391754, density: 1025.000000* values[0]: 0.695944F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031782.963165 s.}nH~,y#AJ"J*J2J:J)2?BJ)2?nJ:5vJAL@A#2@AG]~? AA"&"AA BsNA"AZAbAjArAzAAAzY1@Aj9mrA.l@A X<Ap=A4@AA@?A ü*AE9?2A ֽ:A=BAE9?JA ֽRA=Y&@4@yl=Y<ٓH Nӿ`H`H?`fģ?4g?`?)&@ I٘i)I9.l@YG JJ<JJJE&K> YO[~?yIA4@8E786B)կBE[[Y>@[[~?[hۧ[[[[BZYY i) IE?i?l< !))!p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031782.983165 s, next control iter: 1743031783.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031783.383165 s.uH~,pȼ*Aچ9?2AGֽ:A=BAچ9?JAGֽRA=٘i)I98j@YG JȼJJJJE&K YZ[~?yZHAHE789B)BE[[ B@[I[~?[:ا[[[[BZYY i) XּI=bE?ir?< ))_t@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031784.243165 s, next control iter: 1743031784.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031784.643165 s.sЉH~,))z#AJ"J*J2J:JBJnJvJAG@As}ࢴ@A\~? AA#&"AArNA"AZAbAjArAzAAA0@AerA܏i@A>GAҲ=A:@A@A@L?AIxɼ*Aރ9?2AS׽:Anq=BAރ9?JAS׽RAnq=٘i)I9i@Y&G JȼJJJJE&K Y @[~?y̢GAMESI7SI798:B)BE[[VC@[0[~?[zק[[[[BZYY i) ݼI}E?i@< :)):{u@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031784.663165 s, next control iter: 1743031785.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5283, header.stamp.nsec: 00 temperature: 13.387559* salinity: 33.391769, density: 1025.000000* values[0]: 0.693436F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031785.063165 s.H~,[ Dz#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743031785.063305F (some fields omitted in printout)Afffff@AXL@A\~? AAdP#&"AASrNA"AZAbAjArAzAAAI.W0@A(4<drAah@A[AS=Al;@A7Ag?A!ͼ*A9?2A!׽:AŞ=BA9?JA!׽RAŞ=YuR-@X;@y*=a\ٓH`%`V˿]@?ELv?i pq?)uR-@ I٘i)I9h@Y G JʼB=J-<JJJE&Kw> Yx$[~?ynGAX;@REb77e8;B)BE[[D@[Z[~?[֧[[[[BZYY i) xIHE?i@@< F))Fv@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031785.083165 s, next control iter: 1743031785.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031785.483165 s.s_H~,^z#AJ"J*J2J:JY1?BJY1?nJ95vJAѣ@ANMӷ@Am\~? A A#&"AAtirNA"AZAbAjArAzAAA"q 0@AkXfbrA6h@A$AO-=A<@A A ?AoӼ*A~9?2Aֽ:AN=BA~9?JAֽRAN=٘i)I96h@YT G JϼC=JJJJE&K Y[~?yFAXE{7j7#8 elevatorAngleAction: 0.081937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199072 time: 1743031786.323284F (some fields omitted in printout)A\@AlЗގ@A\~? AA\#&"AArNA"AZAbAjArAzAAA3 .@AS_rA&f@A2<A9M=A/?@A 0jAq?AP*AGz9?2AJս:AF=BAGz9?JAJսRAF=٘i)I9f@Yu G JݼC=JJJJE&K YZ~?yQFAcE{7j718)B[[FH@[Z~?[է[[[[ZZBZYY i) 0ԼIE?i@ƶ< ))ӊz@HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031786.343165 s, next control iter: 1743031786.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5285*, header.stamp.nsec: 0*0 temperature: 13.388193** salinity: 33.391777*, density: 1025.000000** values[0]: 0.690727*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031786.743165 s.WH~,mz#AAGz@Ac@A)m\~? AA$&"AAOqNA"AZAbAjArAzAAAihX.@A'Y]rAe@A=!b<A터=Ax@@A A`P?A)*AÆ9?2A{ս:A4=BAÆ9?JA{սRA4=I٘i)I9e@Y G JJJJJE&K YAZ~?yrEAhE7798>B)BE[[\}I@[Z~?[է[[[[ZZBZYY i) 'ȼIF?iI@< b^))b^S{@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031786.763165 s, next control iter: 1743031787.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031787.163165 s.u}H~,qz#AJ"J*J2J:J0?BJ0?nJ695vJA@A>xe@AT\~? AAF$&"AAzqNA"AZAbAjArAzAAA[gc-@A?4\rAPe@A=<A=A:A@AEA`?A?!*Aҕ9?2A6ֽ:A/<BAҕ9?JA6ֽRA/ Y1Z~?yt"EAA@mEj7Z7:@8?B)BE[[J@[NZ~?[֧[[[[ZZBZYY i) zI3F?i @S< $))$|@y4=cժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031787.183165 s, next control iter: 1743031787.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031787.583165 s.H~,Sz#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743031787.583269F (some fields omitted in printout)AR르@A\mѥ@A:\~? AAo$&"AAnqNA"AZAbAjArAzAAA/((-@Aɓn[rAJ;d@A{AY0w=AB#C@AA D?AGP*AΠ9?2Akֽ:AKi<BAΠ9?JAkֽRAKi<٘i)I9;d@Y G J3JJJJE&K Y$~Z~?ywDA DsE77dG8AB)BE[[7K@[5Z~?[L֧[[[[ZZBZYY i) ^ͰITF?i7@< )).4~@7YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031787.603165 s, next control iter: 1743031787.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5286, header.stamp.nsec: 00 temperature: 13.388591* salinity: 33.391769, density: 1025.000000* values[0]: 0.689144F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031788.003165 s.J "J *J 2J H~:Jk0?BJk0?,r4{#AnJ85vJAp= W@A`w<@A!\~? AA $&"AA/qNA"AZAbAjArAzAAASx,@ASZrA{c@AB&A3=AvD@AJA?Aئͼ*AS9?2Avֽ:A,b;BAS9?JAvֽRA,b;٘i)I9{c@Yr G JRJJJJE&K YbZ~?yySDAxE77j7N8BB)&BE[[&M@[FoZ~?[֧[[[[ZZBZYY i) IovF?i@x< Ҵ))Ҵj@z{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031788.023165 s, next control iter: 1743031788.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031788.423165 s.uH~,{#AA(\¦@A<y@A7\~? A(A$&"AA`qNA"AZAbAjArAzAAA(t+@A9"RYrAb@AaotA<AE@AA 2?A~*A9?2Adֽ:A=$BA9?JAdֽRA=$٘i)I9b@Y G JB=JJJJE&K YFZ~?y{CA}Eŧ77U8),BE[[[N@[WZ~?[@ק[[[[ZZBZYY i) pIF?i @p< ))O@/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031788.463165 s, next control iter: 1743031788.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5287, header.stamp.nsec: 0"0 temperature: 13.388967"* salinity: 33.391762", density: 1025.000000"* values[0]: 0.687643"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031788.843165 s.H~,5{#AJ"J*J2J:J 0?BJ 0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743031788.843308F (some fields omitted in printout)AHz.@AٴR@A[~? AA$&"AA":qNA"AZAbAjArAzAAA Y+@AiXrA\b@A4GAL'<ArG@A:A@ S?Ajt*A^9?2A\ֽ:AHBA^9?JA\ֽRAH٘i)I9\b@Y G JC=JJJJE&K Y)Z~?y}CAE7\8CB)1BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #22q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[ZZBZYY i) "Í)}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031788.863165 s, next control iter: 1743031789.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031789.263165 s.H~,#P{#AA@A@A [~? AWA_$&"AA^qNA"AZAbAjArAzAAAP8*@AQ.WrAa@AaXA5A~ZH@A9+A` ߼?Aڄ8*A9?2Awֽ:A}BA9?JAwֽRA}YT:@ZH@y+XٓHblgu?!?tϑk u?k?)T:@ I٘i)I9a@Y G JbJKDJJJE&Kx> Y Z~?ydCAZH@Ed8DB)4BE[[iP@[/(Z~?[ا[[[[ZZBZYY iav=) MIF?i'@< U)) U0@,(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031789.303165 s, next control iter: 1743031789.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 52882, header.stamp.nsec: 020 temperature: 13.3891852* salinity: 33.3917622, density: 1025.0000002* values[0]: 0.6866802F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031789.683165 s.lH~,^k{#AJ"J*J2J:JBJnJvJAQ@AwJ맴@AJ[~? A7A%&"AAcpNA"AZAbAjArAzAAA8"*@A zVrA޼a@AG;AGAHAQA`Œ?A:*Ae:?2A i½:A:oBAe:?JA i½RA:o٘i)I9a@Yc G J`JJJJE&K Y[Y~?yLCAEj7Z7:k8BB)[[/Q@[Z~?[٧[[[[ZZBZYY iG=) uIF?i*@< ()) @)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031789.683165 s, next control iter: 1743031790.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743031790.103165 s.H~,{#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031790.103296F (some fields omitted in printout)A= ףp@A`V@Ak[~? A?A%&"AA}J(@Aq WUrA»a@Acѝ;APUAEA*tA`yj?AJ;*Ayu:?2A=*Ƚ:A@BAyu:?JA=*ȽRA@٘i)I9a@Yb G JΏ;B=JJJJE&K YiY~?yCAEb778)5BE[[U@[Y~?[aݧ[[[[BZYY i) {#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031791.363320F (some fields omitted in printout)A3333@A%@AS[~? AA_M%&"AANOpNA"AZAbAjArAzAAA,Ĭ'@A TrAa@A>AtA#DA|A`6?AQ00<*An:?2Aeʽ:A*BAn:?JAeʽRA*Yr?@|DytpٓHG?C?@ߕ`f4[ˎ? ?wB?)r?@ I٘i)I9a@Y G J <C=JJJJE&KB> Y8Y~?yCADE7778DB)4BE[[_V@[Y~?[ާ[[[[BZYY i b=) ,I|G?i9@< _ ))_ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031791.403165 s, next control iter: 1743031791.763176 s, wait time: 0.360011 s8Y~?)&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5290&, header.stamp.nsec: 0&0 temperature: 13.389297&* salinity: 33.391773&, density: 1025.000000&* values[0]: 0.686444&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031791.783165 s.[H~,{#AAQ@A@Ay9[~? AABX%&"AA'pNA"AZAbAjArAzAAA:{'@A4TrAKb@Am\A6A lCA@A`?Ag<*Af:?2Ac̽:A^ BAf:?JAc̽RA^ ٘i)I9Kb@Y G JI<JJJJE&K YdY~?y7MDAE78)2B|E[[]W@[Y~?[z[[[[BZYY i) 9I G?id<@+$< a))a*@Ƕ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031791.823165 s, next control iter: 1743031792.183183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743031792.203165 s.H~, |#AJ"J*J2J:JBJnJvJAףp=@A$p@Ag[~? A<A4`%&"AA_pNA"AZAbAjArAzAAA0 p&@A|TrAb@A^?iAшABA|A4?At<*Ab:?2AGϽ:A+BAb:?JAGϽRA+٘i)I9b@Y G J_<JJJJ$E&K YGY~?yҕDAE77:8).ByE[[Y@[Y~?[6[[[[BZYY i) " IQG?i@@< %))%Ȯ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031792.243165 s, next control iter: 1743031792.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031792.623165 s.^ H~,z'|#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031792.623287F (some fields omitted in printout)A)\@A[ ۪@AQ[~? AAe%&"AAoNA"AZAbAjArAzAAA3%@A!ccTrA2c@AlA:A]@A`LA^~|?Ař<*Aa:?2Aoѽ:ABAa:?JAoѽRA٘i)I92c@YF G Jr<JJJJ*E&K Y+Y~?ynDAEj7j7e8)+BvE[[DZ@[A<AFA\<*A_:?2AԽ:AqBA_:?JAԽRAqYY F@:>yT!/E<ٓH@)q?@? 6ſi(? ?y??)Y F@ I٘i)I9?d@Y G Jg<B=J JJJ4E&K{> YX~?yEA>E77778)"B[[\@[ DY~?[ [[[[BZYY i) 4CIZOH?iCK@= A))An@yVڅ=q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031793.483165 s, next control iter: 1743031793.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5292, header.stamp.nsec: 00 temperature: 13.388998* salinity: 33.391750, density: 1025.000000* values[0]: 0.688068F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031793.883165 s.yH~,@x|#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064695< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.419958*J2J2 time: 1743031793.883275F (some fields omitted in printout):JBJnJvJAQ8@A]gC@AZ~? AA`%&"AA;boNA"AZAbAjArAzAAA*0#@A+AkA:AdrA 2Ap<*AW:?2AEս:ABAW:?JAEսRA٘i)I9e@Y G J8<JJJJEE&K Y(X~?yFAEZ7Z7;8)BjE[[`@[Y~?[[[[[BZYY i) BIH?iU@H= w))w=,@*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031794.743165 s, next control iter: 1743031795.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031795.143165 s.T/2H~,)|#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064695< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031795.143273F (some fields omitted in printout)AGz@A ``@A iZ~? AA?%&"AAnNA"AZAbAjArAzAAAdptU"@AuUrA of@Axe(AAG8A@eA \AB <*A:V:?2AD ֽ:AcBA:V:?JAD ֽRAc٘i)I9of@Y> G J7<JJJJJE&K YUX~?y@GAEj7j7f8)BgE[[9a@[X~?[[[[[BZYY i) TCII?iY@[ = 7D))7D;@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031795.163165 s, next control iter: 1743031795.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031795.563165 s.8H~,[ |#AJ"J*J2J:JBJnJvJAffff歴@AP̭@A$OZ~? AAI.%&"AAnNA"AZAbAjArAzAAA>!@A ]~|VrAKf@AEpAkA~7A` WA`Ao<*AT:?2ACֽ:A=nBAT:?JACֽRA=nY&L@mu7yi&qٓH`M P?u?Vѿt?`?!?)&L@ I٘i)I9f@Y G J<J;JJJOE&Kp{> Y&iX~?yGAu7E77{78) BdE[[ab@[X~?[X[[[[BZYY i) II?i!\@B = ))R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031795.583165 s, next control iter: 1743031795.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5294, header.stamp.nsec: 00 temperature: 13.388599* salinity: 33.391750, density: 1025.000000* values[0]: 0.690095F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031795.983165 s.?H~,|#AAQ@A|7@AO5Z~? AA%&"AAdnNA"AZAbAjArAzAAA,z9J @AL.WrAg@A9AbLA26AEAfAɤ<*A+S:?2Aֽ:ABA+S:?JAֽRA٘i)I9g@Y G JT<JJJJUE&K YMX~?yYHAEb778)BaE[[؈c@[X~?[#[[[[BZYY i) P;Ii^@]= ϥ))ϥg@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031796.003165 s, next control iter: 1743031796.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031796.403165 s.&FH~,}#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064695< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031796.403291F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@A]@AZ~? AA%&"AALvnNA"AZAbAjArAzAAAhe%I @ApFWrA)h@AgA[A4A1A-/AEi<*AQ:?2AA'׽:ABBAQ:?JAA'׽RAB٘i)I9h@Y? G JB<JJJJZE&K Y2X~?ydHAE778)B[[cd@[IX~?[[[[[BZYY i) 1F:Iib@&= Z))Z-y@B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031796.423165 s, next control iter: 1743031796.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5295", header.stamp.nsec: 0"0 temperature: 13.388382"* salinity: 33.391720", density: 1025.000000"* values[0]: 0.691173"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031796.823165 s.LH~,-4}#AA\(@AG@AZ~? AmA$&"AAVOnNA"AZAbAjArAzAAA`![@A ŪXrAWh@A^ <A2%A|3AA`¿Aߓ<*AO:?2A׽:A_BAO:?JA׽RA_٘i)I9h@Y G J<JJJJ`E&K YX~?y"HAE77778)B^E[[3e@[X~?[[[[[BZYY i) Y:Iie@= )) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031796.843165 s, next control iter: 1743031797.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031797.243165 s.SH~,qO}#AJ"J*J2J:JBJnJvJAGz@Aaz@AXY~? AA$&"AA(nNA"AZAbAjArAzAAA%H69:%@A.e YrA i@ABl<A:A0'2A|A`ÿAQ<*AM:?2A׽:A BAM:?JA׽RA 9٘i)I9i@Y G J<JJJJeE&K YnW~?y'IAE{7{7;8)B[E[[%f@[܆X~?[[[[[BZYY i) ,;Ii~i@o= 3))3@E*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743031797.263165 s, next control iter: 1743031797.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031797.663165 s.ZH~,qj}#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064695< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743031797.663271F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5296, header.stamp.nsec: 00 temperature: 13.388193* salinity: 33.391724, density: 1025.000000* values[0]: 0.692141F (some fields omitted in printout)A@A寴@AY~? AAj$&"AAnNA"AZAbAjArAzAAAGV@AEZrA݃i@AR<A=AW0AA`ſAb><*AK:?2A׽:A$:BAK:?JA׽RA$:Yw1S@0yhS<ٓH/ E? ?׿? q??Q??)w1S@ I٘i)I9i@YG J<<JW<JJJjE&Ky> Y)W~?yŭIA0Eb77f8DB)BXE[[h@[rX~?[W[[[[BZYY iB=) j;Iik@= W))W←.@9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031797.683165 s, next control iter: 1743031798.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031798.083165 s.DaH~, S}#AJ"J*J2J:JBJnJvJARk@AmQ@AY~? AA$&"AAhmNA"AZAbAjArAzAAA󟣣@A*O*\rAi@As ;A劄AҔ/AACǿAt֋<*ACI:?2AC׽:AFBACI:?JAC׽RAF򼙘٘i)I9i@YfG J5<JJJJpE&K YW~?yIAE{7{78)BVE[[ elevatorAngleAction: 0.075179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031798.923302F (some fields omitted in printout)A(\B@APv(@A`Y~? A3A0$&"AAmNA"AZAbAjArAzAAAuh\@A]0^rA:j@A^AAA -AไA ^˿AU<*A;:?2Aֽ:ABA;:?JAֽRA٘i)I9j@YG J<JJJJzE&K Y^W~?yJAE78)B[[Bk@[,8X~?[ [[[[BZYY i) ;Ii7t@vL= ))迩@yۙ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031798.943165 s, next control iter: 1743031799.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031799.343165 s.;Iiw@e= Kx))Kx濩q@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031799.363165 s, next control iter: 1743031799.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5298&, header.stamp.nsec: 0&0 temperature: 13.387865&* salinity: 33.391697&, density: 1025.000000&* values[0]: 0.693902&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031799.763165 s.={H~,8}#AJ"J*J2J:J1?BJ1?nJD:5vJA@AΦ#@AQY~? A6A #&"AACmNA"AZAbAjArAzAAA-#K@AޤٺarAk@AD\A&Af*A@U7AϿA<*A.:?2A.4׽:A6BA.:?JA.4׽RA6YwY@_*yTxٓHWTG?Zr? vݿe>?Ͱ?yK|$?)wY@ I٘i)I9k@YG J<J@iJJJE&Kx> Y `W~?yѾCKA_*E777<8)BME[[bm@[YX~?[[[[[BZYY i)  elevatorAngleAction: 0.075179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031800.183320F (some fields omitted in printout)AQ@A\Wk@A?9Y~? AA##&"AASmNA"AZAbAjArAzAAA@ANcrA:l@Aq;ARjA )A AlпA<*An(:?2A׽:ArBAn(:?JA׽RAr٘i)I9:l@YG JJ<B=JJJJE&K YFW~?y§KAEg8)BJE[[Wn@[W~?[[[[[BZYY i) T elevatorAngleAction: 0.075179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031801.443291F (some fields omitted in printout)Azdz@An@AX~? A A,"&"AAlNA"AZAbAjArAzAAAQ<|k@A!y+irA|m@A<AhA%A`~AӿA&<*A:?2A[׽:A'BA:?JA[׽RA'٘i)I9m@YG Jh<JJJJE&K YV~?yϧLA$E77{738)֯BDE[[F=r@[W~?[$[[[[BZYY i) O Gw~#AA33333@A!K@AX~? AxAB"&"AAlNA"AZAbAjArAzAAA!K@A7krAM n@AA A#AKAӿA}-<*A:?2Aֽ:A BA:?JAֽRA Y6@`@^#yhٓH&`? ?@‡0?\?0T?)6@`@ I٘i)I9 n@YG J2<JYnJJJE&Kux> Y+V~?yӧMA#)Ej7Z7;8)ѯBBE[[H\s@[W~?[([[[[BZYY i) _dV elevatorAngleAction: 0.075179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031802.703268F (some fields omitted in printout)Aףp= @A^Y-@AZX~? AA'"&"AADlNA"AZAbAjArAzAAA!|)@AporAo@AUqAҖAN!AAտAx <*A :?2Aֽ:ABA :?JAֽRAI٘i)I9o@YG J<B=JJJJE&K YV~?yݧMA4E77hI8)ɯB[[—u@[ŕW~?[1[[[[BZYY i=) tE777W8/B)B9E[[w@[tW~?[n:[[[[BZYY i)  elevatorAngleAction: 0.084269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031803.963278F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A)x 2@AfX~? Ao"AE!&"AAkNA"AZAbAjArAzAAA>ڌ1@AYkvrAp@A<AٝAGA (A,ؿA<*Ao9?2AV׽:A{vBAo9?JAV׽RA{vYbf@1RyD6<ٓH໽ 9?@??&M?@n?29? ?)bf@ I٘i)I9p@Y{G J<B=J#JJJE&Kx> YoV~?yOARDEj7j7^8)B6E[[Gx@[vdW~?[ ?[[[[BZYY i) >~=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031804.003165 s, next control iter: 1743031804.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031804.383165 s.H~,+#AAQ@An;@AOX~? A&A &"AAĺkNA"AZAbAjArAzAAA!@A_yrA4q@Am3l<AiA3AmA#ؿAM<*A9?2Aݗ׽:ACGBA9?JAݗ׽RACG٘i)I94q@YG Jc<C=JJJJE&K YYV~?y_jOAIEŧ7b7f80B)B7E[[z@[TW~?[C[[[[BZYY i) c˜ elevatorAngleAction: 0.084269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031805.223290F (some fields omitted in printout)A(\@AKu@AV$X~? A/AfJ &"AAKxkNA"AZAbAjArAzAAA pQw@As ~rANr@AЫt;AgAdA`_AڿAW<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Nr@YyG J<B=JJJJE&K Y3.V~?y};PATE77ht8)B0E[[t<|@[5W~?[PM[[[[BZYY i) j˧ǿ))>ǿ5@@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031805.243165 s, next control iter: 1743031805.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031805.643165 s.zH~,*i#AJ"J*J2J:J(3?BJ(3?nJ;5vJAG@AG෴@AX~? A)4AQ&"AAWkNA"AZAbAjArAzAAA@I!?A6rAr@AaA9Al%A@AYۿA<*A9?2Aֽ:A(lBA9?JAֽRA(l٘i)I9r@YG J<C=JJJJE&K YPV~?y PAYE777{8)B[[pU}@[&W~?[3R[[[[BZYY i) N YYV~?yE QA_E778.B)B-E[[p~@[W~?[2W[[[[BZYY i) ܢ elevatorAngleAction: 0.084269nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743031806.483284F (some fields omitted in printout)AѸ@A"0ַ@AIW~? A=Aj7&"AAkNA"AZAbAjArAzAAA?Z?A!rA)t@An^AAA ?AܿA<*A9?2Axֽ:ABA9?JAxֽRA٘i)I9)t@YG J<C=JJJJE&K YfU~?y}QAdEb778)B[[@[^ W~?[A\[[[[BZYY i) gA\޿A<*A9?2A:׽:AZBA9?JA:׽RAZ٘i)I9vu@YeG Jt<JJJJE&K Y~U~?ylRA DoE777=8)B(E[[݀@[]V~?[f[[[[BZYY i)  elevatorAngleAction: 0.084269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743031807.743292F (some fields omitted in printout)AGz@A2d@A/W~? AJMAz &"AAjNA"AZAbAjArAzAAA]R8[1?AxrA4v@AO<A{(AAAy߿A <*AW9?2Ao׽:AbBAW9?JAo׽RAb٘i)I9v@YG J<JJJJE&K YU~?y%"RAtEŧ7b7h8)}B[[i@[V~?[k[[[[BZYY i) PBAH9?JAW׽RA>PYs@Hy˛3k<ٓH@"?O? F -?@Z,?I?`_?)s@ I٘i)I9v@Y0G J6<JJJJE&Kux> YU~?y(USAHyE778-B)wB%E[[@[V~?[&q[[[[BZYY i) 'A<*Av9?2Aֽ:AkBAv9?JAֽRAk٘i)I9ow@YG J~<JJJJE&K YU~?y/SAE78)rB[[B@[V~?[v[[[[BZYY i=) _ elevatorAngleAction: 0.093219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031809.003293F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@As<@AHpW~? A]A&"AAdjNA"AZAbAjArAzAAA|N ?AhrAx@AAJA AܜA`”A<*A9?2Aֽ:A LBA9?JAֽRA L٘i)I9x@YG J<JJJJE&K YU~?y6CTAEb78.B)mB#E[[?@[V~?[|[[[[ZZZZ¸>BZYY i¸>) `8)`B[[2%@[V~?[[[[[ZZZZBZYY i) b YKU~?yKUA EZ7Z7i8,B)YBE[[@[V~?[[[[[ZZZZBZYY i) R= ))u@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031811.123165 s, next control iter: 1743031811.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031811.523165 s.7H~,{#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082778< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031811.523301F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܽ@Am½@AW~? AA&"AA!iNA"AZAbAjArAzAAAmCҬAs6)rA|@Ad<A7ԼAuAܿAxA@<*AQ9?2A$ֽ:A,;BAQ9?JA$ֽRA,;٘i)I9|@YG JN<JJJJE&K Y]U~?yaVAE{7{78)GB[[S@[sV~?[[[[[ZZZZBZYY i) *ɏH~,>]#AAzG@Ai-@AV~? AuA&"AAȭiNA"AZAbAjArAzAAAx ىAhrA(}@AjV<A,A֏A.ܿA [Ay<*A9?2Aߑֽ:A1%<BA9?JAߑֽRA1%<٘i)I9(}@YG JK<JJJJ!E&K Y U~?yi0WAEŧ7b78,B)CBE[[ކ@[PiV~?[ݣ[[[[ZZZZBZYY i) "#AJ"J*J2J:JBJnJvJA3333@Ab!@AV~? AA&"AAiNA"AZAbAjArAzAAAB3gAw rA#}@At;A;AxCAKiۿA A1<*A9?2Aqֽ:AU<BA9?JAqֽRAUJJJ&E&K:x> YU~?yp(WACEb77?8-B)ABE[[j@[-_V~?[ͩ[[[[ZZZZBZYY iz) `u5vJAףp=@A(p@AV~? A@A&"AAhiNA"AZAbAjArAzAAAΝPAތ}'rAR}@AdA=AAٿA*A:*AE9?2A ֽ:A<BAE9?JA ֽRA<٘i)I9}@YG Jb;JJJJ1E&K YT~?yWAEZ7Z78)>BE[[:@[KV~?[ӵ[[[[BZYY i) O5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.071925< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031814.043295F (some fields omitted in printout)A{Ga@A7n1G@AJJJAE&K2w> YT~?yXVAE{7{78)AB[[H$@[1V~?[.Ȩ[[[[BZYY iZ(f) @A= _&))_&CF@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031814.483165 s, next control iter: 1743031814.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5313, header.stamp.nsec: 00 temperature: 13.384686* salinity: 33.391453, density: 1025.000000* values[0]: 0.709734F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031814.883165 s.ymH~,<#AJ"J*J2J:JBJnJvJAQ8@Ar9@ADV~? A緩A3&"AAiNA"AZAbAjArAzAAAU/g?AIrA )}@APs^<Ä=AZAֿA`A1n*Aʪ9?2Aֽ:A=BAʪ9?JAֽRA=٘i)I9)}@YG JPJJJJGE&K YT~?y_VAE7)7?8)DB[[@[n)V~?[bΨ[[[[BZYY i)  YzT~?yTAE{7{758)B)OB[[ی@[p V~?[[[[[BZYY i) ϖ;Ii@A= G))G@yFӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031816.583165 s, next control iter: 1743031816.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5315, header.stamp.nsec: 00 temperature: 13.385013* salinity: 33.391449, density: 1025.000000* values[0]: 0.708336F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031816.983165 s.H~,>#AAQô@As'7ô@A]V~? A8ܩA<&"AAʽhNA"AZAbAjArAzAAA?Eg AR3rAPz@AwAb=AACҿA cA}*AC9?2A%׽:A=BAC9?JA%׽RA=٘i)I9z@YG J̥JJJJbE&K YˆT~?yʨTAE777=8(B)SBE[[g@[V~?[[[[[BZYY i) ?q;IiC@A= 7))7 @ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031817.023165 s, next control iter: 1743031817.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031817.403165 s.&H~,Y#AJ"J*J2J:JBJnJvJA ףpô@AI[ô@ASV~? AA&"AAghNA"AZAbAjArAzAAA .Վ Av BrAz@A'AF=A3A7bѿAA*A9?2Atֽ:A03=BA9?JAtֽRA03=٘i)I9z@Y3G JBJJJJgE&K Y T~?y~Ҩ/TAE77?D8)WBE[[1@[V~?[c[[[[BZYY i) t4;Ii-@A= )),@ ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031817.423165 s, next control iter: 1743031817.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5316", header.stamp.nsec: 0"0 temperature: 13.385243"* salinity: 33.391430", density: 1025.000000"* values[0]: 0.707399"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031817.823165 s.H~,Gt#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031817.823292F (some fields omitted in printout)A\(Ĵ@A5\Ĵ@ABJV~? A9AC&"AAhNA"AZAbAjArAzAAA/'Gr AU[rAy@A\gA=A6AࡀпA`A׭*A9?2Aoֽ:A=BA9?JAoֽRA=٘i)I9y@YG JʫJJJJlE&K YRyT~?yڨSAE{7kK8)\B[[^}@[TU~?[[[[[BZYY i) y::IiE@A= …))…Y@OѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031817.843165 s, next control iter: 1743031818.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031818.243165 s.H~,u#AJ"J*J2J:JBJnJvJAGzĴ@AczĴ@AYAV~? AA&"AA֑hNA"AZAbAjArAzAAAB0J AwMrAx@AH&<A1=A.A;ϿA#$A*A79?2AAֽ:AH=BA79?JAAֽRAH=٘i)I9x@YG JJJJJrE&K YqT~?ym`SAEj7R8)`B[[b@[U~?[R[[[[BZYY i) >q:Ii@A= ))]*@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031818.263165 s, next control iter: 1743031818.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031818.663165 s.H~,q#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5317, header.stamp.nsec: 00 temperature: 13.385490* salinity: 33.391445, density: 1025.000000* values[0]: 0.706410F (some fields omitted in printout)AŴ@A.=Ĵ@A8V~? AtA&"AAhNA"AZAbAjArAzAAA} AMrAYx@Av<A=AV߿ApͿAKA*A}9?2A9ֽ:A m=BA}9?JA9ֽRA m=Y.@z߿yg=v<ٓH>ƿ`8?moƿw xl@n??).@ II٘i)I9Yx@Y'G JïJJJJwE&Kx> YlT~?yRAz߿Eb77Y8'B)dB E[[Z@[U~?[[[[[BZYY i) @5Ii@i,A= j))jU@G˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031818.683165 s, next control iter: 1743031819.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031819.083165 s.DH~,Sł#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031819.083274F (some fields omitted in printout)J"J*J2J:JBJnJvJARkŴ@AnQŴ@A1V~? A&AN[&"AA@xhNA"AZAbAjArAzAAAJS& AhfZrAw@AIC<A=AܿAพ˿AHqA)*A9?2ARuֽ:A8=BA9?JARuֽRA8=٘i)I9w@YG JJJJJ|E&K YgT~?yRAE777`8)iBE[[@[fU~?[\[[[[BZYY i) vIiw@Ϙ@= z~))z~{@@tǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031819.103165 s, next control iter: 1743031819.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031819.503165 s.H~,P4#AAp= Ŵ@AGŴ@A)V~? A A&"AAlhNA"AZAbAjArAzAAAֿ2݊A+sA=w@A%;A=AIڿAɿAΔA?*AH9?2Aֽ:A<BAH9?JAֽRA<٘i)I9=w@YzG JJJJJE&K YbT~?yp7RA Eŧ7b7h8)mB[[֩@[ U~?[[[[[BZYY i) kIi2@@@= M z))M z˩@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031819.523165 s, next control iter: 1743031819.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5318, header.stamp.nsec: 00 temperature: 13.385712* salinity: 33.391415, density: 1025.000000* values[0]: 0.705416F (some fields omitted in printout).bT~?).p rAdjusting time to match Gazebo time: 1743031819.923165 s.;H~,#AJ"J*J2J:J4?BJ4?nJ[=5vJA(\Bƴ@Ax(ƴ@A"V~? AA,&"AAahNA"AZAbAjArAzAAAz3_2A${sAv@A|A#=A׿A ǿAA*A9?2A&׽:AA<BA9?JA&׽RAA<٘i)I9v@Y*G JќJJJJE&K Y]T~?yQAE77{7@o8)qB[[@5@[5U~?[[[[[BZYY i) u7Ii@$@= u))u;W@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031819.943165 s, next control iter: 1743031820.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031820.343165 s. YVT~?yQArҿE7)7}8)yBE[[K@[vU~?[([[[[BZYY i) zIie@$:?= mm))mmm@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031820.803165 s, next control iter: 1743031821.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031821.183165 s.H~,cK#AAQǴ@A kǴ@A V~? AK)Aa &"AAEhNA"AZAbAjArAzAAAj"x6nAѢ?sAKu@A+A;І=AiϿA)O¿A AI*AS9?2A@ֽ:AC<BAS9?JA@ֽRAC<٘i)I9Ku@YKG JJJJJE&K YTT~?yX PA Ej7j78)}B[[=ג@[U~?[h/[[[[BZYY i) IiĔ@k>= h))h8@˹YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743031821.203165 s, next control iter: 1743031821.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031821.603165 s.<4H~,Úf#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201352 time: 1743031821.603416F (some fields omitted in printout)A= ףǴ@A`Ǵ@AL V~? A<1AZ &"AA>hNA"AZAbAjArAzAAA ¨AXUsAt@A;A1=AIͿAsA9AŎ*A9?2Ayֽ:AL-<BA9?JAyֽRAL-<٘i)I9t@YG JB=JJJJE&K YRT~?y#)_PA%E778)B[[c@[&U~?[6[[[[BZYY i) w׻IiQ@== Vd))Vd@ָYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031821.623165 s, next control iter: 1743031822.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5320 , header.stamp.nsec: 0 0 temperature: 13.386100 * salinity: 33.391373 , density: 1025.000000 * values[0]: 0.703733 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031822.023165 s.ZH~, |#AA(\ȴ@ABȴ@AV~? A49A+ &"AA7hNA"AZAbAjArAzAAA3 A d sA!\t@A`<A{=AʿA,A3AJ*A9?2ANֽ:Ao=BA9?JANֽRAo=٘i)I9\t@YG JǎC=JJJJE&K YPT~?y1PA*E7{78)BE[[@[ U~?[<[[[[BZYY i) Ii @== M_))M_@yᒛ1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031822.043165 s, next control iter: 1743031822.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031822.443165 s.5H~,5]#AJ"J*J2J:J4?BJ4?nJ<5vJAzȴ@Acȴ@A0V~? A2AAA &"AA0hNA"AZAbAjArAzAAA:1 Aa%sA5s@Ak<AQ=Aj$ȿAfADAE*AO9?2Aeֽ:AU=BAO9?JAeֽRAU=٘i)I9s@YpG JĎJJJJE&K YNT~?y:OA0EZ7SI7@8&B)B E[[z@[KU~?[}C[[[[BZYY i) 6 Ii@g== ͘[))͘[@MYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031822.463165 s, next control iter: 1743031822.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5321, header.stamp.nsec: 00 temperature: 13.386292* salinity: 33.391361, density: 1025.000000* values[0]: 0.702927F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031822.863165 s.+H~,>#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031822.863288F (some fields omitted in printout)A33333ɴ@A7S!ɴ@AV~? A6IA &"AA+hNA"AZAbAjArAzAAA2AոѺ*sAms@A;Ae=AyſA@ASA룋*A9?2Alֽ:A=BA9?JAlֽRA=Y@iſyi=?5;ٓH?$??@vrh?S. ~? ?)@ I٘i)I9ms@Y(G JJv::JJJE&K+x> YuOT~?yCMOAiſ5E77{7l8)B[[R@[U~?[0J[[[[BZYY i) Ii@}"<= mQAIV &"AA&hNA"AZAbAjArAzAAA>YSAZO7/sAr@ARlYA`~=A¿A/A `A3Ո*A9?2A'׽:AS=BA9?JA'׽RAS=٘i)I9r@YG JKJJJJE&K YCPT~?yPLNA;Ej7j78'B)BE[[@[U~?[P[[[[BZYY i)  *Ii,@;= R))R@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031823.303165 s, next control iter: 1743031823.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5322., header.stamp.nsec: 0.0 temperature: 13.569742.* salinity: 33.374981., density: 1025.000000.* values[0]: 0.575686.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031823.703165 s.ֺH~,#AAףp= ʴ@AVj-ɴ@AU~? AKYAC &"AA/#hNA"AZAbAjArAzAAA_ϕnA 4sAr@A$}JAی=A[AeA@jA*Ak9?2AJ׽:A7=BAk9?JAJ׽RA7=٘i)I9r@YG J4JJJJE&K YQT~?yUNA@EZ78(B)BE[[U@[DU~?[W[[[[BZYY i) ̛9Ii@)M:= U|N))U|NP@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031823.723165 s, next control iter: 1743031824.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031824.123165 s.;H~,m#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031824.123272F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\uʴ@A=[[ʴ@AOU~? A[aA &"AA8 hNA"AZAbAjArAzAAAtjтAw9sAr@AMsA=AuA A`:rA *AX9?2A>׽:A=BAX9?JA>׽RA=٘i)I9r@YUG J JJJJE&K YQT~?y]:NAEE778)B[[@[U~?[g^[[[[BZYY i) C&IIi@9= J))J̯@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031824.143165 s, next control iter: 1743031824.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031824.543165 s.IH~,"#AA{Gʴ@At|8ʴ@A+U~? AliAz~&"AAhNA"AZAbAjArAzAAA A˹d>sAq@AGA4d=A线A 옿A`wA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9q@Y G JJJJJE&K YRT~?yfMAKE{7Z78)B[[bǿ[U~?[+e[[[[BZYY i) &XIiِ@=h9= KE))KEKE]ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031824.563165 s, next control iter: 1743031824.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5323, header.stamp.nsec: 00 temperature: 13.569978* salinity: 33.374973, density: 1025.000000* values[0]: 0.575114F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031824.963165 s.zH~,=#AJ"J*J2J:J:?BJ:?nJa5vJAL˴@A52˴@AU~? AqA&"AAhNA"AZAbAjArAzAAA"ARCsAtq@APZ:A=AeAA@yAr*A9?2Aֽ:A =BA9?JAֽRA =Y@cy=[:ٓH`Δ??g??zÛ)QK?S?)@ I٘i)I9q@YG J|J~k<JJJE&Kx> YYVT~?yuozMAcPE77A8)B[[2ſ[U~?[k[[[[BZYY i) ngIi@k7= OUA))OUAOUA̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031824.983165 s, next control iter: 1743031825.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031825.383165 s.H~,'X#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743031825.383351F (some fields omitted in printout)AQ˴@A~NA˴@AvU~? AyA(C&"AAhNA"AZAbAjArAzAAAQ&,AL@HsAp@A0<A+=A㵿A u?AyAۅ*A9?2AI>ֽ:A=BA9?JAI>ֽRA=٘i)I9p@YpG JJJJJE&K YZT~?y0xMAUE7l8)BE[[ÿ[eU~?[r[[[[BZYY i) wIi@R6= /<))/</<ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031825.403165 s, next control iter: 1743031825.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5324", header.stamp.nsec: 0"0 temperature: 13.570214"* salinity: 33.374981", density: 1025.000000"* values[0]: 0.574532"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031825.803165 s.yAH~,gs#AJ"J*J2J:JBJnJvJAq= #̴@A^a ̴@AU~? AAu&"AAUhNA"AZAbAjArAzAAAAZD\.MsAp@Aw<A͘=ALRA@m?A`DwAs*Ar9?2A2ֽ:Ai=BAr9?JA2ֽRAi=٘i)I9p@YG J#JJJJE&K Y]T~?yꀩLA[Eb778)B[[[U~?[gy[[[[BZYY iNC) )Ii@k5= G8))G8G86ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031825.843165 s, next control iter: 1743031826.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031826.223165 s.g#H~,H#AA(\̴@AY0Gu̴@AU~? AA&"AAYhNA"AZAbAjArAzAAAZZWMAuRsAWo@A;<A=AʭAFݡ?ArA1ި*A9?2Aqֽ:A=BA9?JAqֽRA=٘i)I9o@YG JJJJJE&K YZaT~?yNLA`E{7{78)B[[[3U~?[,[[[[BZYY i) ĊIiL@4= {#4)){#4{#4ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031826.243165 s, next control iter: 1743031826.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031826.643165 s.u)H~,*#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085089< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031826.643289F (some fields omitted in printout)AG̴@Abf̴@AWU~? AȑAIj&"AA,hNA"AZAbAjArAzAAAMT8vA|(KWsAn@A8:Ak\=A;A?A`kA1*Ak9?2Aֽ:A4=BAk9?JAֽRA4=٘i)I9n@YoG JQJJJJE&K YeT~?y_KAeE778)BE[[kd[+U~?[[[[[BZYY i) K_Iiތ@P4= /))//ժYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743031826.663165 s, next control iter: 1743031827.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5325, header.stamp.nsec: 00 temperature: 13.570465* salinity: 33.374977, density: 1025.000000* values[0]: 0.573863F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031827.063165 s.0H~,N Ą#AAfffffʹ@A`RLʹ@A^U~? AՙA&"AA!hNA"AZAbAjArAzAAA]Aa\F[sAkn@AA܏=AIDAX?A`ARk*A9?2A?,׽:AK=BA9?JA?,׽RAK=Y36@WZyQ=u}ٓH [?"?@kԚ? @?`Ѭ ⁿu?)36@ I٘i)I9kn@YG J%B=J"<JJJE&KBx> YkT~?yKAZ DkE7778)B[[G2[U~?[[[[[BZYY i) zݙIi@!2= T+))T+T+y,تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031827.103165 s, next control iter: 1743031827.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031827.483165 s.x_7H~,ބ#AJ"J*J2J:JBJnJvJAʹ@A{Էʹ@AU~? AޡA/&"AA@%hNA"AZAbAjArAzAAAEIƚ>Ay`sAdm@ApAY=AA}?A` TA(夼*A9?2AC׽:A=BA9?JAC׽RA=٘i)I9m@YG JC=JJJJE&K YrT~?yKApE)7ŧ7A8)B)BE[[[4U~?[f[[[[BZYY i) ZIic@#1= [&))[&[&dܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031827.503165 s, next control iter: 1743031827.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5326, header.stamp.nsec: 00 temperature: 13.570733* salinity: 33.375008, density: 1025.000000* values[0]: 0.573241F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031827.903165 s.=H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085089< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031827.903309F (some fields omitted in printout)A ףp=δ@AY#δ@AV~? A⩪A)&"AA)hNA"AZAbAjArAzAAA#A-}esAVm@ASA{=A@AH?ADA͙*A9?2Au׽:Arw=BA9?JAu׽RArw=٘i)I9Vm@YrG JJJJJE&K YxT~?yJAvE77l8)B[[ǵ[KU~?[#[[[[BZYY i) PبIil@/= "))""YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031827.923165 s, next control iter: 1743031828.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031828.323165 s.J "J *J 2J :J ?BJ ?nJ 5vJ |DH~,>#AA\δ@ATδ@AV~? AᱪA&"AA.hNA"AZAbAjArAzAAA+=CVA2jsAl@A Aß=AǀA?A`53A*Aß9?2Aֽ:A^B=BAß9?JAֽRA^B=٘i)I9l@YG JGJJJJE&K Y~T~?yBJA{Eŧ7b78*B)įBE[[[U~?[⡩[[[[BZYY i) VIi@.= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031828.363165 s, next control iter: 1743031828.723179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5327*, header.stamp.nsec: 0*0 temperature: 13.570994** salinity: 33.374985*, density: 1025.000000** values[0]: 0.572582*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031828.743165 s.WKH~,y/#AAGzϴ@Aeδ@A V~? AٹAZ&"AA\4hNA"AZAbAjArAzAAA'GAH}{osA8)l@A;A|=AA G?A`AJ*Ah9?2A#:ֽ:A/=BAh9?JA#:ֽRA/=٘i)I9)l@YG J߷JJJJE&K  8Y}T~? 8y4IAE778)ȯB[[V[U~?[[[[[BZYY i) ӷIi @d%.= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031828.763165 s, next control iter: 1743031829.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031829.163165 s.t}RH~,qJ#AJ"J*J2J:J}?BJ}?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085089< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031829.163284F (some fields omitted in printout)Aϴ@AReϴ@AdV~? AA&"AA:hNA"AZAbAjArAzAAAC@aA&TtsAk@Ae<A߫=Am}A?A8 A,ż*A9?2ATֽ:A*=BA9?JATֽRA*=Yw@Vy۫=Tf<ٓH?N>?/? ?@ds`t?]?)w@ I٘i)I9k@YXG JJ/<JJJE&Kw> YT~?yũeIAVE7 8)ίB[[![U~?[J[[[[BZYY i)  Ii@;,= 3))335YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031829.183165 s, next control iter: 1743031829.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031829.583165 s.!XH~,*Se#AARϴ@A\mϴ@AV~? AɪA$&"AAYBhNA"AZAbAjArAzAAA$efzDA;[(ysAj@Ar-g<A=Ae⛿A@?AAwɼ*A9?2A<%ֽ:AP{=BA9?JA<%ֽRAP{=٘i)I9j@YG JǼJJJJE&K YT~?yͩHAE78+B)ԯBE[[cꬿ[kU~?[[[[[BZYY i) lƼIi?@*= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031829.623165 s, next control iter: 1743031829.983181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5328, header.stamp.nsec: 00 temperature: 13.571256* salinity: 33.374992, density: 1025.000000* values[0]: 0.571856F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031830.003165 s.J "J *J 2J :J e?BJ e?nJ 5vJ | `H~,]4#AAp= Wд@A<д@A8V~? AѪA&"AAJhNA"AZAbAjArAzAAAg]AM#?n}sA5j@A\;AH=Ab2Au?A UAIʼ*A9?2Auֽ:A'=BA9?JAuֽRA'=٘i)I95j@YG J+ʼJJJJE&K Y8T~?y#֩HAE77B8/B)ݯBE[[c[fU~?[[[[[BZYY i) WͼIi@@)= P ))P P YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031830.023165 s, next control iter: 1743031830.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031830.423165 s.ufH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085089< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031830.423286F (some fields omitted in printout)A(\д@Ažvд@Ai V~? Ai٪A2%"AA{ShNA"AZAbAjArAzAAAz %iAI4sA׋i@AA=ALxAV?AlAyɼ*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9i@Y$G J4ʼJJJJE&K YuT~?yrީ HAE77l"8)B[[t[U~?[Né[[[[BZYY i) ռIi/@'= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031830.463165 s, next control iter: 1743031830.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5329, header.stamp.nsec: 00 temperature: 13.571560* salinity: 33.374992, density: 1025.000000* values[0]: 0.571099F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031830.843165 s.lH~, #AJ"J*J2J:J3?BJ3?nJM5vJAHz.Ѵ@ApuѴ@A'V~? A5AX%"AA;]hNA"AZAbAjArAzAAAQAt sAh@A_QA7&=AēA`Z5?A Aɼ*An9?2A-׽:A85=BAn9?JA-׽RA85=٘i)I9h@Y G JzɼJJJJE&K YT~?yGAE77)80B)BE[[Y7[U~?[ɩ[[[[BZYY i) QܼIin@&= ^))^^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031830.863165 s, next control iter: 1743031831.243189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743031831.263165 s.tH~,#Ѕ#AAѴ@AHѴ@AZ.V~? AA%"AAghNA"AZAbAjArAzAAA wzAx=sAU8h@AqAu=AQ$A  ?A OtAi̼*A9?2A(׽:Al=BA9?JA(׽RAl=Y@Nyq=5rٓHk??ʩ?@}? l@i4?)@ I٘i)I98h@YU G JʼJ<JJJE&K5x> YT~?yGANE{7Z708)B[[o[V~?[Щ[[[[BZYY i) IiȀ@B$= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031831.283165 s, next control iter: 1743031831.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 53302, header.stamp.nsec: 020 temperature: 13.5718572* salinity: 33.3749922, density: 1025.0000002* values[0]: 0.5703122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031831.683165 s.lzH~,#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085089< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743031831.683316F (some fields omitted in printout)AQҴ@A,Ѵ@A6V~? AA)%"AAshNA"AZAbAjArAzAAAY{g[ AsAg@A%A=AݚAU?A@OA5Ҽ*A9?2Aֽ:AW=BA9?JAֽRAW=٘i)I9g@Y G JμJJJJE&K YT~?yFAEb7778)B E[[¡[ V~?[ש[[[[ZZ¸BZYY i¸M=) C}׼Ii~@"= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031831.683165 s, next control iter: 1743031832.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743031832.103165 s.H~,Ț#AA= ףpҴ@A2;VҴ@AQ>V~? AOA%"AA!hNA"AZAbAjArAzAAAJ AYY sA[f@A1:A=AGA?A(A|lټ*Aw9?2A+Mֽ:AU=BAw9?JA+MֽRAU=٘i)I9f@Y~ G JsռJJJJ#E&K YgT~?y.FAE7777?81B)B#E[[i[V~?[ݩ[[[[ZZBZYY i) x˼Ii|@S!= ))뾩7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031832.143165 s, next control iter: 1743031832.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031832.523165 s.H~,{!#AJ"J*J2J:J?BJ?nJ5vJA(Ҵ@A\;QҴ@A GV~? AA%"AAhNA"AZAbAjArAzAAARV3 AuJ ?sAe f@AGh7<A.=AA2?A gA*A 9?2Aֽ:A <BA 9?JAֽRA <٘i)I9 f@Y G JJJJJ(E&K YNT~?yEAE)7b7BF8)B[[C[AV~?[;[[[[ZZBZYY i) rIiy@= .)).⾩.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031832.543165 s, next control iter: 1743031832.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5331, header.stamp.nsec: 00 temperature: 13.572164* salinity: 33.374977, density: 1025.000000* values[0]: 0.569523F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031832.943165 s.YdH~,F]<#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082886< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743031832.943322F (some fields omitted in printout)AzGӴ@A.Ȗ-Ӵ@A>PV~? AqA/k%"AA{hNA"AZAbAjArAzAAABSu A_Ə؞sAS+e@A}Cs<A =AA@?AA+*AB9?2AF ֽ:A<BAB9?JAF ֽRA<٘i)I9+e@Yy G JJJJJ.E&K Y5T~?y=EAE777mM8)B[[+[ V~?[[[[[ZZBZYY i) 3mIix@ = پ))پپy{$=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031832.983165 s, next control iter: 1743031833.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031833.363165 s.H~,>W#AJ"J*J2J:JBJnJvJA3333Ӵ@AlӴ@AYV~? AA%"AAŧhNA"AZAbAjArAzAAA a A=ajisAYRd@A*<As=AjA?A AY*Aw9?2A9ֽ:An<BAw9?JA9ֽRAn YT~?y2DAVEj7j7T82B)B'E[[5˜[(V~?[7[[[[ZZBZYY i) [/Ii{t@w= о))ооiYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031833.383165 s, next control iter: 1743031833.763175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5332*, header.stamp.nsec: 0*0 temperature: 13.572530** salinity: 33.374996*, density: 1025.000000** values[0]: 0.568548*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031833.783165 s.YH~,r#AAQԴ@ASͬԴ@A dV~? AVAG%"AAζhNA"AZAbAjArAzAAA6ƸÔA/$JsAc@A`]9A"5.=A{A@?AuA,{ͼ*AD9?2AYֽ:A>;BAD9?JAYֽRA>;٘i)I9c@Y G JJJJJ9E&K Y U~?yDAE7)7[8)B[[ [R1V~?[[[[[ZZBZYY i) *IiAq@g= vǾ))vǾvǾtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031833.803165 s, next control iter: 1743031834.183178 s, wait time: 0.380013 s U~?) rAdjusting time to match Gazebo time: 1743031834.203165 s.H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082886< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743031834.203274F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=Դ@Aq0'pԴ@AnV~? AA%"AAhNA"AZAbAjArAzAAATAA )msAb@Aj+Ad<A@~AM?A EA-*Ab9?2ARֽ:A^,BAb9?JARֽRA^,٘i)I9b@Y G J˼JJJJ>E&K YU~?yW%HDAE77b83B)B*E[[;[!:V~?[[[[[ZZBZYY i) KIiin@2= ̾))̾̾kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031834.223165 s, next control iter: 1743031834.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031834.623165 s.WH~,]⧆#AA)\Դ@AԴ@AyV~? A$A'%"AAhNA"AZAbAjArAzAAA:+8A߰sAxb@A괂A<A?yAY?A@A%r*A 9?2A<ֽ:A&BA 9?JA<ֽRA&I٘i)I9xb@Y G JJJJJCE&K Y)U~?y,CAE7777j8) B[[o[WCV~?[|[[[[ZZBZYY i) vIik@= ))\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031834.643165 s, next control iter: 1743031835.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5333 , header.stamp.nsec: 0 0 temperature: 13.572817 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.567702 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031835.043165 s.J "J *J 2J H~:JT?BJT?,†#AnJd5vJA{Gaմ@AC</Gմ@AV~? A0,A%"AAQhNA"AZAbAjArAzAAAw&A>jFsAV b@AdZA{߻AsA o?AA&*A9?2A[Bֽ:ANBA9?JA[BֽRAN٘i)I9 b@Y G JRJJJJIE&K Y}7U~?y{4CAE{7Cq85B)$B.E[[[LV~?[ [[[[ZZBZYY i) qvIii@= )))YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031835.063165 s, next control iter: 1743031835.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031835.463165 s.`H~,݆#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082886< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031835.463306F (some fields omitted in printout)Aմ@A9wմ@AV~? AT3A %"AAFhNA"AZAbAjArAzAAACAԦsA9a@A wAۮAJnAI?A A)*A9?2Asֽ:A zBA9?JAsֽRA zYQ8@ny~ٓH??!`~?~Ǔ?@g?`np@?)Q8@ I٘i)I9a@Y| G JB=JDJJJNE&Kw> Y^HU~?y;CAnE{7nx8)&B[[d[VV~?[#[[[[ZZBZYY i0o=) adIie@=/= Vp))VpVp])YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031835.483165 s, next control iter: 1743031835.863183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5334, header.stamp.nsec: 00 temperature: 13.572956* salinity: 33.375015, density: 1025.000000* values[0]: 0.567269F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031835.883165 s.zH~,r#AJ"J*J2J:J8?BJ8?nJF5vJAQ8ִ@A;ִ@A@V~? Ad:A!%"AA iNA"AZAbAjArAzAAA,A{|A/0sA1a@A;AR A^iA!?A`gAQ*A9?2Aֽ:Av1ҼBA9?JAֽRAv1Ҽ٘i)I9a@Yk G JC=JJJJSE&K Y=YU~?yBCAEj786B)'B1E[[#[/aV~?[d[[[[BZYY iK=) wTRIizb@= L))LL9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031835.903165 s, next control iter: 1743031836.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031836.303165 s.WH~,{g#AAq= ףִ@AįXÉִ@AJV~? A_AA%"AAS iNA"AZAbAjArAzAAAք\h@A:K:5sA.a@Aj<A8A>dA?A`*AJ;*A9?2A6ֽ:AcBA9?JA6ֽRAc漙٘i)I9a@Ym G J9JJJJYE&K YjU~?yICAEb77Æ8)[[Έ[kV~?[[[[[BZYY i) E@Ii[_@= ))w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031836.323165 s, next control iter: 1743031836.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5335., header.stamp.nsec: 0.0 temperature: 13.572968.* salinity: 33.375008., density: 1025.000000.* values[0]: 0.567176.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031836.723165 s.H~,H.#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069159J< massPositionAction: 0.000000"J*J4 buoyancyAction: 0.0005002J:J dt: 0.419996BJnJ2 time: 1743031836.723290vJF (some fields omitted in printout)A(\״@AJִ@AȸV~? AEHA_r%"AAf4iNA"AZAbAjArAzAAAјbAjsAa@AQ`<A5]A^A?AAW ;*A9?2A ֽ:AUBA9?JA ֽRAU٘i)I9a@Y G J;JJJEJ^E&K YzU~?yPDAEZ7Z787B)(B5E[[[wV~?[#[[[[BZYY i) t7.Ii\@2 = އ))އއy&<=?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031836.743165 s, next control iter: 1743031837.123183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031837.143165 s.T/H~,)I#AAGz״@Ac`״@AV~? AOAr%"AA)IiNA"AZAbAjArAzAAAMAsA,b@Aʼ;AD{AYA?A`A$4<*A9?2A rֽ:Aa BA9?JA rֽRAa ٘i)I9,b@Y G J<JJJJdE&K YۋU~?yW6DAE{7{78)&B[[ .[V~?[)[[[[BZYY i) *IiEZ@ = 0}))0}0}K*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031837.163165 s, next control iter: 1743031837.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031837.563165 s.J "J *J 2J H~:JBJnJ,F d#AvJAffff״@AYvQ״@AV~? AUA6h%"AA^iNA"AZAbAjArAzAAA.5~@Api5sAb@AWA/≽ATA\?AGgAn<*Ad9?2Aֽ:ABAd9?JAֽRAYv@ήTyችzٓHG?l?`s1Γ@?J?8?uR?)v@ I٘i)I9b@Y G JN<JzJJJiE&K0w> YU~?yk^DATE7777C88B)$B8E[[[み[hV~?[0[[[[BZYY if=) f Ii(V@ = lj))̀ljlj*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031837.583165 s, next control iter: 1743031837.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5336, header.stamp.nsec: 00 temperature: 13.572815* salinity: 33.375034, density: 1025.000000* values[0]: 0.567416F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031837.983165 s.H~,~#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251562> elevatorAngleAction: 0.056346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031837.983278F (some fields omitted in printout)AQش@Ax 7ش@AV~? Ao\A%"AAtiNA"AZAbAjArAzAAAA'AAϹsAb@A naAA3OA`$"?A"ACx<*Ab9?2Aս:AWBAb9?JAսRAW٘i)I9b@Y G JI<JJJJnE&K YU~?ydDAE7n89B)!B;E[[)[V~?[6[[[[BZYY i) JIilR@= PgX)) PgXPgX*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031838.003165 s, next control iter: 1743031838.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031838.403165 s.&H~,͙#AJ"J*J2J:JBJnJvJA ףpش@A3FYش@A)V~? AbA e%"AAliNA"AZAbAjArAzAAAa<AP[sApc@A1]uAØAhJA@}?AAϡ<*AC9?2A ս:A9BAC9?JA սRA9٘i)I9pc@Yl G J^<JJJJtE&K YU~?ymkLEAE778)B[[Oz[9V~?[;[[[[BZYY i) EۻIiO@= E))EE*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031838.423165 s, next control iter: 1743031838.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5337", header.stamp.nsec: 0"0 temperature: 13.572548"* salinity: 33.375038", density: 1025.000000"* values[0]: 0.567939"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031838.823165 s.H~,-#AA\(ٴ@A\ٴ@AW~? AjiA:%"AAҢiNA"AZAbAjArAzAAAT1AǨsAfc@A9A\AAk[EAɭ?A ْA2<*A9?2Aս:AހBA9?JAսRAހ٘i)I9c@Y G J/<JJJJyE&K YU~?yqEAEb7b7ı8;B)B?E[[cu[CV~?[A[[[[BZYY i) >IiL@x=  *3)) *3 *3yg=V*Y"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031838.843165 s, next control iter: 1743031839.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031839.243165 s.H~,qχ#AJ"J*J2J:J{?BJ{?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743031839.243301F (some fields omitted in printout)AGzٴ@A.ezٴ@AW~? AoANi%"AAܺiNA"AZAbAjArAzAAAg;rA߿sAˎd@A',;A|hAd?An?AGA1g<*AĴ9?2A~ֽ:A BAĴ9?JA~ֽRA ٘i)I9d@Y G J<JJJJ~E&K YU~?ypxFAEŧ78)B[[)q[V~?[G[[[[BZYY il=) R8IiI@+= h ))h h *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031839.263165 s, next control iter: 1743031839.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031839.663165 s.H~,q#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5338, header.stamp.nsec: 00 temperature: 13.572219* salinity: 33.375042, density: 1025.000000* values[0]: 0.568647F (some fields omitted in printout)Aڴ@AĮٴ@Am#W~? AuA[%"AAiNA"AZAbAjArAzAAA NuyAxTsA e@A5H<A`白Ax:A -?ALA4k<*A9?2A,vֽ:AGBA9?JA,vֽRAGY@:ym䙽H<ٓH 3?O?@iF?@ ?7?`? E?)@ I٘i)I9 e@Ys G J<JvJJJE&K#v> Y&V~?yO~lFA: Eb778)BBE[[wl[XV~?[M[[[[BZYY i) X~Ii3E@Wj< p ))}p p *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031839.683165 s, next control iter: 1743031840.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031840.083165 s.DH~, S#AJ"J*J2J:JBJnJvJARkڴ@AwoQڴ@AW4W~? A"|Apu%"AAiNA"AZAbAjArAzAAAoTA1>sA/e@AV|<AAUW5A8?AA<*A 9?2ABֽ:AOBA 9?JABֽRAO٘i)I9e@Y G J<JJJJE&K Y1V~?y-FAEb7D8 elevatorAngleAction: 0.065637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743031840.503261F (some fields omitted in printout)Ap= ڴ@AYڴ@AEW~? A(A%"AAjNA"AZAbAjArAzAAA7ܿA2sA=f@A,<AvAR0A`?A bYAN<*AB9?2Aw,ս:AւBAB9?JAw,սRAւ٘i)I9=f@Y G Jm<JJJJE&K Y<*V~?y ;GAEj7j7o8) B[[/'c[V~?[X[[[[BZYY i) {Ii=@< н))нн*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031840.543165 s, next control iter: 1743031840.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5339, header.stamp.nsec: 00 temperature: 13.571862* salinity: 33.375046, density: 1025.000000* values[0]: 0.569397F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031840.923165 s.8H~,;#AJ"J*J2J:JBJnJvJA(\B۴@Ahx(۴@A`WW~? AAމ%"AAI!jNA"AZAbAjArAzAAA(V$ϿAK\sA9f@A"9A Am+A(?A@ A<*Aq9?2A[ս:As'BAq9?JA[սRAs'٘i)I9f@Yw G J<JJJJE&K YF?V~?yꏪGAE778=B)BHE[[l^[V~?[x^[[[[BZYY i) 0YIi:@^< 窽))窽窽y i=*Y|!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031840.943165 s, next control iter: 1743031841.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031841.343165 s.<H~,U#AAHz۴@AyT۴@AviW~? A㍫A7%"AAaB)BLE[[Y[! W~?[d[[[[BZYY i) 0NIi7@W5< ᄽ))ᄽᄽ*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031841.363165 s, next control iter: 1743031841.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5340&, header.stamp.nsec: 0&0 temperature: 13.571513&* salinity: 33.375061&, density: 1025.000000&* values[0]: 0.570090&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031841.763165 s.7H~,p#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031841.763285F (some fields omitted in printout)Aܴ@Ah۴@A{W~? AA%"AAXjNA"AZAbAjArAzAAA%`">?A8csA>g@AzA#A]!A?AcA"<*A9?2A)6ս:AniBA9?JA)6սRAniY@!yᯍr{ٓH??@u`?W.?`^?`Zp?)@ I٘i)I9g@Y# G J<Jsh<JJJE&Ku> Y'kV~?yiHA!&E7)78)B[[T[W~?[ii[[[[BZYY i) p"C:Ii>3@o< ~>))hz~>~>,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031841.783165 s, next control iter: 1743031842.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031842.183165 s."H~,s#AAQܴ@Abkܴ@AW~? A*Au8%"AA?tjNA"AZAbAjArAzAAA&Eb?AesAoh@AHA芽AA '?A A<*A9?2Aս:AcBA9?JAսRAc٘i)I9oh@Yw G Jz<JJJJE&K YV~?y&HA,E77{78?B)BOE[[[:P[)W~?[n[[[[BZYY i) ":Ii/@(< P)) P弩PY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031842.203165 s, next control iter: 1743031842.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031842.603165 s.;4)H~,#AJ"J*J2J:J!?BJ!?nJ:5vJA= ףܴ@Aܴ@AW~? AA%"AA jNA"AZAbAjArAzAAAtyw?A1{ sAh@A71A`AA ~?A _߿AP <*A 9?2AԽ:A"BA 9?JAԽRA"٘i)I9h@Y G J<JJJJE&K YӘV~?yU'IA1E7E8@B)BRE[[tK[9W~?[ t[[[[BZYY i)  ,;Iid+@a< ;));;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031842.643165 s, next control iter: 1743031843.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5341 , header.stamp.nsec: 0 0 temperature: 13.571159 * salinity: 33.375069 , density: 1025.000000 * values[0]: 0.570824 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031843.023165 s.Z0H~,{#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743031843.023327F (some fields omitted in printout)A(\ݴ@A"Bݴ@AyW~? AAb%"AA`jNA"AZAbAjArAzAAA޷\?A>]AcsA.ni@A/<A\[AA?A@޿A\<*A:?2A1ս:AFBA:?JA1սRAF񼙘٘i)I9ni@YG J<JJJJE&K YV~?yIA7Eŧ7ŧ7o8)B[[F[JW~?[Gy[[[[BZYY i) תi;Ii(@< <))<<*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031843.043165 s, next control iter: 1743031843.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031843.443165 s.;6H~,O]܈#AJ"J*J2J:JBJnJvJAzݴ@A҈ݴ@A]W~? A0A%"AA=jNA"AZAbAjArAzAAA\~@,?ALatAFi@Awt<AAXV A@?AݿA@d<*A:?2Arս:AwBA:?JArսRAw٘i)I9i@YYG Jb<JJJJE&K  8YV~? 8yIA<Eb78)BUE[[3A[[W~?[o~[[[[BZYY i&=) ȥ;Ii%@Z< <))<<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031843.463165 s, next control iter: 1743031843.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5342, header.stamp.nsec: 00 temperature: 13.570847* salinity: 33.375076, density: 1025.000000* values[0]: 0.571467F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031843.863165 s.+=H~,>#AA33333޴@A,9$޴@AW~? AHA%"AAjNA"AZAbAjArAzAAA&>b?AuttATj@Am`<AA.A$h?A9ݿAp<*A:?2Arս:A*BA:?JArսRA*Y@hy H`<ٓH`̑?3?`.A|?@ (?~?{ ?5?)@ I٘i)I9Tj@YG J<B=J7<JJJE&Kt> YV~?y%>JAhAES7S78BB)BZE[[3 =[mW~?[o[[[[BZYY i) ;Iiu @nc< :@=))iYw:@=:@=ܳ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031843.903165 s, next control iter: 1743031844.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031844.283165 s.=RDH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241552> elevatorAngleAction: 0.074477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031844.283309F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ޴@Ap޴@A%W~? A?A4%"AA} kNA"AZAbAjArAzAAA>xWo?AjS縶tAj@A;Ae샽AA?A{ܿAԅ<*A9?2A,ս:AIBA9?JA,սRAI٘i)I9j@YG J<C=JJJJE&K YKV~?yJAGE7)78CB)B]E[[;8[~W~?[_[[[[BZYY i) S;Ii1@=< ࢆ=))ࢆ=ࢆ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031844.303165 s, next control iter: 1743031844.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5343., header.stamp.nsec: 0.0 temperature: 13.570534.* salinity: 33.375095., density: 1025.000000.* values[0]: 0.572074.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031844.703165 s.ٺJH~,-#AAףp= ߴ@A:\=޴@AX~? AA%"AA(kNA"AZAbAjArAzAAA}Sd?Ap:h tA.6k@AQ^A׭AsA?A ۿA<*A:?2A\ӽ:A> BA:?JA\ӽRA> ٘i)I96k@Y'G J<B=JJJJE&K YW~?y JALE7778)B[[a3[W~?[>[[[[BZYY i) ;IiR@E<  r=))  r= r=yu=`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031844.723165 s, next control iter: 1743031845.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031845.123165 s.>QH~,zG#AJ"J*J2J:JBJnJvJA)\uߴ@Aͪ[ߴ@A5X~? A˼A\w%"AAHkNA"AZAbAjArAzAAA1@A tAk@AdAޅAAPA?A`ڿAI<*A:?2AԽ:A^BA:?JAԽRA^٘i)I9k@YnG J<C=JJJJE&K Y(W~?y{HKAQEŧ7b7E8)B`E[[.[W~?[[[[[BZYY i) B~ elevatorAngleAction: 0.074477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743031845.543282F (some fields omitted in printout)A{Gߴ@Ah[:ߴ@A1X~? A_A%"AAikNA"AZAbAjArAzAAA]ؼ@A`jUtAl@AeqAJA\[A W?A 36ڿAe<*Am :?2A=Խ:ABAm :?JA=ԽRA٘i)I9l@YG J <B=JJJJE&K Yy@W~?yŪKAWE{7j7p$8DB)BcE[[k)[W~?[[[[[BZYY i) ) Y*ZW~?yɪKAy۾\Eŧ7b7+8)߯BfE[[$[W~?[F[[[[BZYY i) q'))5u K> K>_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031845.983165 s, next control iter: 1743031846.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031846.383165 s.eH~,<#AAQ@Aj=@A]X~? AʫAn%"AAkNA"AZAbAjArAzAAAa@AetAw m@A oU;AيAоA?A*ؿA} <*Af:?2Aֽ:ABAf:?JAֽRA٘i)I9 m@YDG J7<JJJJE&K YsW~?y@ͪYLAaE77{728)ܯBiE[[{[ W~?[[[[[BZYY i) :7))b$>$>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031846.403165 s, next control iter: 1743031846.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5345", header.stamp.nsec: 0"0 temperature: 13.569911"* salinity: 33.375118", density: 1025.000000"* values[0]: 0.573313"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031846.803165 s.{AlH~,g#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259067> elevatorAngleAction: 0.074477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743031846.803301F (some fields omitted in printout)Aq= #@A8en @AsX~? AIΫA%"AAkNA"AZAbAjArAzAAA!} @A ~7tA_|m@AM<AAsƾA@K?A ׿A,݈<*A~:?2AԽ:AьBA~:?JAԽRAь٘i)I9|m@YG Jψ<JJJJE&K YW~?yЪLA DgE)7ŧ798FB)گBjE[[O[W~?[[[[[BZYY i) (F)) 08>08>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031846.823165 s, next control iter: 1743031847.203182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031847.223165 s.gsH~,HΉ#AA(\@ALu@AtX~? AOҫA%"AAkNA"AZAbAjArAzAAA & @AtA&m@Ay<AAZTA?AֿAċ<*A:?2AԽ:A7BA:?JAԽRA7٘i)I9m@YG Jɉ<B=JJJJE&K Y?W~?yԪMAlE777A8)ׯBmE[[[;X~?[g[[[[BZYY iG=) (MV)) tL> tL>h*YHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031847.243165 s, next control iter: 1743031847.623184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743031847.643165 s.zyH~,*#AJ"J*J2J:JBJnJvJAG@A@AQX~? A1֫A|~%"AAlNA"AZAbAjArAzAAA`$P @A tAgn@Au!<AATTA ̾?A &ֿA"6<*A:?2AԽ:ASHBA:?JAԽRASH٘i)I9gn@YG JX<C=JJJJE&K YW~?y;تlMArE77FH8)ӯBpE[[[X~?[[[[[BZYY i) e))po`>po`>*YE YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5346Waiting for Gazebo time sync: latest Gz time: 1743031847.663165 s, next control iter: 1743031848.043176 s, wait time: 0.380011 s, header.stamp.nsec: 00 temperature: 13.569576* salinity: 33.375122, density: 1025.000000* values[0]: 0.573921F (some fields omitted in printout)2W~?)2;ت rAdjusting time to match Gazebo time: 1743031848.063165 s.H~,c #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083633< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743031848.063341F (some fields omitted in printout)Afffff@ArCQL@AkX~? A٫A3%"AA3lNA"AZAbAjArAzAAA\K@AStAn@A?ArϔAhfA@?ATտAm<*Ab:?2AԽ:A, BAb:?JAԽRA, Yц@m_yoϔQ@ٓH4?*?B`ԿH?@5??Ga?)ц@ I٘i)I9n@YeG J<JbJJJE&KYs> YW~?y۪MA_wEb77pO8GB)ЯBsE[[G [.X~?[[[[[BZYY i)  u))sP.t>P.t>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031848.083165 s, next control iter: 1743031848.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031848.483165 s.x_H~,#AJ"J*J2J:JBJnJvJA@A[z4շ@AX~? AݫA%"AAWlNA"AZAbAjArAzAAA,k@A]V!tAYgo@A3A(ᗽAcA`(?AeԿAC<*A :?2AԽ:A3}BA :?JAԽRA3}٘i)I9go@YG J<JJJJE&K YdW~?yݪ4NA|E77V8)̯BvE[[ [CX~?[[[[[BZYY i) 8")) > >y/=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031848.503165 s, next control iter: 1743031848.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5347, header.stamp.nsec: 00 temperature: 13.569236* salinity: 33.375156, density: 1025.000000* values[0]: 0.574928F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031848.903165 s.ȍH~,9#AA ףp=@AvX#@AQX~? AA%"AAzlNA"AZAbAjArAzAAA28@Aԋ;#tA^o@Aj'}AꚽAlA`K`?A?ӿAt<*Aw":?2A %ӽ:A.BAw":?JA %ӽRA.٘i)I9o@YG J#<JJJJE&K YX~?yNAE77]8)ȯByE[[G[BYX~?[Y[[[[BZYY i) x)) (>(>*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743031848.923165 s, next control iter: 1743031849.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031849.323165 s.sH~,T#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083633< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031849.323298F (some fields omitted in printout)A\@A.Y@AX~? ALAd%"AAmlNA"AZAbAjArAzAAA,^@AΦ%tA}p@AiAA؝ABAA?A@ҿA%<*A :?2Aӽ:ABA :?JAӽRA٘i)I9}p@Y^G J<JJJJE&K Y+X~?yNAEb7d8)ïB[[e[0oX~?[[[[[BZYY i) Y))Q1>Q1>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031849.343165 s, next control iter: 1743031849.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5348*, header.stamp.nsec: 0*0 temperature: 13.568862** salinity: 33.375137*, density: 1025.000000** values[0]: 0.575297*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031849.743165 s.WH~,do#AAGz@A/g@AY~? AuAp%%"AAlNA"AZAbAjArAzAAADï<@AD'tA q@AAAFTA X?A $ѿAuʪ<*A:?2AXwԽ:A]BA:?JAXwԽRA]٘i)I9 q@YG JZ<JJJJE&K YFX~?ys`OAE7ŧ7l8HB)B|E[[ [|X~?[[[[[BZYY i) w))]>]>*YA YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031849.763165 s, next control iter: 1743031850.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031850.163165 s.w}H~,q#AJ"J*J2J:J_?BJ_?nJ5vJA@Ae@AJ/Y~? AxA%"AAlNA"AZAbAjArAzAAA=~w b@A)tJk)tAq@A<AAGiA@?A ѿAL<*AW:?2AUս:AtBAW:?JAUսRAtYӸ@~jyE<ٓH??`ej`̿#+?;?@/p???)Ӹ@ I٘i)I9q@Y G JQ<JJJJ E&Kws> YbX~?yrOA~jE77{7Fs8)BE[[][X~?[ê[[[[BZYY i) ]))z`sYj>Yj>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031850.183165 s, next control iter: 1743031850.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031850.583165 s.H~,S#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237673> elevatorAngleAction: 0.083633< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031850.583286F (some fields omitted in printout)AR@Aek@AGY~? ATA%"AA mNA"AZAbAjArAzAAAWI2@AA+)+tA'.r@AKt<AAtTA`=?A>&пApT<*A :?2AWս:A|BA :?JAWսRA|٘i)I9.r@YeG JR<JJJJE&K Y}X~?yr))׃->->*YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743031850.603165 s, next control iter: 1743031850.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5349, header.stamp.nsec: 00 temperature: 13.568492* salinity: 33.375153, density: 1025.000000* values[0]: 0.576059F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031851.003165 s.z H~,U4#AJ"J*J2J:JBJnJvJAp= W@A[&<@A;`Y~? AA+y%"AA0mNA"AZAbAjArAzAAACݚ@AO,tAr@AFX<AyA[@AaA?AzqοA_<*A$:?2Aӽ:A'BA$:?JAӽRA'I٘i)I9r@YG JF<JJJJE&K YX~?yqPAE778)BE[[YѾ[pX~?[ɪ[[[[BZYY i) .))  > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031851.043165 s, next control iter: 1743031851.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031851.423165 s.uH~,ۊ#AA(\@AwNy@AxY~? AAE%"AATVmNA"AZAbAjArAzAAANu@A/^.tAj`s@A"B;ALAd"-A e?Aa̿Aڀ<*A$:?2Aӽ:ABA$:?JAӽRA٘i)I9`s@Y G JI<JJJJE&K YX~?yqQAE{7ƈ8)BE[[ Ǿ[X~?[̪[[[[BZYY i) !))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031851.443165 s, next control iter: 1743031851.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5350, header.stamp.nsec: 00 temperature: 13.568090* salinity: 33.375179, density: 1025.000000* values[0]: 0.576833F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031851.843165 s.ݼH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J> elevatorAngleAction: 0.083633"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500:J dt: 0.419978BJnJvJ2 time: 1743031851.843266F (some fields omitted in printout)AHz.@AXm@AݑY~? AA7%"AA{mNA"AZAbAjArAzAAA= @A<-;/tAt@A[6ջAvAVAH?AQʿAU<*A:?2Aӽ:Au<BA:?JAӽRAu<٘i)I9t@YG J<JJJJ E&K YX~?ypQAE778JB)BE[[[X~?[Ϫ[[[[BZYY i) ))n>n>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031851.863165 s, next control iter: 1743031852.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031852.263165 s.H~, #AA@Ax҆@AY~? A;A%"AAmNA"AZAbAjArAzAAA[r=@A41tAt@A_hAmA A`J?A@;ɿA<*Az:?2AԽ:A'BAz:?JAԽRA'Y@yIiٓH?g?Pmu]?mՙ??@?)@ I٘i)I9t@YG J`<JjJJJ%E&Kr> YX~?yQAE8)B[[r[PY~?[gҪ[[[[BZYY i) |>))ڭs٬>٬>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031852.283165 s, next control iter: 1743031852.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 53512, header.stamp.nsec: 020 temperature: 13.5676642* salinity: 33.3752062, density: 1025.0000002* values[0]: 0.5777112F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031852.683165 s.lH~,g+#AJ"J*J2J:J?BJ?nJ5vJAQ@A^ @AY~? ASA%"AAmNA"AZAbAjArAzAAAQn@A CIk|2tA`u@A#cmAAA@?AkǿApI<*A:?2AԽ:Aw BA:?JAԽRAw ٘i)I9`u@YXG J<JJJJ+E&K YY~?yrRAE7F8)BE[[i[^(Y~?[ ժ[[[[BZYY i) |)) M>M>.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031852.683165 s, next control iter: 1743031853.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743031853.103165 s.H~,F#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257911> elevatorAngleAction: 0.083633< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743031853.103291F (some fields omitted in printout)A= ףp@A4ތV@A_Y~? ACA}%"AAmNA"AZAbAjArAzAAANE7@A3tAv@A0=AA A]?A~ſA<*A,:?2Amӽ:A BA,:?JAmӽRA ٘i)I9v@YG J<JJJJ0E&K Y#Y~?yRAE77j7q8)BE[[ų[@Y~?[ת[[[[BZYY i) ڹ)) k>k>*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031853.123165 s, next control iter: 1743031853.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031853.523165 s.H~,|a#AJ"J*J2J:JBJnJvJA(@APj@AY~? A Aq%"AArnNA"AZAbAjArAzAAAE[@A04tA7v@A>;AA捽A ?A༮ÿAh<*A,:?2AԽ:A=BA,:?JAԽRA=٘i)I9v@Y0G J%<JJJJ5E&K Y?Y~?y^SAE8)BE[[5[YY~?[٪[[[[BZYY iw=) ())>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031853.543165 s, next control iter: 1743031853.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5352, header.stamp.nsec: 00 temperature: 13.567186* salinity: 33.375210, density: 1025.000000* values[0]: 0.578609F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031853.943165 s.VdH~,:]|#AAzG@A-@AXZ~? AAO%"AA;nNA"AZAbAjArAzAAA-;T @A^5tAqw@A|T<AAGA`?A3Ag<*AN':?2AԽ:ABAN':?JAԽRA٘i)I9qw@YG J<JJJJ;E&K Y[Y~?ySAEj7Z7dz8)BE[[[rY~?[%ܪ[[[[BZYY i) 6#AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743031854.363274F (some fields omitted in printout)A3333@Auq@A)Z~? AA1%"AAanNA"AZAbAjArAzAAAZ[( @AN$6tA1x@Aw<AֳAz@A@,?A@AK<*A:?2ALս:A!BA:?JALսRA!Y@a%yuѳ tx<ٓH?;?%@? "r?@?@?)@ I٘i)I9x@YG JO<JJJJ@E&Kus> YxY~?y_MTA%Eŧ778)BE[[[f|[Y~?[/ު[[[[ZZZZ¸>BZYY i¸>}) 0?AOA<*AI:?2A_pս:AbBAI:?JA_pսRAb٘i)I9x@YnG J<JJJJEE&K YBY~?yTAE78)BE[[;Rg[Y~?[[[[[ZZZZBZYY i) -*UAE77{7G8)}BE[[3R[Y~?[[[[[ZZZZBZYY i) # YZ~?ykVA5=E77{78)hBE[[ù[ Z~?[[[[[ZZZZBZYY i`k) G=@A>Z~? AAv%"AALoNA"AZAbAjArAzAAADoN$@An-9tAۻ|@A=AּA"=Ax{?A`TA<*AJ:?2A@0ս:A:BAJ:?JA@0սRA:٘i)I9|@YG J<JJJJ`E&K YE!Z~?y.VAEŧ7b78PB)jBE[[FL[ 'Z~?[4[[[[ZZZZBZYY i) xAm?AāA[Y!<*Ax`:?2Aӽ:A؀<BAx`:?JAӽRA؀<٘i)I9}@YUG JR<JJJJkE&K YYZ~?yWAE)7b7G8OB)cBE[[[\Z~?[[[[[ZZZZBZYY i,O) u{; 4?))4?4?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031857.743165 s, next control iter: 1743031858.123181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031858.143165 s.W/"H~, *#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031858.143293F (some fields omitted in printout)AGz@AG`@Aq[~? AA%"AALoNA"AZAbAjArAzAAA„(&@AB:tA'}@AqY<A<A1>A Y?A$w?Aǫ;*AX:?2A~Խ:Ag<BAX:?JA~ԽRAg<٘i)I9}@YvG Jv<JJJJpE&K YuZ~?yU[WAE{7Z7r8)aBE[[i[wZ~?[t[[[[ZZZZBZYY i) T`߇; bt:?))bt:?bt:?y;שYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031858.163165 s, next control iter: 1743031858.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031858.563165 s.(H~,V #AJ"J*J2J:JBJnJvJAffff@ADQO@A-[~? AA%"AAoNA"AZAbAjArAzAAA,o&@Aqm,:tA}@Ax};A2U=A).>Aن?Am?A#:*A1H:?2A9ս:Au^<BA1H:?JA9սRAu^yT=ؙ};ٓH@?Dſc?y??Y? I`o??)@ I٘i)I9}@YG Jom;J7>JJJvE&Kst>  8YБZ~? 8y/WAI.>E7778)_BE[[X[ؒZ~?[[[[[BZYY irl) N$p`; P??))e'yP??P??y]^1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031858.583165 s, next control iter: 1743031858.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5357, header.stamp.nsec: 00 temperature: 13.565064* salinity: 33.375286, density: 1025.000000* values[0]: 0.582928F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031858.983165 s./H~,쾌#AAQ@A 7@AG[~? AA%"AAVpNA"AZAbAjArAzAAA` d'@AE 9tA}@AŖAl0=A{C>A@?A2?A6 *A_8:?2Aս:A<BA_8:?JAսRA<٘i)I9}@Y JšJJJJ{E&K YZ~?yXWAE77 8)[[h[ Z~?[[[[[BZYY ilȊ) -=5; lE?)) lE?lE?y-#pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031859.023165 s, next control iter: 1743031859.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031859.403165 s.&6H~,ٌ#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067765< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031859.403282F (some fields omitted in printout)A ףp@Ac]@Aa[~? A&Ah%"AA9pNA"AZAbAjArAzAAA (@A{h9tA}@AXmA@yW=A TX>A{?AT?A׻*A*I:?2AԽ:Au<BA*I:?JAԽRAu<٘i)I9}@YtG JgJJJJE&K YZ~?yVAE778LB)^BE[[Q;[vZ~?[[[[[BZYY i) !+; ~J?))~J?~J?ys|eӓYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031859.423165 s, next control iter: 1743031859.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5358", header.stamp.nsec: 0"0 temperature: 13.564914"* salinity: 33.375305", density: 1025.000000"* values[0]: 0.583042"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031859.823165 s.ATr?A`?A &*A8B:?2A"ս:A=BA8B:?JA"սRA=٘i)I9}@YQG JJJJJE&K Y|Z~?yZVA E{7{78KB)_BE[[F<[Z~?[[[[[BZYY i) @: P?))P?P?yOڨY4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031859.843165 s, next control iter: 1743031860.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031860.243165 s.J "J *J 2J :J >?BJ >?nJ ~5vJ CH~,#AAGz@Afz@A[~? AA%"AApNA"AZAbAjArAzAAA嚶=)@AHNt8tA;}@A Ao=A_>ADf?A h?A_*A3=:?2A9ս:A( =BA3=:?JA9սRA( =٘i)I9;}@Y G Jt@JJJJE&K Ya[~?yVAEb77H8)aBE[[3R=[[~?[[[[[BZYY i) ;: 3V?))3V?3V?0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031860.263165 s, next control iter: 1743031860.643186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743031860.663165 s.JH~,q*#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067765< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031860.663293F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5359, header.stamp.nsec: 00 temperature: 13.564899* salinity: 33.375332, density: 1025.000000* values[0]: 0.582844F (some fields omitted in printout)A@Ax[@A[~? AA%"AApNA"AZAbAjArAzAAAi )@Ah->8tA|@Aa;A6=A\>AW?A ?AJ*A8:?2Ay:ս:A =BA8:?JAy:սRA =YR=7>y>6=Բ;ٓH? ѿ tٱ? ?@?G?@",Lv?K?)R= I٘i)I9|@YG JwJ=JJJE&Kt> Y[~?yVA>Ej7j7s&8JB)cBE[[z=[@[~?[ [[[[BZYY iik) ;Iid=B: *[?))?|*[?*[?qǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031860.683165 s, next control iter: 1743031861.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031861.083165 s.DQH~, SE#AJ"J*J2J:JBJnJvJARk@AtQ@AU[~? AA%"AA+pNA"AZAbAjArAzAAA]ϵkw*@Ab+K7tA+X|@ACc<A=Az>AF?A`ͻ?A9*A5:?2AXս:Au=BA5:?JAXսRAu=٘i)I9X|@YG JJJJJE&K Y7[~?y&UAE77-8IB)gBĹE[[=[7[~?[R[[[[BZYY i) jQ;II?i1ջ[q [a?)) [a?[a?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031861.103165 s, next control iter: 1743031861.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031861.503165 s.WH~,H4`#AAp= @A',@A[~? AaA%"AAFpNA"AZAbAjArAzAAA/+@A0r6tAN{@ADv<A)=AƱ>A4?Az?A*AL:?2A]Խ:A:=BAL:?JA]ԽRA:=٘i)I9{@YAG J[JJJJE&K YS[~?y\UA#E{7j748)jBǹE[[Z=[S[~?[f[[[[BZYY i) ղ;II?i{M! 7f?))7f?7f?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031861.543165 s, next control iter: 1743031861.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5360, header.stamp.nsec: 00 temperature: 13.564995* salinity: 33.375328, density: 1025.000000* values[0]: 0.582427F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031861.923165 s.J "J *J 2J :J ?BJ ?nJ X5vJ 8^H~,{#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057473< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031861.923282F (some fields omitted in printout)A(\B@Ajhw(@A[~? AA5)%"AAB%qNA"AZAbAjArAzAAAN+@A=5tA9{@AU)<A^=A,>A?A ?A*AP:?2Aս:A=BAP:?JAսRA=٘i)I99{@YG JxJJJJE&K Y[o[~?[G[[[[BZYY i) V;Il I?i<߽ގ Xol?))Xol?Xol?yk تY YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031861.943165 s, next control iter: 1743031862.323179 s, wait time: 0.380014 sA?A?AK*AS:?2AHս:A =BAS:?JAHսRA =٘i)I9z@YG J\JJJJE&K Ys[~?yTA-E7C8HB)sBʹE[[-%>[y[~?[[[[[BZYY i) p;I^ I?iú f r?))f r?f r?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031862.383165 s, next control iter: 1743031862.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5361&, header.stamp.nsec: 0&0 temperature: 13.565122&* salinity: 33.375351&, density: 1025.000000&* values[0]: 0.581849&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031862.763165 s.5kH~,ذ#AJ"J*J2J:JBJnJvJA@A0a@A/\~? AA?g%"AArqNA"AZAbAjArAzAAA39#,@A 3tAQ z@AJAљ=A>A?A`i?AS;*AV:?2Akuֽ:A'=BAV:?JAkuֽRA'=Y!> B>yΙ=AKٓH ^?J׿?U,??ݣ?`<5UG?)!> I٘i)I9 z@Y0G JuJ#<JJJE&K$v> Yã[~?yݪ1TAB>3E7777HJ8GB)wB͹E[[B<>[[~?[t[[[[BZYY i) f4;IgI?i\$ w?))w?w?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031862.783165 s, next control iter: 1743031863.163174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031863.183165 s.rH~,xˍ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249614@ elevatorAngleAction: -0.057473< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031863.183272F (some fields omitted in printout)AQ@ANk@A+I\~? AA%"AARqNA"AZAbAjArAzAAA\~-@A:?UP2tA {y@A7}AF=AK>A?A@E?A@*AX:?2Aֽ:AY<BAX:?JAֽRAY<٘i)I9{y@YG J+JJJJE&K Y[~?yڪSA8E77sQ8FB){BйE[[%&S>[[~?[[[[[BZYY i) z:II?if@3 t}?)) t}?t}?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031863.203165 s, next control iter: 1743031863.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031863.603165 s.44yH~,#AJ"J*J2J:J?BJ?nJ5vJA= ף@A G@Adb\~? AA%"AAqNA"AZAbAjArAzAAAaUm.@AVl1tAx@Aߔ,Ah=Ai>A@?A(?A*Ak:?2Aս:A<BAk:?JAսRA<٘i)I9x@YG JJJJJE&K Y`[~?yתcSA=EZ7Z7X8)~BӹE[[57j>[[~?[ߪ[[[[BZYY i) o:I&I?imU C\?))C\?C\?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031863.623165 s, next control iter: 1743031864.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5362 , header.stamp.nsec: 0 0 temperature: 13.565303 * salinity: 33.375355 , density: 1025.000000 * values[0]: 0.581232 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031864.023165 s.ZH~,|#AA(\@A B@Az{\~? A[A%"AAqNA"AZAbAjArAzAAAD1.@A00tA\x@AAF=A K>A`*?AG?AB*Ari:?2ACս:AKF<BAri:?JACսRAKF<٘i)I9\x@Y)G J JJJJE&K Y[~?yNԪRACEb77_8EB)BֹE[[>[n[~?[ݪ[[[[BZYY i) ԶIH?i>:r 2?))2?2?qŪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031864.043165 s, next control iter: 1743031864.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031864.443165 s.8ÆH~,B]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031864.443290F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@AAJ@Aj\~? AA%"AA rNA"AZAbAjArAzAAA`tG/@A0uX.tAfw@Aȉ*<A=AJ>Am?A`X?A*AQg:?2AJս:A4<BAQg:?JAJսRA4<٘i)I9w@YG JJJJJE&K Y \~?yѪRAHEf8)B[[b>[A\~?[`۪[[[[BZYY i) sIyH?iϾ g?))g?g?y]zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031864.483165 s, next control iter: 1743031864.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5363, header.stamp.nsec: 00 temperature: 13.565437* salinity: 33.375378, density: 1025.000000* values[0]: 0.580638F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031864.863165 s.+H~,>7#AA33333@AD-@A1\~? AlA8%"AAe1rNA"AZAbAjArAzAAAC^/@A(" -tAHw@A|<AF=Aߌ>A`G?A ?A*Ad:?2Akս:AZA<BAd:?JAkսRAZA>y=|<ٓH l?`*ݿ?g?A?@n?`r??)> I٘i)I9Hw@YG JB=J<JJJE&Kv> Y(&\~?yͪ8RA>MEE7E7n8AB)BعE[[;>[1\~?[ت[[[[BZYY i) `IH?iノ8 P܉?))P܉?P܉?μYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031864.903165 s, next control iter: 1743031865.263182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743031865.283165 s.9RH~,R#AJ"J*J2J:JBJnJvJAQ@Ab@A\~? AAk%"AAVrNA"AZAbAjArAzAAA#K90@Avif+tAv@ADH<AP=A>A` ?A@,'?AȘ*Aa:?2AFֽ:A<BAa:?JAFֽRA<٘i)I9v@Y1G J C=JJJJE&K YL?\~?yɪQASE77Iu8@B)B۹E[[ߤ>[(M\~?[#֪[[[[BZYY i)  9IH?i ?))??"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031865.303165 s, next control iter: 1743031865.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 53642, header.stamp.nsec: 020 temperature: 13.5655622* salinity: 33.3753972, density: 1025.0000002* values[0]: 0.5800932F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031865.703165 s.ֺH~,m#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743031865.703272F (some fields omitted in printout)Aףp= @AJ8@A;\~? AA%"AA|rNA"AZAbAjArAzAAAlZ0@AP볨)tAGv@Al-;A)+=A9t?Ao?A?A*A^:?2A ֽ:A<BA^:?JA ֽRA<٘i)I9Gv@YG JB=JJJJE&K YuX\~?yŪQAXE7u|8?B)B޹E[[g>[h\~?[2Ӫ[[[[BZYY i) 2wIH?i. 莏?))莏?莏?,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031865.723165 s, next control iter: 1743031866.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031866.123165 s.:H~,i⇎#AJ"J*J2J:JBJnJvJA)\u@Aѩ[@Av\~? AA %"AArNA"AZAbAjArAzAAAx0@Akw'tAqu@A A㹂=A?A?A>?AG*ANZ:?2AH׽:Ac<BANZ:?JAH׽RAc<I٘i)I9u@YG J㋼C=JJJJE&K Yq\~?y$QA^ES7S78>B)BE[[9>[\~?[ Ъ[[[[BZYY i) =IH?iDȻ +r?))+r?+r?&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031866.163165 s, next control iter: 1743031866.523183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743031866.543165 s.IH~,â#AA{G@AQ0@A}]~? AA&%"AAxrNA"AZAbAjArAzAAA&1@AAf%tAcu@A8uA=A5?A`?A ?A*ATV:?2A;׽:A<BATV:?JA;׽RA<٘i)I9cu@YYG JJJJJE&K Y\~?y PA DcE777Ɋ8)B[[;>[E\~?[̪[[[[BZYY i) 嶹IH?it$һ ,\?)),\?,\?!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031866.563165 s, next control iter: 1743031866.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5365, header.stamp.nsec: 00 temperature: 13.565662* salinity: 33.375393, density: 1025.000000* values[0]: 0.579618F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031866.963165 s.J "J *J 2J :J a?BJ a?nJ 5vJ |H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031866.963290F (some fields omitted in printout)AL@A=2@AM&]~? AdA?V%"AArNA"AZAbAjArAzAAA]1@AF#tAt@AL`A=A+k?Aa?A`1?A1*AKR:?2Aq׽:A(<BAKR:?JAq׽RA(2?yt=aٓH@?lg? ^?5?틧?`9@?)2> I٘i)I9t@YG JJJJJE&Ky> Yv\~?yBqPA2?hE)7ŧ78=B)BE[[>[\~?[!ɪ[[[[BZYY i) +ٻIH?i]3 7?))7?7?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031866.983165 s, next control iter: 1743031867.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031867.383165 s.صH~,4؎#AAQ@A7:@A=]~? AݫAF%"AA sNA"AZAbAjArAzAAAu_1@A!tAt@AkAi=A?A,?A?A0g*AJ:?2A-׽:Adt<BAJ:?JA-׽RAdt<٘i)I9t@YG JJJJJE&K Y+\~?yxPAnEj7j78[\~?[^Ū[[[[BZYY i) KIH?iP@) ?))??ʳYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031867.403165 s, next control iter: 1743031867.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5366", header.stamp.nsec: 0"0 temperature: 13.565757"* salinity: 33.375423", density: 1025.000000"* values[0]: 0.579168"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031867.803165 s.{AH~,g#AJ"J*J2J:JBJnJvJAq= #@A) @A>U]~? ARګA-%"AA@1sNA"AZAbAjArAzAAA,4-1@AKgtAt@A0;A:=A?A?ARl?A*AHB:?2Aֽ:AKR=BAHB:?JAֽRAKR=٘i)I9t@YG JȂJJJJE&K Y\~?yOAsE77I88B)BE[[>[\~?[c[[[[BZYY i)  IԯH?iHK5 (?))(?(?yYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031867.823165 s, next control iter: 1743031868.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031868.223165 s.gH~,H#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743031868.223269F (some fields omitted in printout)A(\@AzLu@A[l]~? A֫A$%"AAzTsNA"AZAbAjArAzAAA(?22@A,PCtA8s@A9f<AF=Ao"?A ͼ?AB?Afɉ*A::?2A͵ֽ:A=BA::?JA͵ֽRA=٘i)I9s@YMG J9B=JJJJE&K Y\~?y㩪lOAxE7777u8)B[[>[ ]~?[0[[[[BZYY i) IiH?iBT t?))t?t?ȸYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031868.243165 s, next control iter: 1743031868.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031868.643165 s.xH~,*)#AJ"J*J2J:JBJnJvJAG@A5a@A7]~? AҫA~o%"AATwsNA"AZAbAjArAzAAAw2@A>tA6s@AFr<A=A'?A;?A?A*At3:?2A$ֽ:A=BAt3:?JA$ֽRA=٘i)I96s@YG J݊C=JJJEJE&K YO]~?yOA~Eb7787B)BE[[r?[C$]~?[Ǹ[[[[BZYY i) l{+IH?i6[L ?))??ջYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5367, header.stamp.nsec: 0F0 temperature: 13.565833* salinity: 33.375416, density: 1025.000000* values[0]: 0.578739F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743031868.663165 s, next control iter: 1743031869.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031869.063165 s.H~,[ D#AAfffff@AcdUL@AЙ]~? AΫA%"AA˙sNA"AZAbAjArAzAAAB E2@A jtAr@Ae_;A=A6-?AB?A:?AN鋼*A,:?2A$#׽:A=BA,:?JA$#׽RA=Y>|X-?y=;ٓH?E Y?@? !?`?X׫??)> I٘i)I9r@YG JB=J@+<JJJE&Kx> YU]~?yNAX-?E7{7ʵ86B)BE[[ms?[>]~?[5[[[[BZYY i) :IH?ih  զ?))զ?զ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031869.103165 s, next control iter: 1743031869.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031869.483165 s.x_H~,^#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J< rudderAngleAction: -0.261799"J*J@ elevatorAngleAction: -0.0762142J< massPositionAction: 0.0000004 buoyancyAction: 0.000500:JBJ dt: 0.420023nJvJ2 time: 1743031869.483320F (some fields omitted in printout)A@Aq= ׷@A#]~? ArʫA %"AAػsNA"AZAbAjArAzAAAJ2@A tAKr@A\Az=Ar2?A?A@?Aa*A%:?2A׽:A`=BA%:?JA׽RA`=٘i)I9Kr@YwG JC=JJJJE&K YX-]~?yZNAE{7j78)B[[k~ ?[W]~?[k[[[[BZYY i) rJI~H?it~ ũ?))ũ?ũ?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031869.503165 s, next control iter: 1743031869.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5368, header.stamp.nsec: 00 temperature: 13.565929* salinity: 33.375439, density: 1025.000000* values[0]: 0.578273F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031869.903165 s.H~,y#AA ףp=@AZ#@A,]~? AƫA`%"AAysNA"AZAbAjArAzAAAmB3@AH8tAq@A:OAR=A8?A?A?A?ʋ*A:?2At׽:A=BA:?JAt׽RA=٘i)I9q@Y0G J4JJJJE&K Y]C]~?yMAE)7b785B)BE[[?[p]~?[i[[[[BZYY i) YILqH?i)~" Ƽ?))Ƽ?Ƽ?~ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031869.943165 s, next control iter: 1743031870.303183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743031870.323165 s.vH~,%#AJ"J*J2J:JBJnJvJA\@A]Pߎ@A]~? AAҵ%"AAsNA"AZAbAjArAzAAAw3@A~tA"`q@AyAN=AK=?Az?AMa?Aُ*A:?2A׽:A&=BA:?JA׽RA&=٘i)I9`q@YG JQJJJJ E&K Y`Y]~?yMAE77J8-B)BE[[?[ ]~?[1[[[[BZYY i) iiI:cH?i₿!' ⹯?))⹯?⹯?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031870.343165 s, next control iter: 1743031870.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5369., header.stamp.nsec: 0.0 temperature: 13.566057.* salinity: 33.375446., density: 1025.000000.* values[0]: 0.577823.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031870.743165 s.WH~,y#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743031870.743307F (some fields omitted in printout)AGz@A_@A[]~? A A>%"AAftNA"AZAbAjArAzAAARx3@Aү tAp@A A2=A9iB?A3?Aw)?A+W*A9:?2Ab׽:AL =BA9:?JAb׽RAL =٘i)I9p@YG J쒼JJJJE&K Ydo]~?yBMAEj7j7t8)B[[.?[Ӣ]~?[ğ[[[[BZYY i*) xITH?i+ V?))V?V?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031870.783165 s, next control iter: 1743031871.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031871.163165 s.w}H~,qʏ#AJ"J*J2J:JBJnJvJA@Ae@A}^~? AQAHi%"AA?tNA"AZAbAjArAzAAAi2v4@A3 tA;bp@AXT:A=AlG?A ,?A ?A*A::?2Aֽ:AC=BA::?JAֽRAC=Y2X?pG?y=2U:ٓH`?v{Vp?k?`??+JJ?9?)2X? I٘i)I9bp@YMG JKB=J<JJJE&Kkx> Y}]~?yQLApG?E7778,B)BE[[%?[ ]~?[0[[[[BZYY i) IEH?iƋb2 ?))??ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031871.183165 s, next control iter: 1743031871.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031871.583165 s.!H~,*S#AAR@Ar@AO^~? AsA%"AA~_tNA"AZAbAjArAzAAA /D4@A&ϞtA6o@A4<A>=ArL?A`?A@?A*A:?2A'ֽ:A4=BA:?JA'ֽRA4=٘i)I9o@YG J!C=JJJJE&K Y]~?y"}uLAEŧ778+B)BE[[ ,?[]~?[g[[[[BZYY i) |I?6H?iݐm9 ?))??iժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031871.603165 s, next control iter: 1743031871.983184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5370, header.stamp.nsec: 00 temperature: 13.566175* salinity: 33.375465, density: 1025.000000* values[0]: 0.577311F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031872.003165 s.x H~,L4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743031872.003285F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@Al<@A/^~? AuA'%"AA~tNA"AZAbAjArAzAAA'΂4@A (?))(?(?y٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031872.023165 s, next control iter: 1743031872.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031872.423165 s.uH~,#AA(\@A!@AC^~? AVA%"AAtNA"AZAbAjArAzAAAr0G4@AtAn@ArA<A=A3V?A@6?A`0(?A;*AN9?2A ֽ:Ag=BAN9?JA ֽRAg=٘i)I9n@YKG JEB=JJJJ'E&K YĿ]~?ypKAEb77 8*B)BE[[e8?[^~?[5[[[[BZYY i) TIH?iB ?))??ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031872.443165 s, next control iter: 1743031872.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5371, header.stamp.nsec: 00 temperature: 13.566352* salinity: 33.375492, density: 1025.000000* values[0]: 0.576709F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031872.843165 s. H~,5#AJ"J*J2J:JBJnJvJAHz.@A@AW^~? AA%"AAtNA"AZAbAjArAzAAAxEd4@AtssA&n@A3;Aj=AL\?A?A?AV0*A9?2AN1׽:A =BA9?JAN1׽RA =٘i)I9&n@YG JC=JJJJ-E&K Y]~?yjAKAE7K8%B)E[[x>?[^~?[с[[[[BZYY i) :IVH?iRE ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031872.863165 s, next control iter: 1743031873.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031873.263165 s.H~,P#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031873.263288F (some fields omitted in printout)A@A Y]~?ycJAa?E{7{7u8)B[[D?[.^~?[K{[[[[BZYY i) ߘI7G?iKJK ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031873.283165 s, next control iter: 1743031873.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 53722, header.stamp.nsec: 020 temperature: 13.5665182* salinity: 33.3755002, density: 1025.0000002* values[0]: 0.5760882F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031873.683165 s.lH~,Rk#AJ"J*J2J:Jz?BJz?nJ5vJAQ@A$@AY~^~? A8Aj%"AAtNA"AZAbAjArAzAAASpp5@A6ǮsAl@AuAq=Ag?A@?A(?Aj*A29?2A׽:A=BA29?JA׽RA=٘i)I9l@Y=G JeJJJJ7E&K  8Y]~? 8y]bJAEŧ7ŧ78$B)BE[[;J?[|D^~?[t[[[[BZYY i) IG?icQ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031873.683165 s, next control iter: 1743031874.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743031874.103165 s.!H~,#AA= ףp@A۟V@A^~? AA,%"AAuNA"AZAbAjArAzAAAB鲩5@A00csAel@AXA΂=ADl?A@?A?A<*A9?2Ac׽:AD=BA9?JAc׽RAD=٘i)I9el@YG J3JJJJ=E&K Y ^~?y7VIAE77 8)B[[8Q?[Y^~?[m[[[[BZYY i) tWIG?iצU ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031874.123165 s, next control iter: 1743031874.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031874.523165 s.'H~,{#AJ"J*J2J:Jf?BJf?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031874.523293F (some fields omitted in printout)A(@A4D@Am^~? AA{%"AA/uNA"AZAbAjArAzAAA#BW5@AA+sA(k@A蒻A Q=A.Jq?Aa?A?Agü*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9k@Y~G JEJJJJBE&K Y^~?ymOIAEj7j78 B)¯BE[[AzW?[n^~?[f[[[[BZYY i) ڶIG?i fcX ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031874.543165 s, next control iter: 1743031874.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5373, header.stamp.nsec: 00 temperature: 13.566707* salinity: 33.375481, density: 1025.000000* values[0]: 0.575458F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031874.943165 s.Zd.H~,J]#AAzG@Ae-@Ag^~? AA` %"AAYKuNA"AZAbAjArAzAAA"6@A=n oRsA k@A;A=AaAv?A ?Al'?Azͼ*A 9?2A}ֽ:Ar==BA 9?JA}ֽRAr==٘i)I9k@YG JȼJJJJGE&K Y-^~?yHIAE7)7 8)ǯB[[]?[^~?[E_[[[[BZYY i) ǼI5G?i7Y ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031874.963165 s, next control iter: 1743031875.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031875.363165 s.5H~,>א#AJ"J*J2J:JBJnJvJA3333@AT@A^~? AAq%"AATfuNA"AZAbAjArAzAAA+M6@AsA`mj@A/j<Aw\=AL{?A``?Ax?AԼ*A 9?2AoDֽ:A? =BA 9?JAoDֽRA? =YJC?{?yW=]k<ٓH@? 5?}? ?R?`c`E? ?)JC? I٘i)I9mj@YG J+ѼJw<JJJME&K:x> YH=^~?yRAHA{?Ej7Z7K!8B)˯BE[[c?[^~?[W[[[[BZYY i) HμInG?i._  ?)) ? ?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031875.383165 s, next control iter: 1743031875.763183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5374&, header.stamp.nsec: 0&0 temperature: 13.566896&* salinity: 33.375492&, density: 1025.000000&* values[0]: 0.574740&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031875.783165 s.X;H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031875.783286F (some fields omitted in printout)AQ@A(G@A2^~? A|A%"AAuNA"AZAbAjArAzAAAP6@ANsA̸i@Abl<A~=AA?Aߨ?A?Artؼ*A9?2Aaֽ:A0 =BA9?JAaֽRA0 =٘i)I9i@Y?G JּJJJJRE&K YL^~?y:"HAEb77v(8)ѯB[[Aj?[ݩ^~?[LP[[[[BZYY i) l{ռIGG?i7c ?))?? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031875.803165 s, next control iter: 1743031876.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031876.203165 s.CH~, #AJ"J*J2J:JBJnJvJAףp=@A)p@A^~? AuAk%"AAuNA"AZAbAjArAzAAAnV<6@AA 8sAi@Av;AO?=A?A?A ?A0ؼ*AZ9?2ALֽ:A7=BAZ9?JALֽRA7=L^~?):٘i)I9i@Y G JؼB=JJJJXE&K Y\^~?y2GAE777/8B)կB E[[p?[^~?[H[[[[BZYY i) ܼIrG?i~g 1?))1?1?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031876.223165 s, next control iter: 1743031876.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031876.623165 s.TIH~,P'#AA)\@AIC@A_^~? AoAe%"AAuNA"AZAbAjArAzAAAX6@AqChdsAMh@AA;A=AB?A)?Ae?A{ּ*A`9?2A0׽:A5e=BA`9?JA0׽RA5e=٘i)I9Mh@Yb G J׼C=JJJJ]E&K Y5l^~?y^+2GAE{7{768B)دB E[[Dv?[^~?[@[[[[ZZ¸BZYY i¸c=) мIS_G?iѵh XK?))XK?XK?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031876.643165 s, next control iter: 1743031877.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5375 , header.stamp.nsec: 0 0 temperature: 13.567172 * salinity: 33.375519 , density: 1025.000000 * values[0]: 0.573937 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031877.043165 s.PH~,B#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031877.043315F (some fields omitted in printout)A{Ga@AI5G@AU _~? A2iA`%"AA2uNA"AZAbAjArAzAAA"vH7@A=z-sAIg@AB?UAܡ=Af?A e?A b?AԼ*A9?2Al׽:Ae,=BA9?JAl׽RAe,=٘i)I9g@Y G JռJJJJbE&K Y{^~?y $FAEZ7=8B)ܯB E[[*}?[^~?[8[[[[ZZBZYY i) ļIKG?iai h?))h?h?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031877.063165 s, next control iter: 1743031877.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031877.463165 s.VWH~,]#AA@AND@A_~? AbAD%"AAuNA"AZAbAjArAzAAA }\E7@A+jȋsAf@AxAo1=A<?A?A?AV*Ae9?2AX׽:AS<BAe9?JAX׽RAS Y^~?yFDFA܊?E777!E8)B[[ܺ?[^~?[n0[[[[ZZBZYY i) ޯI7G?icm q{?))q{?q{?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031877.483165 s, next control iter: 1743031877.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5376, header.stamp.nsec: 00 temperature: 13.567419* salinity: 33.375526, density: 1025.000000* values[0]: 0.573159F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031877.883165 s.y]H~,8x#AJ"J*J2J:JBJnJvJAQ8@AaA@A'_~? A&\A]%"AAOuNA"AZAbAjArAzAAA,s7@A:'sAe@AA#=A?A?A@g=?AW*A39?2A׽:ABԳ<BA39?JA׽RABԳ<٘i)I9e@Y G JJJJJmE&K Y5^~?yEAE7LL8B)BE[[?[_~?[([[[[ZZBZYY i) I#G?i1p Γ?))Γ?Γ?y=>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031877.903165 s, next control iter: 1743031878.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031878.303165 s.YdH~,g#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743031878.303312F (some fields omitted in printout)Aq= ף@AԸ7@A6_~? A|UA%"AAvNA"AZAbAjArAzAAA=|7@AywsA$e@Agw:AMv=A?A@ ?A?Af*A9?2AYֽ:A[7g<BA9?JAYֽRA[7g<٘i)I9$e@Yu G JJJJJrE&K Ya^~?y XEAE7{7vS8B)BE[[N?[|_~?[[[[[ZZBZYY i) àI'G?ir X?))X?X?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031878.323165 s, next control iter: 1743031878.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5377., header.stamp.nsec: 0.0 temperature: 13.567747.* salinity: 33.375530., density: 1025.000000.* values[0]: 0.572201.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031878.723165 s.kH~,H#AJ"J*J2J:JBJnJvJA(\@A;4,F@AD_~? ANAa%"AA'vNA"AZAbAjArAzAAAn?c7@AXsA`d@Ar,<A1=Av?A@??A`C?Aּ*A9?2Aaֽ:AC@;BA9?JAaֽRAC@;٘i)I9`d@Y G J=JJJJxE&K Y^~?yDAE777Z8B)BE[[9?[^_~?[[[[[ZZBZYY i) Z̔IF?iJs ?))??yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031878.743165 s, next control iter: 1743031879.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031879.143165 s.X/rH~,*ɑ#AAGz@A ``@AR_~? AGAJ%"AA=vNA"AZAbAjArAzAAAJ?w7@A^+sAc@APi<A<A:=?A q?A?A۰*A9?2A[ֽ:AVBA9?JA[ֽRAV٘i)I9c@Y G J9ȼJJJJ}E&K Y^~?y*mDAEa8)B[[Se?[-_~?[^[[[[ZZBZYY i) 0ֈIZF?ikur ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031879.163165 s, next control iter: 1743031879.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031879.563165 s.xH~,R #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743031879.563276F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AP@A__~? A@Al%"AAQvNA"AZAbAjArAzAAAOS8@AQsA2c@A%<Aj<Aڗ?Am?A "F?A~*Al9?2Aֽ:AiBAl9?JAֽRAiYw?ݗ?y<e%<ٓH ? c? ?@<?@r?`ൄ?B?)w? I٘i)I92c@YF G JyJ:JJJE&Kw> YY^~?yaDAݗ? Eŧ7b7h8)B[[Ւ?[;_~?[[[[[ZZBZYY iτ=) }IF?iiu ?))??r_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031879.603165 s, next control iter: 1743031879.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5378, header.stamp.nsec: 00 temperature: 13.568014* salinity: 33.375538, density: 1025.000000* values[0]: 0.571391F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031879.983165 s.H~,#AAQ@A7@Al_~? A9A%"AAevNA"AZAbAjArAzAAAA>FC8@A釧sAb@AV9ABAs?A`>?A?A(/*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J*eJJJJE&K Y^~?yUDAEj7j7!p8B)BE[[”?[G_~?[[[[[ZZBZYY i=)  EjIF?iw 0?))0?0?6 )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031880.003165 s, next control iter: 1743031880.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031880.403165 s.&H~,#AJ"J*J2J:JBJnJvJA ףp@AKX@A@y_~? A2A~%"AAxvNA"AZAbAjArAzAAAF/ȕi8@AmmSsAܚb@A#AE(AH?A?A`?A*A9?2AJֽ:AJ BA9?JAJֽRAJ ٘i)I9b@Y G JJJJJE&K Y^~?yIDAEZ7Z7Kw8)B[[f?[T_~?[[[[[BZYY i) gVIF?i'¿cx ^U?))^U?^U?@)YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743031880.423165 s, next control iter: 1743031880.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5379", header.stamp.nsec: 0"0 temperature: 13.568138"* salinity: 33.375538", density: 1025.000000"* values[0]: 0.570947"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031880.823165 s.H~,\4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075180< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743031880.823311F (some fields omitted in printout)A\(@A@A6_~? A+A %"AA>vNA"AZAbAjArAzAAAjv׍8@AsAb@AxayA4 A=?A #?A?AR "*AQ9?2A,ֽ:Av[ռBAQ9?JA,ֽRAv[ռ٘i)I9b@Y G Jr,B=JJJJE&K Y2^~?ynܩ=DAEj7j7w~8)B[[#?[__~?[b[[[[BZYY i) BI.F?iw }?))}?}?yO=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031880.843165 s, next control iter: 1743031881.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031881.243165 s.H~,iO#AJ"J*J2J:J%?BJ%?nJ>5vJAGz@Abcz@A_~? An$Ar%"AA vNA"AZAbAjArAzAAAy- 8@A.~sAb@ADOA4A2?AH?A`+?A ;*A9?2AsLֽ:ABA9?JAsLֽRA𼙘٘i)I9b@Y G J:C=JJJJE&K Y^~?y?ԩ0DAE{7Z78 B)BE[[1R?[4j_~?[)[[[[BZYY i) (/I~F?iu ?))??r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031881.263165 s, next control iter: 1743031881.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031881.663165 s.H~,qj#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5380, header.stamp.nsec: 00 temperature: 13.568110* salinity: 33.375557, density: 1025.000000* values[0]: 0.570923F (some fields omitted in printout)A@A@A_~? AA$%"AAvNA"AZAbAjArAzAAA' 8@Aҵ+sAb@AHqAmYA`ۤ?Alh?A`?AV;*A+9?2AJֽ:ABA+9?JAJֽRAY{Ո??y YnqٓH`(?lo̒ѯ?`?Sy3?(n `?){Ո? I٘i)I9b@Y G J;J!JJJE&Kw> Y^~?y˩zDA?$E777̌8 B)BE[[?[!t_~?[ש[[[[BZYY ii=) rIiF?i#w b@))b@b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031881.683165 s, next control iter: 1743031882.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031882.083165 s.DH~, S#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743031882.083326F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@AݰmQ@A;_~? AA%"AAwvNA"AZAbAjArAzAAA8@A sAb@AV;A(yA ?A?A@Б?A}'<*Au9?2Aֽ:ABAu9?JAֽRA٘i)I9b@Y" G J<JJJJE&K Y_~?yQéDA)E{7{78)B[[?[Q}_~?[Ω[[[[BZYY i) ITF?i9¿x j@))j@j@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031882.103165 s, next control iter: 1743031882.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031882.503165 s.H~,D4#AAp= @AJ@AC_~? AGAD%"AAvNA"AZAbAjArAzAAAVbpZ9@Ac2sAGc@Ae<AA5?A ?A`9?A]<*A 9?2AR#׽:A$l BA 9?JAR#׽RA$l I٘i)I9Gc@YS G JWA<JJJJE&K Yw _~?yں EA/E)7ŧ7!8)B[[ާ?[…_~?[ ũ[[[[BZYY iθ=) #I@F?i)x t@))t@t@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031882.523165 s, next control iter: 1743031882.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5381, header.stamp.nsec: 00 temperature: 13.567969* salinity: 33.375557, density: 1025.000000* values[0]: 0.571162F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031882.923165 s.KH~,#AJ"J*J2J:JBJnJvJA(\B@A8w(@A̹_~? AA%"AAvNA"AZAbAjArAzAAA^>b.C-9@Akp{jsA;c@A[<AߓAϬ?A?A %?A7y<*A 9?2A)׽:A BA 9?JA)׽RA ٘i)I9c@Y G Jzs<JJJJE&K YZ_~?ycUEA4Eb777L8 B)BE[[X ?[p_~?[[[[[BZYY i)  ۻIX+F?i8 v w@))w@w@y}i=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031882.943165 s, next control iter: 1743031883.323197 s, wait time: 0.380032 s rAdjusting time to match Gazebo time: 1743031883.343165 s. elevatorAngleAction: 0.066270< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031883.343295F (some fields omitted in printout)AHz@AMjh@A_~? A1A:j%"AA vNA"AZAbAjArAzAAAgMfH9@A@˙sAd%d@Ak޻;AqAX?A`?A@?A-<*A9?2Awֽ:A BA9?JAwֽRA ٘i)I9%d@Y G JӍ<JJJJE&K Y=_~?y멩EA9E7w8B)BE[[9?[W_~?[[[[[BZYY i) gIF?i)r @))@@y8=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031883.363165 s, next control iter: 1743031883.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5382*, header.stamp.nsec: 0*0 temperature: 13.567720** salinity: 33.375572*, density: 1025.000000** values[0]: 0.571678*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031883.763165 s.J "J *J 2J :J Y?BJ Y?nJ u58H~vJ,##AA@AF@Ad_~? AA%"AAgvNA"AZAbAjArAzAAAu3b9@Ax#sAd@AAVRA#ر?A?A??Ap<*A*9?2AMֽ:AF[BA*9?JAMֽRAF[YLؕ??yQߗٓH ?y@c? ?ٲ`we?҃tY?)Lؕ? I٘i)I9d@Y+ G J<B=J(]JJJE&Kw> YS_~?yAFA??E778)B[[pf?[{_~?[p[[[[BZYY i) NIzF?iPs <@ @))<@ @<@ @\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031883.803165 s, next control iter: 1743031884.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031884.183165 s.H~,R #AAQ@A&Sk@Ar_~? AA%"AAwNA"AZAbAjArAzAAAc{9@A㷛ssAB;e@AMWADA^?A`!?Ae?Az<*AI9?2Aֽ:AGBAI9?JAֽRAG٘i)I9;e@Y G JT<C=JJJJE&K Yg$_~?yoFADE7777̷8)ݯB[[0?[۟_~?[ў[[[[BZYY i) y~IE?i󽿉"s y @))y @y @"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031884.223165 s, next control iter: 1743031884.583174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743031884.603165 s.84H~,&#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066270< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031884.603282F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A(@A_~? A(AW*%"AAwNA"AZAbAjArAzAAAHs9@Av sAe@A9kAA?AO?A ?Ab><*Aٽ9?2A3ֽ:A]BAٽ9?JA3ֽRA]٘i)I9e@Y G J`<JJJJE&K Y|)_~?yFAIE78B)֯BE[[ƽ?[w_~?[*[[[[BZYY i) xSBIE?iNq d @))d @d @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031884.623165 s, next control iter: 1743031885.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5383 , header.stamp.nsec: 0 0 temperature: 13.567407 * salinity: 33.375565 , density: 1025.000000 * values[0]: 0.572351 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031885.023165 s.ZH~,{A#AA(\@A-ͭB@A _~? AbA%"AAwNA"AZAbAjArAzAAAX:I9@AMsA!lf@AvAA墹?A@v?A?AoO<*A9?2Aֽ:A#b BA9?JAֽRA#b ٘i)I9lf@Y= G J<JJJJE&K Y._~?yI?GAOE77{7"8)ѯB[[c?[K_~?[[[[[BZYY i) (*IE?in  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031885.063165 s, next control iter: 1743031885.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031885.443165 s.8H~,B]\#AJ"J*J2J:JBJnJvJAz@Aᔭ@A_~? AتAY%"AAP&wNA"AZAbAjArAzAAA qM9@A47sA%g@ACa$;AAX?Aj?A@?A̰<*A'9?2Aֽ:ABA'9?JAֽRA٘i)I9g@Y G Jʳ<JJJJE&K Y3_~?y~GATE77M8B)˯BE[[(?[Y_~?[؁[[[[BZYY i) I-E?i}i  @)) @ @e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031885.483165 s, next control iter: 1743031885.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5384, header.stamp.nsec: 00 temperature: 13.567107* salinity: 33.375565, density: 1025.000000* values[0]: 0.573118F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031885.863165 s.+H~,>w#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066270< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743031885.863328F (some fields omitted in printout)A33333@A!K@A_~? AЪA%"AA/wNA"AZAbAjArAzAAAP9@A/uk}sAg@A@<AE.A ?A@`?A@m?Aج<*A9?2Aj3׽:AޕBA9?JAj3׽RAޕY??y+EA<ٓH`/?`ZYw??#?TN ?`1??)? I٘i)I9g@Y G J<J#;JJJE&KFx> Y5_~?yuHA?ZE77x8)ƯB[[7?[_~?[$x[[[[BZYY i) YIE?iA&Ii @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031885.903165 s, next control iter: 1743031886.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031886.283165 s.5RH~,#AJ"J*J2J:JBJnJvJAQ@A,'@A_~? AȪA&"AA8wNA"AZAbAjArAzAAA39@A7,xsA$h@ABOs<AF.AB?A@?A?AY<*A9?2A2׽:ABA9?JA2׽RA٘i)I9$h@YI G J#<JJJJE&K Y8_~?ymuHA D_E78B)BE[[_?[+_~?[pn[[[[BZYY i) 4;:IE?ig @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031886.303165 s, next control iter: 1743031886.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5385., header.stamp.nsec: 0.0 temperature: 13.566769.* salinity: 33.375568., density: 1025.000000.* values[0]: 0.573844.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031886.703165 s.ֺH~,#AAףp= @Ar75@A_~? AA1'&"AA@wNA"AZAbAjArAzAAA?O&9@AhssAʱh@AJ&<AA elevatorAngleAction: 0.066270< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031887.123296F (some fields omitted in printout)A)\u @A%[ @A_~? AAL&"AAGwNA"AZAbAjArAzAAAUt9@AbDnsA>i@Ad 9AA?A.?A,?Ag<*A9?2Ahֽ:A8BA9?JAhֽRA8٘i)I9>i@Y G J<C=JJJJE&K Y<_~?y[CIAjEb78)B[[*?[_~?[[[[[[BZYY i) h';IeE?i5D` @))@@Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031887.143165 s, next control iter: 1743031887.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031887.543165 s.IH~,#AA{G @A9@0 @Aq`~? AA]&"AA NwNA"AZAbAjArAzAAAOr:@AayjsAbi@A"AATC?A@r?AO??A댨<*A9?2ATֽ:AlBA9?JATֽRAl٘i)I9i@YKG J<JJJJE&K Y>_~?yRIAoE"8)B[[Q?[(_~?[uQ[[[[BZYY i) c;IRE?iê{Z ^@))^@^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031887.563165 s, next control iter: 1743031887.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5386, header.stamp.nsec: 00 temperature: 13.566518* salinity: 33.375603, density: 1025.000000* values[0]: 0.574488F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031887.963165 s.xH~,#AJ"J*J2J:JBJnJvJAL @A( 2 @A`~? AA&"AASwNA"AZAbAjArAzAAAY:@Amm $esA5Yj@AaqAA?A )?A}O?A<*A9?2AJֽ:ABA9?JAJֽRAYW??y&rٓH @2 `3? ӱܾ?1g?)W? I٘i)I9Yj@YG J<JDS<JJJE&K-x> Y->_~?yI JA?tE777M8B)BE[[?[_~?[G[[[[BZYY i) ǐ;I{@E?iY B@))B@B@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031887.983165 s, next control iter: 1743031888.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031888.383165 s.H~,'#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066270< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743031888.383315F (some fields omitted in printout)AQ @Ai> @A`~? A砪A&"AAXwNA"AZAbAjArAzAAAer:@A|o=`sAj@A AAzAv?A?Ag]?A <*A9?2Acֽ:ABA9?JAcֽRA٘i)I9j@YG J<JJJJE&K Y=_~?y#AhJAzE77x8)B[[N?[\_~?[1>[[[[BZYY i,=)  ;Iz.E?iokQV t|@))t|@t|@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031888.403165 s, next control iter: 1743031888.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5387", header.stamp.nsec: 0"0 temperature: 13.566224"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.575180"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031888.803165 s.yA H~,g3#AJ"J*J2J:JBJnJvJAq= # @A @A `~? AۘA3&"AA\wNA"AZAbAjArAzAAA@~ :@A+%T[sA"fk@A@*ACA'?A@?Ah?A͗<*A9?2Aֽ:AJBA9?JAֽRAJ٘i)I9fk@YDG J<JJJJE&K  8Y<_~? 8yV8JAEb778)B[[c-?[W_~?[4[[[[BZYY i) P^;IE?i3-R  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031888.823165 s, next control iter: 1743031889.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031889.223165 s.gH~,HN#AA(\ @AwDu @A `~? A̐A&"AA_wNA"AZAbAjArAzAAA"^J&:@AׅhVsAk@A _<AcㇽA?AI^?A q?A݇<*A9?2AE+׽:A+tBA9?JAE+׽RA+t٘i)I9k@YG J<JJJJE&K YA<_~?y/'KAE77{7 8B)BE[[$I?[_~?[!+[[[[BZYY i) a);I E?i퟿FL Ś@))Ś@Ś@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031889.243165 s, next control iter: 1743031889.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031889.643165 s.wH~, *i#AJ"J*J2J:Jh?BJh?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075281< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031889.643299F (some fields omitted in printout)AG @AqY @A? `~? AAYn&"AA.bwNA"AZAbAjArAzAAARJL7*:@AT{QsAUl@Aj<A"臽AZ?AN?A}w?A <*AF9?2AE׽:A??y2舽+X<ٓH`1 .? ? 5 ???)>? I٘i)I9l@YG JW<J;JJJ E&K-x> Y8_~?yKA?Eŧ7b7#8)B[[{?[_~?[I[[[[BZYY i) `~? AxA&"AAdwNA"AZAbAjArAzAAA5;-:@A rGsA:m@Aɥ;AGA ?Aa SAo{?A<*A'9?2A9ֽ:A#BA'9?JA9ֽRA#٘i)I9:m@YbG J%<JJJJE&K Y4_~?y?>LAE77{7N#8)B[[?[_~?[[[[[BZYY i) \ % elevatorAngleAction: 0.075281< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200642 time: 1743031890.903316F (some fields omitted in printout)A ףp= @A[# @A `~? ApAtG&"AAdwNA"AZAbAjArAzAAAWGZ,:@AS>-BsA^m@ADkA elevatorAngleAction: 0.075281< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031892.163300F (some fields omitted in printout)A@Ae@A `~? ALXA5 &"AA_wNA"AZAbAjArAzAAA+ :@Aq 3sA0o@A0A?A%?A@Af?A=<*A9?2AAֽ:A BA9?JAAֽRA Y8??y6ٓH ̿/? ?@q̿# \,?~?)8? I٘i)I90o@YG J<J#JJJ$E&K.x> Y#_~?yrMA?E77?8)B[[-?[kv_~?[c[[[[BZYY i)  bxl:@A]+/sACo@AQ;AAĨ?A` XAZ?A/<*A9?2A% ׽:AҀBA9?JA% ׽RAҀ٘i)I9o@YG J<JJJJ)E&K Yj_~?yNAE#G8)BE[[0?[m_~?[r[[[[BZYY i۠=) 8Er elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031893.423297F (some fields omitted in printout)A(\@AW%}@A$`~? A9@A &"AASwNA"AZAbAjArAzAAA@:@A19:%sAp@A9p<A5A;?AA >;?A9s<*A9?2A8׽:Aˆ BA9?JA8׽RAˆ ٘i)I9p@Y{G J<B=JJJJ4E&K Y_~?yبNAE7yU8)yB[[?[X_~?[Ϩ[[[[BZYY i) p8A &"AA#NwNA"AZAbAjArAzAAAs)g9@Ah~5[ sA.q@Ay=<AGA?A A'?A&@<*Ad9?2Aֽ:AP BAd9?JAֽRAP ٘i)I9.q@YG J<C=JJJJ9E&K Yh _~?yШ;OAEŧ7b7\8B)wBE[[?[ZM_~?[ZǨ[[[[BZYY i) ^H@A_~? AJ0A. &"AAGwNA"AZAbAjArAzAAAt9@A8}sAq@AqGAA6A?A`%<A.?A<*AѮ9?2Aֽ:ABAѮ9?JAֽRAYH? ?y4?AٓHԿK?l4? Կ@N-?(H?)H? I٘i)I9q@YG Jà<JeJJJ?E&Kw> YP_~?yǨOA ?E{7Z7c8)rB E[[?[yA_~?[Ҿ[[[[BZYY i) ȕ elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743031894.683286F (some fields omitted in printout)AQ@A3 @A_~? A^(A &"AA@wNA"AZAbAjArAzAAAH9@AYsADr@Ay-AA?AÿA;?A<*A9?2A-ֽ:AoBA9?JA-ֽRAo٘i)I9Dr@YsG J<JJJJDE&K Y8^~?yuPAEj7SI7j8)nB[[@[5_~?[l[[[[BZYY i) L sAuts@A:A*A?AƿA?A<*A̠9?2AX]ֽ:ALBA̠9?JAX]ֽRAL٘i)I9ts@Y,G Jl<JJJJOE&K Y ^~?yˮPAE{7j7Oy8)fB E[[@[v_~?[ [[[[BZYY i)  ]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743031895.943320F (some fields omitted in printout)AzG@A<-@A_~? AA&"AA\&wNA"AZAbAjArAzAAA@qe99@A/tJsAZt@A}A_As?AȿA O?A˹<*A9?2ABֽ:AVBA9?JABֽRAV٘i)I9t@YG J<B=JJJJTE&K Y^~?yuLQAE)7b7z8)bB[[;t@[m _~?[[[[[BZYY i)  #AJ"J*J2J:JBJnJvJA3333@A6!@Am_~? A A.&"AAwNA"AZAbAjArAzAAA9@ArьsAt@AH <A¥A@AʿA?AX<*AN9?2AA׽:ABAN9?JAA׽RAY? @y- <ٓH`ڿ-`ٹ? ?@ڿt4N?@i?H?)? I٘i)I9t@YG J,<C=JyJJJZE&Kgx> Y/^~?yvQA @E77{78)]B[[%@[^~?[0[[[[BZYY i) ۼ elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743031897.203274F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@AP)p@A_~? AAD\&"AAwNA"AZAbAjArAzAAAƆ`9@A|P(rAu@AQ<A)%A=@A,οA5?AJs<*A9?2AV׽:A/nBA9?JAV׽RA/n٘i)I9u@YG J/<C=JJJJdE&K Y^~?ywRAE78B)WBE[[7 @[^~?[ӆ[[[[BZYY i) ~}w@A@ϻAAR5@A`bпA@?AZ<*AǍ9?2A,ֽ:ABAǍ9?JA,ֽRA٘i)I9>w@YzG J<JJJJoE&K Y'^~?yy~SAEb77O8)NB[[ @[^~?["x[[[[BZYY iX=)  elevatorAngleAction: 0.093062< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743031898.463306F (some fields omitted in printout)A@A@A|_~? AA&"AA vNA"AZAbAjArAzAAA}^ 9@ANhPrAXw@AaAtAx@A OѿA@?A}y<*A9?2Aս:AjBA9?JAսRAjYn ?݋@y|aٓH'Fȟ?`z?.@i*h?!?)n ? II٘i)I9w@YG Jy<Jm(JJJtE&Kw> Yۓ^~?yvTA@E77z8)HB[[>@[^~?[p[[[[ZZZZ¸>BZYY i¸>) P YI^~?yvQVA @E77P8B)0BE[[j@[P^~?[fO[[[[ZZZZBZYY i) &;#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074688< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743031900.983329F (some fields omitted in printout)AQ@A (7@Ak_~? AjA0p&"AAyvNA"AZAbAjArAzAAAPb(A8@AIrApo|@AQV%<AkNԼAc@AֿAt?A <*A@9?2Aֽ:A&;BA@9?JAֽRA&;٘i)I9o|@YG J<JJJJE&K Y29^~?yZJYVAEb77z8B),BE[[ @["=^~?[I[[[[ZZZZBZYY i) 0q5vJA ףp@A3FY@A __~? AjA&"AAevNA"AZAbAjArAzAAA E8@A%}rrA|@AAlA@AC׿A$9?Ac<*A9?2AΝֽ:Ab<BA9?JAΝֽRAb<٘i)I9|@YG J<JJJJE&K Yt(^~?y>CVA E778B)*BE[[B@[)^~?[C[[[[ZZZZBZYY i) O{eJJJE&Kw> Y]~?yz.VA@0E&8B)E[[w@[/]~?[1[[[[BZYY i]o) >^: GD))GDnM@y6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031902.683165 s, next control iter: 1743031903.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031903.083165 s.DH~,Sŗ#AJ"J*J2J:J5?BJ5?nJ>5vJARk@AEf.pQ@A&_~? ACA&"AA:vNA"AZAbAjArAzAAA"o7@ArAF}@A6棺A5=Am@AڿA 03?AbA*A̓9?2ANֽ:A9<BA̓9?JANֽRA9<٘i)I9}@YcG JhJJJJE&K Y]~?y'VA5E{7j7P8B))BE[[@[]~?[M,[[[[BZYY iK) T-J ;  C)) CO@yΫxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031903.103165 s, next control iter: 1743031903.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031903.503165 s.H~,P4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068504< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743031903.503333F (some fields omitted in printout)Ap= @AvQ@A_~? AA&"AAuNA"AZAbAjArAzAAA-1A7@A"޸rAK}@A<A\=A@AoۿA?AS*Aܐ9?2Aս:AD=BAܐ9?JAսRAD=٘i)I9}@YLG J B=JJJJE&K  8Y ]~? 8yb!VA;E77{7|8B),BE[[A@[/]~?['[[[[BZYY i)  P1; A))ApP@yZhEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031903.543165 s, next control iter: 1743031903.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5402, header.stamp.nsec: 00 temperature: 13.383694* salinity: 33.391682, density: 1025.000000* values[0]: 0.709746F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031903.923165 s.7H~,#AJ"J*J2J:JBJnJvJA(\B@A;ʃ(@A0_~? A=A&"AAluNA"AZAbAjArAzAAAʦ7@A)&rA?}@Aot<A\xz=Af@AExܿA?AcC*A9?2Aս:AQ7 =BA9?JAսRAQ7 =٘i)I9?}@Y"G J#C=JJJJE&K Y]~?yUVA@EZ7Z78).B[[ @[d]~?[![[[[BZYY i) ~ >[; gB@))gB@NQ@yɍԫYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031903.943165 s, next control iter: 1743031904.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031904.343165 s.<H~,#AAHz@A`[?@A7^~? A߁Ai&"AAuNA"AZAbAjArAzAAAz.86@A8| rA|@AS<A߈=AT@A@9ݿA`Y?A r*A9?2A\ ֽ:A=BA9?JA\ ֽRA=٘i)I9|@YG J3ZJJJJE&K Y]~?yK(VAFEj7j78B)2BE[[3"@[u]~?[ [[[[BZYY i) Q-;ID?i>>F; >))>GS@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031904.363165 s, next control iter: 1743031904.743181 s, wait time: 0.380016 s]~?)K*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5403*, header.stamp.nsec: 0*0 temperature: 13.383828** salinity: 33.391701*, density: 1025.000000** values[0]: 0.709193*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031904.763165 s.6 H~,0#AJ"J*J2J:J5?BJ5?nJ_>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068504< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031904.763290F (some fields omitted in printout)A@AN&@A^~? A{A&"AAuNA"AZAbAjArAzAAAzކ6@Ak7rAw|@Aɋ;A=Ap @AdݿA ?A`3*A9?2Arֽ:A7=BA9?JArֽRA7=YF @k@yW=#;ٓH`rr/c?@O?@|2 yq?4?)F @ I٘i)I9w|@YG JB=J==JJJE&Kw> Y!]~?ydUA@KEZ78B)8BE[[`#@[}]~?[C[[[[BZYY iJlo) ;ID?iL>; n=))n=T@4ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031904.783165 s, next control iter: 1743031905.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031905.183165 s.H~,sK#AAQ@A$k@A^~? AsuA0&"AAuNA"AZAbAjArAzAAAƱȕ}6@AMrtrAG{@ApֻAP=Af@A``޿A?A蔼*Aő9?2Aֽ:A*=BAő9?JAֽRA*=٘i)I9{@Y_G J&C=JJJJE&K Y+~]~?y~eUAPEŧ7ŧ7&8B)=BE[[X$@[Yg]~?[[[[[BZYY i) ;I!D?i?; ]<))]<XV@\ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031905.203165 s, next control iter: 1743031905.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031905.603165 s.64H~,f#AJ"J*J2J:JBJnJvJA= ף@A@A^~? AfoAv&"AA/uNA"AZAbAjArAzAAAiiI6@A 6qårA|{@A?cA=A@A o߿Asj?A>*A(9?2A׽:AA =BA(9?JA׽RAA =٘i)I9|{@YG JJJJJE&K Y4i]~?yUAVE{7Z7Q%8B)CBE[[M&@[P]~?[<[[[[BZYY i) `;I)D?i$?; Ɲ:))Ɲ:W@zתYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031905.623165 s, next control iter: 1743031906.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5404 , header.stamp.nsec: 0 0 temperature: 13.384033 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.708258 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031906.023165 s.Z H~,|#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031906.023297F (some fields omitted in printout)A(\@Adt@B@A6^~? AviAn&"AAfuNA"AZAbAjArAzAAAP+ 6@A/\ |#rAVz@AcA=A @AA ?Ak*Aq9?2Aֽ:A =BAq9?JAֽRA =٘i)I9z@YG J=JJJJE&K Y=T]~?yTA D[Eb7b7{,8)GB[[wt'@[9]~?[ [[[[BZYY i) o;I22D?i!?},; 79))79X@yKo,ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031906.043165 s, next control iter: 1743031906.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031906.443165 s.:&H~,J]#AJ"J*J2J:JBJnJvJAz@A0@A9^~? AcA&"AAKuNA"AZAbAjArAzAAA*}5@A%rA]z@AֻAn=AN@A`iA?A*A%9?2Aֽ:AlZ =BA%9?JAֽRAlZ =٘i)I9]z@YaG JqJJJJE&K YG?]~?y?TA`EZ7SI738 B)MBݹE[[(@["]~?[[[[[BZYY i) HW2;I;D?i3?; +7))+7LZ@$ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031906.483165 s, next control iter: 1743031906.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5405, header.stamp.nsec: 00 temperature: 13.384306* salinity: 33.391689, density: 1025.000000* values[0]: 0.707143F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031906.863165 s.+-H~,>#AA33333@A]@Aۏ^~? A]AfR&"AAZ0uNA"AZAbAjArAzAAA Hͥ5@A(rAky@A-;AT=A @A}A o?A*A9?2ADֽ:A\=BA9?JADֽRA\=Y@ @y=N;ٓH@ PhE?@Y ٨?q??)@ I٘i)I9y@YG JöB=J#O<JJJE&Kw> Y(]~?ySA @fE77:8"B)TBڹE[[Q$*@[3 ]~?[[[[[BZYY i) :I*FD?i??L; 3o6))3o6[@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031906.883165 s, next control iter: 1743031907.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031907.283165 s.4R4H~,Ҙ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743031907.283288F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A-@A}^~? ARXA&"AADuNA"AZAbAjArAzAAAZ m5@A! @rA}'y@AO<AH=A!@AA`g?A*A9?2A*ֽ:A=BA9?JA*ֽRA=٘i)I9'y@YG JҺC=JJJJE&K Y]~?ybmSAkE77A8$B)[BٹE[[{+@[\~?[>[[[[BZYY i|) $i:I4QD?iLM? d< 2 5))2 5]@@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031907.303165 s, next control iter: 1743031907.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5406., header.stamp.nsec: 0.0 temperature: 13.384603.* salinity: 33.391720., density: 1025.000000.* values[0]: 0.705944.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031907.703165 s.Ӻ:H~,#AAףp= @A 4@Aj^~? ARAG-&"AAtNA"AZAbAjArAzAAA_*35@AKlTrAZx@Am<A=As#@A@fA@&?A*AB9?2A-ֽ:A=BAB9?JA-ֽRA=٘i)I9x@YEG JйB=JJJJE&K Y\~?y.SApE7'I8&B)aBֹE[[,@[\~?[[[[[BZYY i) I]D?i\?;D < *3))*3u^@WͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031907.723165 s, next control iter: 1743031908.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031908.123165 s.3AH~,L#AJ"J*J2J:JBJnJvJA)\u@AӁ[@AV^~? AzMA>&"AAotNA"AZAbAjArAzAAA[4@AmArAw@A <A}=ACr$@AસA`X?Asګ*AX9?2A@}ֽ:A~8<BAX9?JA@}ֽRA~8<٘i)I9w@YG JSC=JJJJE&K Y2\~?yRAvE7QP8'B)gBӹE[[/#.@[8\~?[C[[[[BZYY i) wIiD?im?$@< I2))I2_@4ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031908.143165 s, next control iter: 1743031908.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031908.543165 s.IHH~,"#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031908.543299F (some fields omitted in printout)A{G@A.;1@AB^~? A>HA&"AAtNA"AZAbAjArAzAAAS4@A@&ݍrAiw@AAƌ=A%@A' A ?AbM*A?9?2Aֽ:A<BA?9?JAֽRA<٘i)I9iw@YG JJJJJE&K Yn\~?yܧ2RA{E7777|W8)B)mBйE[[r/@[\~?[ [[[[BZYY i) IwD?id?nW$< 0))04a@y6ƉªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031908.563165 s, next control iter: 1743031908.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5407, header.stamp.nsec: 00 temperature: 13.384902* salinity: 33.391727, density: 1025.000000* values[0]: 0.704717F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031908.963165 s.wNH~,=#AJ"J*J2J:Jh4?BJh4?nJ+=5vJAL@Aצ2@A.^~? A"CAc&"AAqtNA"AZAbAjArAzAAAt#F>~4@AUPハrAv@AQm9As=A#'@A@WA`M?A0*Aa9?2AP׽:AJ<BAa9?JAP׽RAJ Y\~?yPاQA'@E77^8)qB[[0@[F\~?[[[[[BZYY i) T7ID?ik?-,< +/))+/b@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031908.983165 s, next control iter: 1743031909.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031909.383165 s.UH~,/X#AAQ@AB@A!^~? A(>A~&"AAtNA"AZAbAjArAzAAA#LI5@4@A,JrAykv@A'tA9Ӈ=Au(@AȣANj?A`ӏ*A9?2A׽:A<BA9?JA׽RA<٘i)I9kv@YG J풼C=JJJJE&K Y\~?yӧxQAE77j7e8*B)wB͹E[["2@[|\~?[[[[[BZYY i) uIPD?iS?&4< Z..))Z..[c@0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031909.403165 s, next control iter: 1743031909.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5408&, header.stamp.nsec: 0&0 temperature: 13.385143&* salinity: 33.391754&, density: 1025.000000&* values[0]: 0.703649&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031909.803165 s.vA\H~,wgs#AJ"J*J2J:J"4?BJ"4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031909.803312F (some fields omitted in printout)Aq= # @Aο @AR^~? AN9A&&"AAe`tNA"AZAbAjArAzAAA)j4@AbrAu@A.Ap=A)@A`%A ?A:*A39?2Aֽ:A<BA39?JAֽRA<٘i)I9u@YG JxJJJJE&K YW\~?yfϧQAE{7l8.B)~BɹE[[e3@[c\~?[C[[[[BZYY i) IWD?i?[>< ,)),Me@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031909.823165 s, next control iter: 1743031910.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031910.223165 s.gcH~,H#AA(\ @ABu @A3]~? A4A&"AA@tNA"AZAbAjArAzAAA`)3@ACeށrA|u@ASYAnx=A]+@A`3A?A8*A.9?2Aֽ:A X<BA.9?JAֽRA X<٘i)I9|u@YiG J΍JJJJ E&K Yk\~?yʧPAE77't8/B)BƹE[[4@[~K\~?[[[[[BZYY iЛ) ILD?i?-I< Mv+))Mv+hf@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031910.243165 s, next control iter: 1743031910.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031910.643165 s.ziH~,*#AJ"J*J2J:J3?BJ3?nJ<5vJAG @A: @A]~? A0A&"AAm tNA"AZAbAjArAzAAAKȀ3@A_C(rAvu@Ac<A°=AB,@AxA3@A_AZ|rAqt@A,q<Af=A-@A;A`Vr?A*A9?2A@ֽ:A,<BA9?JA@ֽRA, Y9\~?y§ PA-@E77{7}8.B)B¹E[[aH7@[\~?[[[[[BZYY i) vUID?i:?]< ())(\i@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031911.103165 s, next control iter: 1743031911.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031911.483165 s.z_wH~,ޙ#AJ"J*J2J:JBJnJvJA!@A!ַ!@A]~? A?'A &"AAsNA"AZAbAjArAzAAA<2@AJDyrAt@AI<A=Aa.@AbA@c?AQ*A9?2ACqֽ:A=BA9?JACqֽRA=٘i)I9t@YG J6JJJJE&K Y: \~?y'OAE7780B)BE[[_8@[\~?[[[[[BZYY i) Q IFD?i?Ǝf< 6j'))6j'j@yJYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031911.503165 s, next control iter: 1743031911.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5410, header.stamp.nsec: 00 temperature: 13.385616* salinity: 33.391750, density: 1025.000000* values[0]: 0.701723F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031911.903165 s.}H~,#AA ףp="@A2SZ#"@Aǘ]~? A#A &"AAsNA"AZAbAjArAzAAAb¯2@A{7-wrAڣs@Ao4];AF=A20@A;A@?AԢ*A9?2Aֽ:A^#=BA9?JAֽRA^#=٘i)I9s@YIG JJJJJ!E&K Y\~?y|XOAE{7j7Ґ81B)BE[[9@[n[~?[[[[[BZYY i) IxE?i޻?)yp< &))&3 l@޸YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031911.923165 s, next control iter: 1743031912.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031912.323165 s.qH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076081< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743031912.323262F (some fields omitted in printout)J"J*J2J:JBJnJvJA\"@A|,}"@A:]~? A A0!&"AA(sNA"AZAbAjArAzAAAM+Pt2@AZ'trA4s@A7AI=A1@AyA?AɃ*A9?2A׽:Ae=BA9?JA׽RAe=٘i)I94s@YG JB=JJJJ&E&K Y[~?yҷNAEb7783B)BE[[l";@[[~?[2ߧ[[[[BZYY i) *IE?iv?~x{< $))$cm@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031912.343165 s, next control iter: 1743031912.723173 s, wait time: 0.380008 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5411*, header.stamp.nsec: 0*0 temperature: 13.385843** salinity: 33.391769*, density: 1025.000000** values[0]: 0.700814*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031912.743165 s."WH~,/#AAGz#@Ak]h"@Ajk]~? A*Ao}!&"AAxsNA"AZAbAjArAzAAA5Lh%/2@A|<}YrrAr@A-efA6=A2@AA`?A*Ax9?2A;׽:A=BAx9?JA;׽RA=٘i)I9r@YG JC=JJJJ+E&K Y$[~?y(NAE7(8)B[[e<@[[~?[ݧ[[[[BZYY i) K:I-E?i?LÃ< u#))u#n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031912.763165 s, next control iter: 1743031913.143182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031913.163165 s.w}H~,qJ#AJ"J*J2J:JBJnJvJA#@Ac{-e#@AZT]~? AmA!&"AA VsNA"AZAbAjArAzAAALG81@A prAKUr@A\A#=A-4@AA@DF?Ao*A9?2A6׽:A=BA9?JA6׽RA=Y0&@T4@y=o\ٓH:iԿ`)㱿@?O@u?耋?)0&@ I٘i)I9Ur@Y}G JJ5<JJJ1E&K Yf[~?ySGNA4@E{7{7R84B)BE[[=@[[~?[ܧ[[[[BZYY i) !IIDE?i?r<  /")) /"o@1êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031913.183165 s, next control iter: 1743031913.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031913.583165 s.H~,Se#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076081< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031913.583287F (some fields omitted in printout)AR#@AQn#@A =]~? AA"&"AA2sNA"AZAbAjArAzAAAGHW>1@A]mrAq@AA=Aq5@A"Avl?A`*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9q@Y6G JJJJJ6E&K Y[~?yMAEb77}86B)BE[[>@[[~?[ڧ[[[[BZYY i) YI\E?i?$<  )) 5q@^ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031913.623165 s, next control iter: 1743031913.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5412, header.stamp.nsec: 00 temperature: 13.386071* salinity: 33.391754, density: 1025.000000* values[0]: 0.699915F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031914.003165 s.y H~,P4#AJ"J*J2J:J-3?BJ-3?nJ;5vJAp= W$@A1 <$@A%]~? AeAjT"&"AAvsNA"AZAbAjArAzAAAWE<[1@A{c}krA`cq@A(;A=Ai6@A`UA@ّ?A+e*A9?2Af\ֽ:AR =BA9?JAf\ֽRAR =٘i)I9cq@YG JMJJJJ;E&K Y[~?yMAE{7Z788B)BE[[4@@[[n[~?[٧[[[[BZYY i) r~hIWtE?iG?ѐ< !))!xr@0˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031914.023165 s, next control iter: 1743031914.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031914.423165 s.uH~,#AA(\$@Aog_y$@A ]~? A A]"&"AArNA"AZAbAjArAzAAAF>1@A>}irAp@AW<A=A7@A A`?Aޠ*AԲ9?2A%ֽ:A=BAԲ9?JA%ֽRA=I٘i)I9p@YG JݜJJJJAE&K Y'h[~?yը)MAE77ӻ89B)BE[[uA@[U[~?[ا[[[[BZYY i<) wIE?i?K=< f))fs@[ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031914.443165 s, next control iter: 1743031914.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5413, header.stamp.nsec: 00 temperature: 13.386296* salinity: 33.391758, density: 1025.000000* values[0]: 0.698948F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031914.843165 s.ݬH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.085077"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500 dt: 0.419961:JBJ2 time: 1743031914.843285nJF (some fields omitted in printout)vJAHz.%@A%@A\~? A Ai"&"AArNA"AZAbAjArAzAAAW*0@A5?grAVp@AWk<Aɗ=A/B9@A`A?A*Ad9?2A8ֽ:A=BAd9?JA8ֽRA=٘i)I9Vp@YFG JJJJJFE&K YgM[~?yLAEŧ7ŧ78:B)BE[[B@[u=[~?[ק[[[[BZYY i) ঃIԧE?i ?.< ())(t@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031914.863165 s, next control iter: 1743031915.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031915.263165 s.H~,0К#AA%@AzVҊ%@A\~? AA#&"AArNA"AZAbAjArAzAAA Y1[~?y cLA:@E)7)7)8)B[[OC@[$[~?['ק[[[[BZYY i) 2IE?i?< o))oF8v@?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031915.283165 s, next control iter: 1743031915.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 54142, header.stamp.nsec: 020 temperature: 13.3865672* salinity: 33.3917622, density: 1025.0000002* values[0]: 0.6978782F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031915.683165 s.lH~,V#AJ"J*J2J:JBJnJvJAQ&@A%@AR\~? AAJ#&"AAX~rNA"AZAbAjArAzAAA<670@AYUHdrACo@A"A=A;@A$A?A*Ao9?2Aֽ:AX=BAo9?JAֽRAX=٘i)I9Co@YG JJJJJQE&K Y_[~?yKAE77R8;B)BE[[3E@[2 [~?[֧[[[[BZYY i) ICE?i=@ &< !))!ww@y!֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031915.683165 s, next control iter: 1743031916.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743031916.103165 s.H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085077< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031916.103288F (some fields omitted in printout)A= ףp&@AA*ŎV&@Aˬ\~? AoA#&"AASYrNA"AZAbAjArAzAAAs_m/@AbrAֻn@A$?A=AK=@A 6A@;?A*A,9?2A0׽:A֔=BA,9?JA0׽RA֔=٘i)I9n@YLG J JJJJVE&K YZ~?yKAEb77~8@A\AVg?AӦ*A-9?2A)׽:A=BA-9?JA)׽RA=٘i)I91n@YG J+JJJJ\E&K YTZ~?y!-KAE778=B)̯BE[[ G@[qZ~?[է[[[[BZYY i) ҡIF?i@K8< /))/y@:ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031916.543165 s, next control iter: 1743031916.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5415, header.stamp.nsec: 00 temperature: 13.386837* salinity: 33.391766, density: 1025.000000* values[0]: 0.696834F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031916.943165 s.^dH~,[]<#AAzG'@Af-'@A>{\~? AA#&"AArNA"AZAbAjArAzAAA.@A Ml_rAm@AI#A3=A?@A@A?A'î*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9m@YG JB=JJJJaE&K YZ~?y)JAE778>B)ѯBE[[H@[PZ~?[է[[[[BZYY i) ^I+6F?i @< ))({@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031916.963165 s, next control iter: 1743031917.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031917.363165 s.H~,y>W#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J"J@ elevatorAngleAction: -0.085077*J2J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJ dt: 0.419963nJvJ2 time: 1743031917.363276F (some fields omitted in printout)A3333'@A< '@A>b\~? ATA`$&"AAqNA"AZAbAjArAzAAACZ.@AiN^rA m@A&7A=A#A@AA@?A۸*AG9?2Akֽ:A=BAG9?JAkֽRA=Yl3@#A@y=7ٓH `耿?M? `Ф>@?)l3@ I٘i)I9 m@YFG J%C=Jp<JJJfE&Kw> YͧZ~?yUJA#A@Eb7b78?B)ׯBE[[ J@[Z~?[է[[[[BZYY i) IUF?ir@r< ))d|@^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031917.403165 s, next control iter: 1743031917.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5416&, header.stamp.nsec: 0&0 temperature: 13.387092&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.695726&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031917.783165 s.UH~,r#AAQ(@An(@AI\~? AEA3:$&"AAqNA"AZAbAjArAzAAA qZ}-@A ]rAml@A7P$<AX׫=AbB@AA`?A)¼*A9?2A ֽ:Ai=BA9?JA ֽRAi=٘i)I9ml@YG JRJJJJlE&K YϋZ~?yIAE{7{7(8AB)ݯBE[[ZK@[Z~?['֧[[[[BZYY i)  ItF?i@⵻< ))Ş}@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031917.803165 s, next control iter: 1743031918.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031918.203165 s.H~,!#AJ"J*J2J:JBJnJvJAףp=(@A77'p(@A/\~? A_A`$&"AAqNA"AZAbAjArAzAAAWv:޿,@A[rAsk@A9r<A=AѩC@A@A`?A=Kɼ*AO9?2A.ս:A0=BAO9?JA.սRA0=٘i)I9k@YG JżJJJJqE&K YoZ~?y瘧rIAE77S8BB)BE[[L@[zZ~?[~֧[[[[BZYY i) _IڔF?iA@5T< H))H~@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031918.223165 s, next control iter: 1743031918.603179 s, wait time: 0.380014 s&oZ~?)&瘧 rAdjusting time to match Gazebo time: 1743031918.623165 s.YH~,e⧛#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085077< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031918.623299F (some fields omitted in printout)A)\(@A+~(@Aw\~? AA$&"AA4vqNA"AZAbAjArAzAAA*J,@A"p5ZrAk@A6A<A=AD@AA4=?A;̼*Ax9?2A;ֽ:A3=BAx9?JA;ֽRA3=٘i)I9k@YG J˼JJJJwE&K  8YSZ~? 8yїIAEb7~8)B[[%M@[bZ~?[֧[[[[BZYY i) ƼIF?iC@u< ))@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031918.643165 s, next control iter: 1743031919.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5417 , header.stamp.nsec: 0 0 temperature: 13.387390 * salinity: 33.391766 , density: 1025.000000 * values[0]: 0.694510 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031919.043165 s.H~,›#AJ"J*J2J:JBJnJvJA{Ga)@AmY.G)@A[~? AA%$&"AAOqNA"AZAbAjArAzAAAMP+@AӖYrAqj@A,;Av=A^VF@A AX?A/̼*A9?2A$ֽ:A =BA9?JA$ֽRA =٘i)I9qj@YG J̼JJJJ|E&K Y7Z~?yHAEŧ7b7 8)BE[[N@[ KZ~?[ק[[[[BZYY i)  μI$F?i@< ))r@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031919.063165 s, next control iter: 1743031919.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031919.463165 s.ZH~,ݛ#AA)@An)@Ad[~? AAy$&"AA(qNA"AZAbAjArAzAAApF-+@AYrAi@AmAR=AG@A`!A ?Ah˼*A9?2A)׽:A =BA9?JA)׽RA =Y9@G@yQ=ٓH͕`Ll? cx B@-?)9@ I٘i)I9i@YGG J˼B=J/<JJJE&Kx> YZ~?yHAG@E7{78CB)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #23q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) Bռ)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031919.503165 s, next control iter: 1743031919.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5418, header.stamp.nsec: 00 temperature: 13.387702* salinity: 33.391747, density: 1025.000000* values[0]: 0.693204F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031919.883165 s.yH~,D#AJ"J*J2J:Ju1?BJu1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.085077< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031919.883307F (some fields omitted in printout)AQ8*@AK?*@A[~? AdA$&"AA#qNA"AZAbAjArAzAAAr/2y*@A)#>XrAi@AqiAA=Ak I@A3A@?AP̼*AX9?2A"׽:AO=BAX9?JA"׽RAO=٘i)I9i@Y G J˼C=JJJJE&K YeY~?yXGA Eb778DB)BE[[miQ@[Z~?[@٧[[[[BZYY i) xܼI}F?i`$@f< Qr)) Qrց@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031919.903165 s, next control iter: 1743031920.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031920.303165 s.`H~,g#AAq= ף*@Ab*@A[~? AXA$&"AApNA"AZAbAjArAzAAAw=)@A>WrAlh@A|^Aд=A#HAWAٽ?AvҼ*AJ:?2A½:At=BAJ:?JA½RAt=٘i)I9lh@Yu G J<ϼJJJJE&K Y4Y~?y&(GAE{7Z7) 8EB)BE[[R@[Z~?[Hڧ[[[[BZYY i) ٭IG?i'@f<  ))> tp@aYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743031920.323165 s, next control iter: 1743031920.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5419., header.stamp.nsec: 0.0 temperature: 13.388039.* salinity: 33.391762., density: 1025.000000.* values[0]: 0.691906.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031920.723165 s. H~,H.#AJ"J*J2J:JBJnJvJA(\+@AD*@A [~? AsA%&"AApNA"AZAbAjArAzAAA6@)@AbWrAg@AûAڵ=AhGAaA]?A׼*Aa[:?2A]ý:Al=BAa[:?JA]ýRAl=٘i)I9g@Y G JԼJJJJE&K YY~?yFAEb77T'8FB)BE[[S@[Y~?[qۧ[[[[ZZ¸BZYY i¸a=) ׼IyDG?i+@< ) ))) F @YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031920.743165 s, next control iter: 1743031921.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031921.143165 s.W/H~, *I#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743031921.143323F (some fields omitted in printout)AGz+@AF`+@A|[~? AA*%&"AApNA"AZAbAjArAzAAAAݢ(@Aw "VrAog@Aq;A¶=AuFA|kAO?A޼*A`:?2AŽ:ANV=BA`:?JAŽRANV=٘i)I9g@Y G J}ڼJJJJE&K YͪY~?yÕ8FAE{7{7~.8GB)BE[[ T@[Y~?[ܧ[[[[ZZBZYY i) ˼INjG?i/@*<  )) @YhVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031921.163165 s, next control iter: 1743031921.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031921.563165 s.H~,c d#AJ"J*J2J:JBJnJvJAffff+@A2Y+@A#b[~? AA&%&"AAYepNA"AZAbAjArAzAAABf(@A!*VrA3f@Ak_<A=AZEA`qA?A-*Al:?2Aѥǽ:A<BAl:?JAѥǽRA@tGEy=v_<ٓH`n?@@t"~?ص?@[?)>@ I٘i)I93f@Y G JB=JT~JJJE&KE> YY~?yIEAGE!Ej7Z758HB)BE[[/V@[Y~?[)ާ[[[[ZZBZYY i) gIŐG?i2@< ϫ ))ϫ 9@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031921.583165 s, next control iter: 1743031921.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5420, header.stamp.nsec: 00 temperature: 13.388377* salinity: 33.391785, density: 1025.000000* values[0]: 0.690558F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031921.983165 s.H~,~#AAQ,@Ad7,@A$H[~? AsAB2%&"AA=pNA"AZAbAjArAzAAAg'@AUrAOe@A$u<A(*=ADAxA J|?AL*Av:?2Aʽ:A<BAv:?JAʽRA<٘i)I9Oe@Y G JC=JJJJE&K Y|rY~?y͖NEA'Eb77<8)B[[_W@[Y~?[ߧ[[[[ZZBZYY i) 2IG?i$6@$< {)){ф@yħ=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031922.003165 s, next control iter: 1743031922.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031922.403165 s.&&H~,͙#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743031922.403324F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp,@A0[,@A.[~? AA;%&"AApNA"AZAbAjArAzAAA|a&@AߵXeUrAtd@Aj<A8r=ABA DAS%?A{*Az:?2ANͽ:ARi<BAz:?JANͽRARi<٘i)I9td@Y G J2JJJJE&K YQVY~?ySDA,Eb7C8)%B|E[[,X@[Y~?[d[[[[ZZBZYY i) ɧIG?i9@< M))Mi@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031922.443165 s, next control iter: 1743031922.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5421", header.stamp.nsec: 0"0 temperature: 13.388767"* salinity: 33.391754", density: 1025.000000"* values[0]: 0.688919"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031922.823165 s.,H~,%#AA\(-@Aɬ-@A[~? AA!B%&"AAoNA"AZAbAjArAzAAAğ:+&@A)OsUrAc@ALA-=AuAA`5A'?A(μ*Ay:?2A"Ͻ:Au;BAy:?JA"ϽRAu;٘i)I9c@Y G JJJJJE&K Y':Y~?yؗcDA1Ej7Z7*K8IB)+ByE[[\Y@[zY~?[0[[[[ZZBZYY i) aӛIH?i=@< c!))c!)@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031922.863165 s, next control iter: 1743031923.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031923.243165 s.3H~,`Ϝ#AJ"J*J2J:JBJnJvJAGz-@Aefbz-@AZ~? AAE%&"AAoNA"AZAbAjArAzAAA g%@AIXetfUrAc@AWAgC<A@AφA %?AU*At:?2A_ѽ:AKFBAt:?JA_ѽRAKF٘i)I9c@Y4 G JtJJJJE&K YY~?y]CA7ETR8JB)1BvE[[AZ@[edY~?[[[[[ZZBZYY i) ޏI2H?iiB@< }))}@QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031923.263165 s, next control iter: 1743031923.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031923.663165 s.:H~,q#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743031923.663314F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5422, header.stamp.nsec: 00 temperature: 13.389097* salinity: 33.391750, density: 1025.000000* values[0]: 0.687510F (some fields omitted in printout)A.@AGg-@AZ~? AAE%&"AAoNA"AZAbAjArAzAAA'$@AqUrAb@A A <A'>A@A@uAѾu*Ai:?2Aҽ:Aw+BAi:?JAҽRAw+YJE@}>y <!ٓHՖ`4n?wjĿԕ2``?)JE@ I٘i)I9b@Y G J J];JJJE&K`v> Y Y~?yřCA><E77Y8)6BsE[[\@[NY~?[)[[[[ZZBZYY iނ=) !I\H?i&E@Z< ))P+@;XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031923.683165 s, next control iter: 1743031924.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031924.083165 s.J "J *J 2J :J 0?BJ 0?nJ 85vJ DAH~,S#AARk.@AnQ.@AZ~? A AC%&"AAxoNA"AZAbAjArAzAAAQ$@A,UrA?b@A>AAz=AA`T՝A7**A\:?2Aӽ:AnUBA\:?JAӽRAnU٘i)I9?b@Y G JUJJJJE&K YX~?y-CABEŧ7b7`8EB)3BpE[[r?]@[7Y~?[W[[[[ZZBZYY ip=) [xIH?iGH@.= M))M@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031924.123165 s, next control iter: 1743031924.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031924.503165 s.GH~,a4 #AAp= .@A =b.@AΫZ~? ApA<%&"AAQoNA"AZAbAjArAzAAA uг#@AiUrARb@AVA6A%<A<~AA۝*A1R:?2AԽ:ABA1R:?JAԽRA٘i)I9b@Y G J<JJJJE&K Y%X~?yCAGEj7j7g8)5BmE[[j^@["Y~?[[[[[ZZBZYY i) ܩdI۳H?iK@|n= 3q))3qAW@t)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031924.543165 s, next control iter: 1743031924.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5423, header.stamp.nsec: 00 temperature: 13.389308* salinity: 33.391754, density: 1025.000000* values[0]: 0.686713F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031924.923165 s.8NH~,;#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074252< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743031924.923295F (some fields omitted in printout)A(\B/@Atx(/@AɑZ~? AA3%&"AA)oNA"AZAbAjArAzAAAP #@A-VrAa@Af&<Ab|A:A`uA*=A;׺*AD:?2A+ս:AړȼBAD:?JA+սRAړȼ٘i)I9a@Y G J{JJJJE&K Y2X~?yCALEZ7n8)6BjE[[_@[o Y~?[ [[[[BZYY i) PIH?iO@= H))H@y o=.3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031924.943165 s, next control iter: 1743031925.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031925.343165 s.X~?ygCAREŧ7b7*v8)[[ܺ`@[!X~?[[[[[BZYY i) K=II?iS@9= A))Ai@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031925.383165 s, next control iter: 1743031925.743182 s, wait time: 0.360017 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5424&, header.stamp.nsec: 0&0 temperature: 13.389381&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.686496&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031925.763165 s.7[H~,p#AJ"J*J2J:JBJnJvJA0@A0 /@A]Z~? AA%&"AAnNA"AZAbAjArAzAAA>dZ!@A_ٵg*WrA b@AsM<AXA,(8A`:\AA{;*Ar.:?2Alֽ:A-BAr.:?JAlֽRA-YK@38yXRM<ٓH62?`Z|? пAV?`4? ?`?)K@ I٘i)I9 b@Y G J;JJJJE&K{> YvX~?yCA38WE{7{7U}8)5BgE[[a@[X~?[2[[[[BZYY iue=) ,II?ivV@wA = ))[@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031925.803165 s, next control iter: 1743031926.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031926.183165 s.bH~,k#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056145< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031926.183285F (some fields omitted in printout)AQ0@Aʥ k0@ADZ~? AA%&"AAnNA"AZAbAjArAzAAAPW1>!@A8WrABb@AQ6;AHXyAk6AKAZ|A,<*A$:?2Akֽ:A BA$:?JAkֽRA ٘i)I9Bb@Y G J3<JJJJE&K Y[X~?yDDA D\E7778)3BdE[[U c@[X~?[[[[[BZYY i) ذIiRY@ = Ӝ))Ӝ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031926.203165 s, next control iter: 1743031926.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031926.603165 s.64iH~,#AJ"J*J2J:J/?BJ/?nJY85vJA= ף0@AXl0@AA*Z~? AA$&"AAnNA"AZAbAjArAzAAA(ևA @Af%XrAb@A A|AQ5A8A6Aq<*A :?2A7ֽ:ABA :?JA7ֽRA٘i)I9b@Y G J(M<B=JJJJE&K YS@X~?yJDAbE78)0BaE[[4d@[ַX~?[[[[[BZYY i7=) ` Ii\@) = kN))kN@<@ܹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031926.643165 s, next control iter: 1743031927.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5425 , header.stamp.nsec: 0 0 temperature: 13.389368 * salinity: 33.391747 , density: 1025.000000 * values[0]: 0.686761 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031927.023165 s.ZpH~,|#AA(\1@A2B1@AZ~? ADA$&"AAenNA"AZAbAjArAzAAAYu @A dYrAc@A)#~A1ASW4A#A@A<*A :?2AH2ֽ:ABA :?JAH2ֽRA٘i)I9c@Y- G J<C=JJJJE&K Y %X~?yDAgEb77Ւ8)-B^E[[Ye@[PX~?[[[[[BZYY i) ,Ii0`@V{= ;));΋@yNf=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031927.063165 s, next control iter: 1743031927.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031927.443165 s.3vH~,-]ܝ#AJ"J*J2J:J/?BJ/?nJp85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031927.443292F (some fields omitted in printout)Az1@AM/11@AY~? AAI$&"AA>nNA"AZAbAjArAzAAA-@A|ETZrAc@AkAIҕA3A5 A`}¿AZX<*A:?2Aywֽ:AtBA:?JAywֽRAt٘i)I9c@Yz G J<JJJJE&K Y X~?y⪧EAmEb78DB)(B[E[[}f@[X~?[[[[[BZYY i) ׻Ii1d@ = _))_`@y~=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031927.483165 s, next control iter: 1743031927.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5426, header.stamp.nsec: 00 temperature: 13.389235* salinity: 33.391724, density: 1025.000000* values[0]: 0.687530F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031927.863165 s.+}H~,>#AA333332@A&%2@AyY~? AAԙ$&"AAnNA"AZAbAjArAzAAAp9a@AZT][rA1d@ATAkИAU1A AĿA1<*A:?2Aֽ:AT BA:?JAֽRAT Y6sR@^1yϘٺٓH?W?eֿAڕ?o? Jw?)6sR@ I٘i)I9d@Y G J<B=J3SJJJE&Kuy> Y_W~?yEA1rE7777+8)$BXE[[g@[zX~?[[[[[BZYY i) YIief@t= q))qx@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031927.903165 s, next control iter: 1743031928.263182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743031928.283165 s.5RH~,#AJ"J*J2J:J"0?BJ"0?nJ85vJAQ2@A2@AY~? A]A/w$&"AA_mNA"AZAbAjArAzAAA1m@A1\rAd@Am;A`AP0A`A@&ƿAѝ<*AS:?2A6g׽:AH BAS:?JA6g׽RAH ٘i)I9d@Y! G J2<C=JJJJE&K YW~?y.EAwE7U8)BYE[[h@[fX~?[P[[[[BZYY i) 'Iih@t= w())w(@;*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743031928.303165 s, next control iter: 1743031928.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 54272, header.stamp.nsec: 020 temperature: 13.3890192* salinity: 33.3917082, density: 1025.0000002* values[0]: 0.6885552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031928.703165 s.׺H~,-#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031928.703313F (some fields omitted in printout)Aףp= 3@A+2@AݪY~? AcA[Q$&"AAmNA"AZAbAjArAzAAAW!,;@A']rA%e@AlIl<ABA.AAȿA<*A`:?2Aţ׽:ABA`:?JAţ׽RA٘i)I9%e@Yv G J]<B=JJJJE&K YW~?yTRFA}ES778)BVE[[i@[8SX~?[[[[[BZYY i) PyIik@I= ))뿩s@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031928.723165 s, next control iter: 1743031929.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031929.123165 s.5H~,TG#AJ"J*J2J:JBJnJvJA)\u3@As,[3@AÑY~? AAb($&"AAܤmNA"AZAbAjArAzAAAzFv9 @AY_rAe@A {<AA-A$AO_ʿA<*A:?2AC׽:ABA:?JAC׽RA٘i)I9e@Y G Jϧ<C=JJJJE&K YHW~?yzFAE77{78)BSE[[ k@[?X~?[. [[[[BZYY i) n=IiHo@h$= 3))3鿩N@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031929.143165 s, next control iter: 1743031929.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031929.543165 s.IH~,b#AA{G3@A7n13@AxY~? AAN#&"AA~mNA"AZAbAjArAzAAA@Aj`rAAf@A<AϙAGb,ApA@I2̿A<*A:?2Ad<׽:ApBA:?JAd<׽RAp٘i)I9Af@Y# G J<JJJJE&K YW~?yGAEb77ս8CB)BPE[[,l@[,X~?[[[[[BZYY i) Iir@= ]))]翩^8@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031929.563165 s, next control iter: 1743031929.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5428, header.stamp.nsec: 00 temperature: 13.388814* salinity: 33.391697, density: 1025.000000* values[0]: 0.689608F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031929.963165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ }H~,}#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743031929.963298F (some fields omitted in printout)AL4@AI24@A`Y~? AjA,#&"AA8YmNA"AZAbAjArAzAAAeo@AcbrAzf@AlJUA4A("+AJA ͿA2c<*A:?2A_ֽ:ABA:?JA_ֽRAYdX@0+y3UٓHi{s?zW?@ܿ`suN??`Jj X?)dX@ I٘i)I9f@Y| G Jv<J9:JJJE&Kx> YlW~?yGA+Ej7j78) BME[[oOm@[X~?[p[[[[BZYY i) Iit@j= ))忩ɏ@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031929.983165 s, next control iter: 1743031930.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031930.383165 s.إH~,#AAQ4@As9>4@AfGY~? AA#&"AA3mNA"AZAbAjArAzAAAOϢ`@A;`crAmig@A0TAA)A`"AϿAuDZ<*A8 :?2Aڛֽ:ABA8 :?JAڛֽRA٘i)I9ig@Y G JO<JJJJ E&K YSW~?y§GAE77+8)B[[qn@[X~?[;[[[[BZYY i) p~Ii7w@7= O))O⿩Z@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031930.403165 s, next control iter: 1743031930.783203 s, wait time: 0.380038 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5429", header.stamp.nsec: 0"0 temperature: 13.388608"* salinity: 33.391697", density: 1025.000000"* values[0]: 0.690710"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031930.803165 s.yAH~,g#AJ"J*J2J:J0?BJ0?nJi95vJAq= #5@Ac 5@A.Y~? AAe#&"AAmNA"AZAbAjArAzAAAŇ\@A*D\erAg@A㊁A.AQ(A A@HпA<*A :?2Aֽ:AmBA :?JAֽRAmI٘i)I9g@Y1 G J<JJJJE&K YO:W~?yƧRHAEb7V8)BJE[[o@[W~?[[[[[BZYY i)  R:Iiy@= s))s࿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031930.823165 s, next control iter: 1743031931.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031931.223165 s.gH~,HΞ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743031931.223278F (some fields omitted in printout)A(\5@AGu5@AY~? AA-#&"AAlNA"AZAbAjArAzAAA/_36@A;N*grAh@AN)A/AH?'AA ѿA`&<*A:!:?2A<ֽ:A.BA:!:?JA<ֽRA.٘i)I9h@Y G J^<JJJJE&K Y!W~?yʧHAE77{78BB)BGE[[p@[eW~?[[[[[BZYY i) t:Ii|@!= CV޿))CV޿Jz@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031931.243165 s, next control iter: 1743031931.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031931.643165 s.uйH~,*#AJ"J*J2J:JBJnJvJAG5@Ak5@AX~? A Ax"&"AAlNA"AZAbAjArAzAAAe@A>&#irAi@Af:ATAV%A AǓҿA<*AV!:?2AU׽:A!BAV!:?JAU׽RA!٘i)I9i@Y G J@<JJJJE&K YW~?yzΧIAE7778)BDE[["q@[W~?[#[[[[BZYY i) i-;Ii-@$= ;ܿ));ܿ @*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031931.663165 s, next control iter: 1743031932.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5430, header.stamp.nsec: 00 temperature: 13.388375* salinity: 33.391666, density: 1025.000000* values[0]: 0.691840F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031932.063165 s.H~,V #AAfffff6@AkzPL6@AX~? A7A@"&"AAlNA"AZAbAjArAzAAAK@A~.kkrAi@A48<A"銽AG$A iAbwӿA&<*A!:?2A>׽:ALbBA!:?JA>׽RALbYʂ_@ʖ$y抽88<ٓH|H??`9`? tY?q??)ʂ_@ I٘i)I9i@Y-G Jݚ<B=JE}<JJJ#E&Kx> YV~?y;ӧ|IA$E{78)BEE[[3r@[ѾW~?[D'[[[[BZYY i=) qk;Ii@$%= ٿ))ٿ@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031932.083165 s, next control iter: 1743031932.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031932.483165 s.w_H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031932.483288F (some fields omitted in printout)J"J*J2J:JBJnJvJA6@A7۷6@A+X~? AA s"&"AA|lNA"AZAbAjArAzAAA~kR@Ag&mrAj@A<AA.7#A#5AWԿA<*A :?2A׽:AjBA :?JA׽RAj𼙘٘i)I9j@YxG JO<C=JJJJ(E&K YUV~?yקIAE778)BBE[[Y t@[[W~?[+[[[[BZYY i) T;Ii@`&= ˜׿))˜׿(@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031932.503165 s, next control iter: 1743031932.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5431, header.stamp.nsec: 00 temperature: 13.388155* salinity: 33.391685, density: 1025.000000* values[0]: 0.692895F (some fields omitted in printout)*UV~?)*ק rAdjusting time to match Gazebo time: 1743031932.903165 s.H~,9#AA ףp=7@A"QhY#7@AǷX~? A5A."&"AAYlNA"AZAbAjArAzAAANNo@AdTorA j@AJ<AkAv!AA _3տA<*A:?2AXg׽:A:BA:?JAXg׽RA:٘i)I9j@YG J<JJJEJ-E&K YV~?yܧ6JAE7)7+8AB)B?E[[b+u@[4W~?[/[[[[BZYY i) s;Ii*@'= `տ))`տ@\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031932.923165 s, next control iter: 1743031933.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031933.323165 s.wH~,)T#AJ"J*J2J:JBJnJvJA\7@Ao7@AX~? AA!&"AA5lNA"AZAbAjArAzAAAь = @A0sqrADk@A7;Ar1A˪ A4A ֿAZ&<*A:?2A׽:A29BA:?JA׽RA29٘i)I9k@Y G J<JJJJ3E&K YĨV~?y|JAEb77V8)B elevatorAngleAction: 0.074676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743031933.743328F (some fields omitted in printout)AGz8@A+d7@AX~? AA!&"AAlNA"AZAbAjArAzAAAZGE @A{srA|k@AA߈AHiA AֿAd<*A:?2Aįֽ:AxPBA:?JAįֽRAxP٘i)I9|k@YRG JI<JJJJ8E&K  8YV~? 8y=JAE78)B[[cw@[zW~?[8[[[[BZYY i) d;Ii@d+= п))пӔ@]*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031933.763165 s, next control iter: 1743031934.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031934.163165 s.{}H~,q#AJ"J*J2J:JBJnJvJA8@Ae8@AsX~? A!AyQ!&"AAZkNA"AZAbAjArAzAAAH@AevrAk@A7AӉA]"AnOA׿A<<*A% :?2Aֽ:AYWBA% :?JAֽRAYWYqf@"yωVٓHg H?? ~P?6?2v?)qf@ I٘i)I9k@YG JZ<JH:JJJ=E&Kqx> YzV~?yMKAE77 8@B)B9E[[bx@[xjW~?[Q=[[[[BZYY i) L elevatorAngleAction: 0.074676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031935.003302F (some fields omitted in printout)Ap= W9@AK<9@AFX~? A5*A &"AA}kNA"AZAbAjArAzAAAb!@A󅹪{rA}l@AA}?AyA`rAUٿAeא<*A;:?2A^׽:A|BA;:?JA^׽RA|٘i)I9l@Y3G JZ<JJJJHE&K YNV~?yLAE7778?B)دB4E[[;z@[JW~?[F[[[[BZYY i) ?S'B)ϯB0E[[|@[,W~?[iP[[[[BZYY i) ZF elevatorAngleAction: 0.074676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743031936.263296F (some fields omitted in printout)A:@A:@AX~? A7A &"AAIkNA"AZAbAjArAzAAAx|e2?Aq8rAsVn@Afu<AAKyA A ߸ۿA`<*A9?2Ax׽:ADBA9?JAx׽RADYl@׊y]%v<ٓH` Xb??(N? >?a? ??)l@ I٘i)I9Vn@YG J<JJJJXE&Kx> Y9V~?y!MAE777708)˯B-E[[d ~@[ W~?[dU[[[[BZYY i) U8)ïB+E[[@[4W~?[_[[[[BZYY i) 67t elevatorAngleAction: 0.083407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031937.523298F (some fields omitted in printout)A(;@Adt@;@A`W~? AFA&"AAjNA"AZAbAjArAzAAA?B?ACrA%o@A^\A AvAA`xݿA<*A9?2Aiֽ:A2BA9?JAiֽRA2٘i)I9o@YG JW<JJJJhE&K YU~?yBHNAE777F8.B)B[[M@[9V~?[d[[[[BZYY i) #AJ"J*J2J:J2?BJ2?nJm;5vJA3333<@AÖ<@AW~? ARQAX&"AAPjNA"AZAbAjArAzAAAx?AjrAxp@Ad AIFAA`AzA@e߿A<*A9?2A/ֽ:A= BA9?JA/ֽRA= Y$s@oy]D ٓHo ӎ?@۬?@I?ృ?n @?)$s@ I٘i)I9p@YG Jn<JAJJJsE&K]x> YVU~?y,'OAE7b7WT8-B)B%E[[7Ł@[*V~?[Io[[[[BZYY i)  elevatorAngleAction: 0.083407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743031938.783318F (some fields omitted in printout)AQ=@A*=@AW~? AVA V&"AAjNA"AZAbAjArAzAAA IG?AM`rAۄq@ACj:AAA`%A Aԧ<*A9?2A.׽:A+BA9?JA.׽RA+٘i)I9q@YG JR<JJJJyE&K YAU~?y-|OAE)7[8)B[[Q@[V~?[t[[[[BZYY i) j<ApAHZAAtgAE7<*A9?2Ax׽:AoBA9?JAx׽RAo٘i)I9r@YTG J<JJJJ~E&K Y-U~?y4OAESI7SI7b8.B)B#E[[ނ@[IV~?[z[[[[BZYY i)  elevatorAngleAction: 0.083407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743031940.043290F (some fields omitted in printout)A{Ga>@Ab4G>@A_VW~? AgA &"AA"=jNA"AZAbAjArAzAAA3aпAw,.rA3s@A?<A!LA& A`TAA <*Ac9?2A*׽:AvBAc9?JA*׽RAv٘i)I93s@YG J<JJJJE&K YcU~?y6BPA E77j7q8-B)B E[[@[V~?[-[[[[BZYY i) G@AF>@ADW~? AmAn&"AA"jNA"AZAbAjArAzAAABݿAUͤrAs@A:AZA A)߿A*dA<*A9?2AQֽ:ABA9?JAQֽRAYy@ yP򩽙:ٓH2?"$?Np Iʱ? 8?@uV??)y@ I٘i)I9s@YbG J1<JKJJJE&K3x> Y;SU~?yI(QA Ej7-x8)B[[@[V~?[ϊ[[[[BZYY i) C elevatorAngleAction: 0.083407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031941.303307F (some fields omitted in printout)Aq= ף?@A?@A}"W~? AyA&"AAiNA"AZAbAjArAzAAA:A|n;rAu@Am|A)A AX޿AA <*A9?2A*ֽ:ABA9?JA*ֽRA٘i)I9u@Y+G J<JJJJE&K Y3U~?yX RAE{7j78)B[[2@[.V~?[?[[[[BZYY i) = $))$F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031941.743165 s, next control iter: 1743031942.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031942.143165 s.]/bH~,$*#AAGz@@A=`@@AW~? AAT&"AA~iNA"AZAbAjArAzAAA`ArAqv@AAjAOA ܿA A,<*A9?2Aֽ:AI BA9?JAֽRAI ٘i)I9qv@YG J<JJJJE&K YU~?yfRA(E7{7ؔ8)yB[[@[lV~?[ޡ[[[[BZYY i=) q elevatorAngleAction: 0.092346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743031942.563281F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@@AS@@ACV~? AAv=&"AAmiNA"AZAbAjArAzAAA*bA OڷrAw@A;A4 AAۿA`A<*A"9?2A6׽:AFBA"9?JA6׽RAFY@:y;ٓHs޿8?$s?``*޿@D?`?}?@?)@ I٘i)I9w@YfG J<B=JJJJE&KRx> YU~?ypngSA.Eb7b78,B)sBE[[3;@[bV~?[Ƨ[[[[BZYY i)  BZYY i¸>@<)  Ej78)dB[[܈@[EV~?[Ź[[[[ZZZZBZYY i) ^?ዿ`?)$O@ I٘i)I9z@YG JA=C=JG<JJJE&Kw> YT~?yUAHEj7j7ٿ8)WBE[[@[}4V~?[Ũ[[[[ZZZZBZYY i) l$AkEdrAb|@A[A5AA ]1ֿA೧A<*A"9?2Adֽ:AdBA"9?JAdֽRAd軙٘i)I9b|@YG J<JJJJE&K Y^T~?y२xVASE7.8)JB[[d @[a$V~?[hҨ[[[[ZZZZBZYY i)  5vJAE@AnD@A6nV~? A[ҩAX&"AAhNA"AZAbAjArAzAAArܿ A+u.rA}@A=<A;AAӿAMA)<*A9?2A=ֽ:AU<BA9?JA=ֽRAU<ٓH7ҿ`߫? 7ҿl:v'? ?)@ II٘i)I9}@YG JgY<JE>JJJE&Kv> YٓT~?yAWAcE{78)?B[[@[V~?[R[[[[ZZZZBZYY iA{) bt<AKܡ<AhjA`uҿAA;*A]9?2AXֽ:Aj<BA]9?JAXֽRAj<٘i)I9~@YG J <JJJJE&K YʋT~?yǨ9WAhE7778-B)5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743031947.603294F (some fields omitted in printout)A= ףE@AE@AaYV~? A&A&"AA4hNA"AZAbAjArAzAAAH'G A*5rA5~@Arr(:A=AAѿAKA:*A9?2AUֽ:A۞<BA9?JAUֽRA۞<٘i)I95~@YG Ju;JJJJE&K YT~?yϨ2WAnE77{78);B[[@[V~?[&[[[[BZYY i) lNB[[؎@[U~?[[[[[BZYY i) (7#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743031948.863304F (some fields omitted in printout)A33333G@A]G@A=V~? AAj$&"AA=hNA"AZAbAjArAzAAA*86 ABv rA}@APA u=AA=gοA_3A~!*A*9?2A4ֽ:A=BA*9?JA4ֽRA=Y͉@yu=qoPٓH7ǿ@q?V?b ǿ`H@`?)͉@ I٘i)I9}@YG JJ>JJJE&Kw> Y\nT~?y"VA~E{7{78)?B E[[c@[U~?[[[[[BZYY iug) 5vJALI@AJ̳2I@AV~? AA1&"AAShNA"AZAbAjArAzAAA A'IqjsA{@Aq;A=A%ԿAJſAA̫*A9?2Aֽ:A 7 =BA9?JAֽRA 7 =Y@>ӿy]=t;ٓH`>?i@0嵿 e= )w??)@ I٘i)I9{@YG JdJB=JJJE&Kw> YVT~?y UAӿE{7{7Y+8,B)PBE[[O@[U~?[&[[[[BZYY i)  ;Ii@K?= n))nJ>@yJԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031950.983165 s, next control iter: 1743031951.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031951.383165 s.H~,@أ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065902< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031951.383294F (some fields omitted in printout)AQI@AQ}>I@A@V~? Av&A) &"AAJhNA"AZAbAjArAzAAAb/MHAmsAz@AFɻA{ə=AMѿAfÿAA̧*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9z@YG JNJJJJE&K YTT~?yOTAEj7Z728)TB[[@[U~?["-[[[[BZYY i) |k;IiY@'+?= 1j))1jɫ@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031951.423165 s, next control iter: 1743031951.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5450", header.stamp.nsec: 0"0 temperature: 13.385039"* salinity: 33.391399", density: 1025.000000"* values[0]: 0.708510"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031951.803165 s.yAH~,g#AJ"J*J2J:J`5?BJ`5?nJ0>5vJAq= #J@A J@A V~? Aa.A &"AABhNA"AZAbAjArAzAAAÊvA+Z ZsAqz@ANpA=AŝοAA`gA3*AU9?2A1-׽:A0=BAU9?JA1-׽RA0=٘i)I9qz@YmG JJJJJE&K Y%RT~?y&QTAEb7798)YB[['3@[U~?[3[[[[BZYY i) x/;Ii@ƭ>= e))e"U@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031951.823165 s, next control iter: 1743031952.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031952.223165 s.gH~,H#AA(\J@A74DuJ@A V~? AS6A c &"AA;hNA"AZAbAjArAzAAAQBAܠ4sAy@A#~Aʗ=A-̿AF<A M%AcĦ*A̽9?2A׽:A [=BA̽9?JA׽RA [=٘i)I9y@YG JJJJJ%E&K YOT~?y.SAE777@8+B)\B E[[¾@[U~?[z:[[[[BZYY i) a:IiĔ@>l>= xa))xa@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031952.243165 s, next control iter: 1743031952.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031952.643165 s.x H~,*)#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065902< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743031952.643290F (some fields omitted in printout)AGJ@A:J@AqV~? AM>A &"AA4hNA"AZAbAjArAzAAAҹAI$sAXy@A{SAG=AgxɿA`{A~8Ak*A"9?2A:ֽ:Ao=BA"9?JA:ֽRAo=٘i)I9Xy@YG JrJJJJ*E&K YVMT~?y7SAEŧ7b7H8)`B E[[yJ@[U~?[,A[[[[BZYYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5451, header.stamp.nsec: 00 temperature: 13.385278* salinity: 33.391357, density: 1025.000000* values[0]: 0.707546F (some fields omitted in printout) i) u[:Ii@f>= 5]))5]tl@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031952.683165 s, next control iter: 1743031953.043178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031953.063165 s.H~,V D#AAfffffK@AiUMLK@AV~? AMFA+ &"AA.hNA"AZAbAjArAzAAA$hANX(sAx@A1_;AKc=AhƿAA@,IA*Aa9?2Aeֽ:Az=BAa9?JAeֽRAz=YvP@Oƿyc=:_;ٓH ??@&bc`Y?B ;:k?u?)vP@ I٘i)I9x@YkG JJJػJJJ/E&K+x> YMT~?yl@SAƿE777/O8)eB[[Ք@[[U~?[G[[[[BZYY i)  Iiӓ@7== X))X@n̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031953.083165 s, next control iter: 1743031953.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031953.483165 s.z_H~,^#AJ"J*J2J:JBJnJvJAK@AFҷK@AU~? ARNA9 &"AA)hNA"AZAbAjArAzAAAfuNY?AD-sA9x@A 2X<A=A(uĿAA`WA*A9?2A*ֽ:A/=BA9?JA*ֽRA/=٘i)I99x@YG JvJJJJ5E&K YFNT~?y:IRAE77j7ZV8)iB[[ma@[8U~?[N[[[[BZYY i) <ۅIi@!D<= cT))cTh@NɪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743031953.503165 s, next control iter: 1743031953.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5452, header.stamp.nsec: 00 temperature: 13.568620* salinity: 33.374985, density: 1025.000000* values[0]: 0.578458F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031953.903165 s.H~,y#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065902< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743031953.903293F (some fields omitted in printout)A ףp=L@ATY#L@APU~? A\VAo &"AA^%hNA"AZAbAjArAzAAAhHpb^A2sAHw@A@<A|=AAk8AcAu*A9?2A7ֽ:A =BA9?JA7ֽRA =٘i)I9w@YG JJJJJ:E&K YNT~?yRXRAE777]8)nBE[[g@[rU~?[LU[[[[BZYY i) ʯIi@;= P))Pb@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031953.923165 s, next control iter: 1743031954.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031954.323165 s.x$H~,-#AJ"J*J2J:JBJnJvJA\L@Aw*L@AQU~? Aj^AQU &"AA!hNA"AZAbAjArAzAAAѕvA>67sAw@A]*<Aʌ=A7Af˨A umA}*AE9?2APֽ:A.9=BAE9?JAPֽRA.9=٘i)I9w@YgG JJJJJ@E&K Y5OT~?yZQAEb7b7d8)rB[[y@[ U~?[ \[[[[BZYY i)  YST~?ycl5QA蹿Eb7b7s8,B){BE[[ſ[YU~?[i[[[[BZYY i^Λ) OIiِ@h9= ;B));B;BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031955.183165 s, next control iter: 1743031955.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031955.583165 s.'8H~,CS#AARM@A%ptM@AU~? AvA|&"AAahNA"AZAbAjArAzAAAwUTA 7tFsAu@A찄A=A*AiA`{{A4*A"9?2A>׽:AA<BA"9?JA>׽RAA<٘i)I9u@YG JJJJJPE&K YYVT~?y!uPAE770z8)BE[[ÿ[U~?[Ap[[[[BZYY i)  Ii@<8= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031955.603165 s, next control iter: 1743031955.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5454, header.stamp.nsec: 00 temperature: 13.569150* salinity: 33.374992, density: 1025.000000* values[0]: 0.577177F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031956.003165 s. @H~,4#AJ"J*J2J:J?BJ?nJ5vJAp= WN@A7 YfT~?yjOA⬿E7777ۖ8)BE[[[U~?[B[[[[BZYY i) Ii@~4= ,)),,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031957.283165 s, next control iter: 1743031957.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 54562, header.stamp.nsec: 020 temperature: 13.5695912* salinity: 33.3749892, density: 1025.0000002* values[0]: 0.5760602F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031957.683165 s.lZH~,k#AJ"J*J2J:Jx?BJx?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076077< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743031957.683320F (some fields omitted in printout)AQP@AhxO@AyU~? AAh&"AA4#hNA"AZAbAjArAzAAA&E;PA\g_sAXs@ALff<A=A-fA`c#?AC^A.*A9?2Aaֽ:Al=BA9?JAaֽRAl=٘i)I9Xs@YG JJJJJkE&K YlT~?y OAEb778)B[[/ȸ[1U~?[[[[[BZYY i) 2.+Ii@M3= ())((JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031957.683165 s, next control iter: 1743031958.083184 s, wait time: 0.400019 s rAdjusting time to match Gazebo time: 1743031958.103165 s.aH~,#AA= ףpP@A۟VP@A=V~? AA&"AA&hNA"AZAbAjArAzAAAI6.A/ecsABr@AI;A/=AƵA?APAm*A9?2Aֽ:A{g=BA9?JAֽRA{g=٘i)I9r@YG JJJJJpE&K YrT~?y'NAE777708-B)BE[[ɒ[%U~?[[[[[BZYY i) :Ii@G1= $))$$ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031958.123165 s, next control iter: 1743031958.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031958.523165 s.gH~,|#AJ"J*J2J:Jf?BJf?nJ5vJA(P@A P@AV~? AA/&"AA+hNA"AZAbAjArAzAAA6jAgShsAer@A 9߻A箏=ApA yѹ?AAAю*A99?2A#׽:AQ=BA99?JA#׽RAQ=٘i)I9er@YG JJJJJuE&K YyT~?yTNAE7[8)BE[[[[zU~?[w[[[[BZYY i) 0JIiM@1= ק))קקŪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743031958.543165 s, next control iter: 1743031958.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5457, header.stamp.nsec: 00 temperature: 13.569810* salinity: 33.374981, density: 1025.000000* values[0]: 0.575514F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031958.943165 s.[dnH~,O]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076077< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743031958.943290F (some fields omitted in printout)AzGQ@A.s-Q@A]V~? AAߒ&"AA0hNA"AZAbAjArAzAAAR FAmsAq@AOtA=AxQA?A w.An^*A9?2AN׽:A =BA9?JAN׽RA =٘i)I9q@Y>G JȎB=JJJJ{E&K Y4T~?yYMAE{7{78)B[[#[2U~?[3[[[[BZYY i) VYIiĉ@X0= W7))W7W7ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031958.963165 s, next control iter: 1743031959.343183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031959.363165 s.uH~,>ץ#AJ"J*J2J:JA?BJA?nJh5vJA3333Q@AQQ@A V~? AA&"AA7hNA"AZAbAjArAzAAAGx pAPԙrsAsq@A.xAU=A>A@R?AAG*A^9?2A -׽:A=BA^9?JA -׽RA=٘i)I9sq@YG JC=JJJJE&K Y_T~?y©MAE778)B[[꯿[KU~?[묩[[[[BZYY i) 4iIik@N/= ))|̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031959.383165 s, next control iter: 1743031959.763187 s, wait time: 0.380022 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5458&, header.stamp.nsec: 0&0 temperature: 13.570025&* salinity: 33.374981&, density: 1025.000000&* values[0]: 0.574955&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031959.783165 s.\{H~,#AAQR@A7R@AV~? AƪA[&"AA>hNA"AZAbAjArAzAAAlXKhAqUbqwsAp@A8,AY#=A.A?AWAMA E778)B[[[U~?[[[[[BZYY iM) xIiB@/= +S))+S+SϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031959.803165 s, next control iter: 1743031960.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031960.203165 s.H~, #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085597< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743031960.203271F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=R@AޫV&pR@AV~? AΪAF&"AAEhNA"AZAbAjArAzAAA<&A"y%C|sAaop@A-ŋ;A>=AA\j?A A *A9?2AS`ֽ:AJ=BA9?JAS`ֽRAJ=٘i)I9op@YUG J0JJJJE&K YT~?y!ԩLAEj7j78/B)BE[[x[U~?[M[[[[BZYY i) IiI@/= C ))C C ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031960.223165 s, next control iter: 1743031960.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031960.623165 s.YH~,e'#AA)\R@AR@AV~? A֪AR'&"AAGNhNA"AZAbAjArAzAAAP5;ApVLsAo@AW`<A.I=A3-AN??AAP *A9?2AMֽ:A=BA9?JAMֽRA=٘i)I9o@YG J4B=JJJJE&K YT~?yܩLAE7718)B[[>[U~?[[[[[BZYY i)  ݋Ii@k/= ?m ))?m ?m ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031960.643165 s, next control iter: 1743031961.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5459 , header.stamp.nsec: 0 0 temperature: 13.570252 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.574368 F (some fields omitted in printout)T~?)ܩ rAdjusting time to match Gazebo time: 1743031961.043165 s.H~,B#AJ"J*J2J:J ?BJ ?nJ.5vJA{GaS@Au.GS@AI#V~? AzުA%"AAWhNA"AZAbAjArAzAAAYm#AfׅsAKTo@A<Ad=AA`?A A֢*A9?2A&ֽ:A2Y=BA9?JA&ֽRA2Y=٘i)I9To@YG JΪC=JJJJE&K Y T~?yR(LAE{7{7[8)B[[[iU~?[ǩ[[[[BZYY i) Ii@ҁ0= c))ccy:1تYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743031961.063165 s, next control iter: 1743031961.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031961.463165 s.ZH~,]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085597< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031961.463307F (some fields omitted in printout)AS@A%S@A3*V~? ABA%"AAahNA"AZAbAjArAzAAAz {AꝗsAn@Aj,!<An=A[쒿A?A\AA*A9?2A2|ֽ:A=BA9?JA2|ֽRA=YX@Ӓyq=Ū!<ٓH`;?-??D?`3B`w%??)X@ I٘i)I9n@YPG J!B=J<JJJE&K> YT~?yXKAӒEŧ778)B[[ Ӥ[LV~?[Ω[[[[BZYY i) IiM@nw.= 7))77ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031961.503165 s, next control iter: 1743031961.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5460, header.stamp.nsec: 00 temperature: 13.570501* salinity: 33.375011, density: 1025.000000* values[0]: 0.573712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031961.883165 s.yH~,@x#AJ"J*J2J:JBJnJvJAQ8T@A9T@A1V~? AA^%"AAvlhNA"AZAbAjArAzAAAk{ AzPsA1n@ANA=A3Ac?AuiA4*A9?2AXֽ:A =BA9?JAXֽRA =٘i)I91n@YG JyC=JJJJE&K YBT~?y^QKA$EZ7Z780B)B E[[y[V~?[ԩ[[[[BZYY i) Ii@/,= .V)).V.VߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031961.903165 s, next control iter: 1743031962.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031962.303165 s.TH~,og#AAq= ףT@A&T@A9V~? AA%"AAxhNA"AZAbAjArAzAAA g AjsAdm@A>BA=A|A?ABA] *A9?2A;׽:A\_=BA9?JA;׽RA\_=٘i)I9m@YG JJJJJE&K YT~?ycJA*Eb778)ïB[[e[<V~?[۩[[[[BZYY i) Ii@D+= ~v))~vᄅ~vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031962.323165 s, next control iter: 1743031962.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5461., header.stamp.nsec: 0.0 temperature: 13.570714.* salinity: 33.375008., density: 1025.000000.* values[0]: 0.573079.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031962.723165 s.H~,H#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085597< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743031962.723331F (some fields omitted in printout)A(\U@A ƈDT@ABV~? APA1%"AAxhNA"AZAbAjArAzAAAԯ9 AIsA m@A9A|ި=A֊A`&s?AEAl *A"9?2A=׽:A[=BA"9?JA=׽RA[=I٘i)I9 m@YEG JJJJJE&K YxT~?yizJA/E77{78)ȯB[[[+[JV~?[[[[[BZYY i) pIi@)= ))澩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031962.743165 s, next control iter: 1743031963.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031963.143165 s.]/H~,$*ɦ#AAGzU@Aд`U@AJV~? AAY%"AAhNA"AZAbAjArAzAAAr ` AIJsAsl@A'AA=AHA۝?AA鹼*A9?2AXֽ:A=BA9?JAXֽRA=٘i)I9sl@YG JQJJJJE&K YT~?yo JA4Eŧ7b7181B)ͯB#E[[m[V~?[[[[[BZYY i) 渼Iiă@(= ݾ))ݾݾPYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031963.163165 s, next control iter: 1743031963.543184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743031963.563165 s.H~,_ #AJ"J*J2J:JBJnJvJAffffU@Ag\SU@AhTV~? Ai A %"AAhNA"AZAbAjArAzAAA *{ A~$sAk@AXhAѮ=AE˅A}?A@$Aü*A9?2A0rֽ:A$"=BA9?JA0rֽRA$"=Y@΅yѮ=ٓH?`?x?4 ?jӵ -U*?)@ I٘i)I9k@YG J=Jj<JJJE&Kw>  8Y:T~? 8y IA΅:E777\82B)ӯB$E[[c[t%V~?[u[[[[BZYY i) g(Ii@k&= Ծ))ԾԾ8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031963.603165 s, next control iter: 1743031963.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5462, header.stamp.nsec: 00 temperature: 13.570964* salinity: 33.374977, density: 1025.000000* values[0]: 0.572403F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031963.983165 s.H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085597< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031963.983278F (some fields omitted in printout)AQV@AM7V@AT^V~? AAw%"AA'hNA"AZAbAjArAzAAAW7 A4vnsA]+k@A$<"<AEbسsAi@AI;AwǴ=AvA?A@)Aռ*A+9?2Aֽ:A&=BA+9?JAֽRA&=٘i)I9i@Y G JּJJJJE&K YU~?y|3GAOEb784B)B+E[[[THV~?[[[[[BZYY i) 1ݼIiy@= 㰾))㰾㰾yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031965.263165 s, next control iter: 1743031965.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031965.663165 s.H~,qj#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5464, header.stamp.nsec: 00 temperature: 13.571551* salinity: 33.375008, density: 1025.000000* values[0]: 0.570831F (some fields omitted in printout)AX@At W@ÅV~? A1AV;%"AAhNA"AZAbAjArAzAAATA7R{:sA`h@AA>=AaqA^?AUAݷӼ*A9?2A^׽:AiU=BA9?JA^׽RAiU=Yۣ@qy=ٓH ? R? Y`/U~?y:JGAq DTE{7j72&8)B[[Y[QV~?[[[[[BZYY i) [Iiu@b= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031965.683165 s, next control iter: 1743031966.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031966.083165 s.DH~,R#AJ"J*J2J:JBJnJvJARkX@A8GnQX@AV~? A!8AЯ%"AA=iNA"AZAbAjArAzAAADYp)AjsAg@AwAz=AkA?A@WAJӼ*A 9?2A(.׽:A=BA 9?JA(.׽RA=٘i)I9g@Y G JpӼJJJJE&K Y?U~?yAFAZE7777\-85B)B.E[[F[[V~?[4[[[[ZZ¸BZYY i¸t =) &OؼIizr@/= N))NNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031966.123165 s, next control iter: 1743031966.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031966.503165 s.H~,P4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743031966.503333F (some fields omitted in printout)Ap= X@AOX@AV~? A&?A%%"AA:iNA"AZAbAjArAzAAAG2A=sAf@A sAp=A;fA ~?A@IAּ*A}9?2A׽:A=BA}9?JA׽RA=٘i)I9f@Y G JRԼJJJJE&K Y{PU~?yHVFA_E486B)B1E[[[>fV~?[][[[[ZZBZYY i) B̼Iijo@9= f))ffYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031966.543165 s, next control iter: 1743031966.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5465, header.stamp.nsec: 00 temperature: 13.571811* salinity: 33.375019, density: 1025.000000* values[0]: 0.570052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031966.923165 s.HH~,#AJ"J*J2J:JBJnJvJA(\BY@A;u(Y@AV~? AFAt%"AA(iNA"AZAbAjArAzAAAL&A>-sA4f@AڪݻA =AaAsJ?A@ A>*A+9?2Aֽ:Ad<BA+9?JAֽRAd<٘i)I94f@Y G JJJJJE&K YaU~?yOEAeE{7{7;8)B[[o[qV~?[} [[[[ZZBZYY i) 6Iil@= ڌ))ڌڌYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031966.943165 s, next control iter: 1743031967.323191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743031967.343165 s.=iNA"AZAbAjArAzAAA i|gA.GDsAUe@Ae;A=A\A?A3A*A:9?2AaNֽ:Aͼ<BA:9?JAaNֽRAͼ<٘i)I9Ue@Y G JJJJJE&K YqU~?yWbEAjEŧ7b7B87B) B5E[[v[1|V~?[&[[[[ZZBZYY i) )Iikj@/= ))ync=PժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031967.383165 s, next control iter: 1743031967.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5466&, header.stamp.nsec: 0&0 temperature: 13.572145&* salinity: 33.375023&, density: 1025.000000&* values[0]: 0.569178&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031967.763165 s. elevatorAngleAction: 0.083026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031967.763286F (some fields omitted in printout)J"J*J2J:JBJnJvJAZ@A0 Y@AV~? ASA%"AACRiNA"AZAbAjArAzAAAޢh"A}esA(zd@AP\<A,w=AWA h?AmA]2*Ac9?2AM6ֽ:AJs<BAc9?JAM6ֽRAJs YhU~?y]EAWoEb77J8)B[[3[V~?[,[[[[ZZBZYY i) 娼IiSf@Yh=  ^u)) ^u ^u4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031967.783165 s, next control iter: 1743031968.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031968.183165 s.H~,c #AAQZ@AݖkZ@AsV~? AbZA_%"AAgiNA"AZAbAjArAzAAA&+`AVkysAc@Ar<A1=ARA@?A 0DA ׼*AG9?2A&Gֽ:A;BAG9?JA&GֽRA;٘i)I9c@Y G JJJJJE&K Y;U~?y9dDAuEŧ72Q88B)B8E[[쀿[uV~?[2[[[[ZZBZYY i) Iib@= 'c)) 'c'cyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031968.203165 s, next control iter: 1743031968.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031968.603165 s.:4 H~,&#AJ"J*J2J:Jv?BJv?nJ5vJA= ףZ@A|%Z@AqV~? A`Aό%"AAR~iNA"AZAbAjArAzAAAno A|}sA c@AU<A<AVMA`>z?AA歭*A,9?2Apս:AzȺBA,9?JApսRAzȺ٘i)I9 c@Y. G JnǼJJJJE&K YU~?yjiDAzE77]X8) B[[D}[V~?[u8[[[[ZZBZYY i) 1[IiB_@= PP))PPPPHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031968.623165 s, next control iter: 1743031969.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5467 , header.stamp.nsec: 0 0 temperature: 13.572472 * salinity: 33.375031 , density: 1025.000000 * values[0]: 0.568219 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031969.023165 s.ZH~,|A#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743031969.023302F (some fields omitted in printout)A(\[@AGB[@AV~? AugA %"AAXiNA"AZAbAjArAzAAAM6ӜAbw#tsA2b@A[AU<A1HA ;?A8A*A9?2Amս:A&)BA9?JAmսRA&)٘i)I9b@Y G JJJJJE&K YU~?y_qDAEŧ7b7_8:B)&B[[[[ZZBZYY i) IiL\@ = f>))f>f>bYP'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031969.063165 s, next control iter: 1743031969.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031969.443165 s.JH~,]\#AJ"J*J2J:J_?BJ_?nJo5vJAz[@Aǚ[@A W~? AmA%"AAiNA"AZAbAjArAzAAA- ]A}:[sAi-b@AtiYAACA?A qAl&*A9?2ADcս:ABA9?JADcսRA٘i)I9-b@Y G JZJJJJE&K YU~?ywCAE777f8))B[[# t[nV~?[1D[[[[ZZBZYY i) ywIiY@KW =  +)) + +)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031969.463165 s, next control iter: 1743031969.843197 s, wait time: 0.380032 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5468, header.stamp.nsec: 00 temperature: 13.572659* salinity: 33.375046, density: 1025.000000* values[0]: 0.567606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031969.863165 s.+H~,>w#AA33333\@A N} \@AW~? A'tA %"AAKiNA"AZAbAjArAzAAA`A p3sAa@A* AJ3A=A@?A@!&A Ъ*AƧ9?2A1xս:Ay&BAƧ9?JA1xսRAy&٘i)I9a@Y G JJJJJE&K YU~?y~pCAE7m8;B)+B?E[[co[V~?[I[[[[ZZBZYY i) ZaIiW@3 = O))OOp)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031969.883165 s, next control iter: 1743031970.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031970.283165 s.8R$H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743031970.283268F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ\@A%\@A*W~? AXzA%"AA4iNA"AZAbAjArAzAAAJAI|sAUa@A8A A$8A 8s?A8Af*A9?2Aս:A3tۼBA9?JAսRA3tۼ٘i)I9a@Yx G JXJJJJ E&K Y[U~?yCAE77u8),BBE[[gj[V~?[O[[[[BZYY i) ďJIiU@= 0))00:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031970.303165 s, next control iter: 1743031970.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5469., header.stamp.nsec: 0.0 temperature: 13.572676.* salinity: 33.375038., density: 1025.000000.* values[0]: 0.567398.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031970.703165 s.Ӻ*H~,#AAףp= ]@A ;\@A;W~? AoA %"AAiNA"AZAbAjArAzAAAAGA ˲sAa@AɹAP%:ABf3A,?AlA@;*A9?2A7ֽ:AEBA9?JA7ֽRAE٘i)I9a@Y{ G JU:B=JJJJE&K Y0V~?yBAE{7j74|8)[[ f[V~?[eU[[[[BZYY i) $4IiOT@3= ))罩z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031970.723165 s, next control iter: 1743031971.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031971.123165 s.51H~,TǨ#AJ"J*J2J:JBJnJvJA)\u]@Ak[]@A%MW~? AiA%"AAjNA"AZAbAjArAzAAAJ eS׿AsXsA%b@A+<AcAW .A>?AC4A;*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J;C=JJJJE&K YV~?y<xBAEj7Z7^8=B)-BFE[[^a[|V~?[Z[[[[BZYY i=) }IiJS@ := w½))w½w½1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031971.143165 s, next control iter: 1743031971.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031971.543165 s.I8H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092739< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031971.543289F (some fields omitted in printout)A{G]@Ar0]@A_W~? AGAV7%"AA,jNA"AZAbAjArAzAAA/ÿA7sSsA;b@A*<AkA(AJ?AAʍ%<*A 9?2A~ֽ:ABA 9?JA~ֽRA٘i)I9;b@Y G J<JJJJE&K Y-V~?yΘ%BAE{7{78)+B[[\[fW~?[`[[[[BZYY i) IiR@= ))񜽩DZ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031971.563165 s, next control iter: 1743031971.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5470, header.stamp.nsec: 00 temperature: 13.572576* salinity: 33.375046, density: 1025.000000* values[0]: 0.567531F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031971.963165 s.z>H~,#AJ"J*J2J:JI?BJI?nJX5vJAL^@A 92^@A;qW~? AA%"AAGjNA"AZAbAjArAzAAAb?AvosAb@A]K<A'A#A=?AuA\<*Au9?2Aֽ:A]BAu9?JAֽRA]Y@:#y$K<ٓH??d? s ?ՠ?`?`wk?;?)@ I٘i)I9b@Y G J=<J$JJJ!E&K?> YzDV~?yBA#E)7ŧ78>B))BIE[[/X[PW~?[e[[[[BZYY i}==) xbIi N@= @ep))m@ep@epu*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031971.983165 s, next control iter: 1743031972.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031972.383165 s.EH~,8#AAQ^@AI?^@AԃW~? AAV%"AAcjNA"AZAbAjArAzAAA %X?A)+sAb@A$;AA*A ;?A 2A<*Aj9?2A !ֽ:A"BAj9?JA !ֽRA"٘i)I9b@Y G J!w<JJJJ'E&K Y"[V~?yRBAE7)7ޘ8)'BLE[[SuS[W~?[ k[[[[BZYY i=) лIiI@B= W&)) W&W&y޽=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031972.403165 s, next control iter: 1743031972.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5471", header.stamp.nsec: 0"0 temperature: 13.572355"* salinity: 33.375061", density: 1025.000000"* values[0]: 0.567927"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031972.803165 s.{ALH~,g3#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.062931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743031972.803296F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #_@AԸ7 _@A̖W~? A-A%"AABjNA"AZAbAjArAzAAAzJ@?AY=sAxc@Ae[A>AA@K?A >߿ADz<*A9?2A ӽ:A!BA9?JA ӽRA!٘i)I9xc@Yq G Jמ<JJJJ,E&K YqV~?yMCAE77 8?B)#BOE[[N[e.W~?[Zp[[[[BZYY i) UIi0F@׮< ))y1=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031972.843165 s, next control iter: 1743031973.203181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743031973.223165 s.gSH~,HN#AA(\_@A@Iu_@A W~? AA~%"AA@jNA"AZAbAjArAzAAAI7m?8?A3sApd@A }A_AA?A߿A+<*A9?2A ӽ:Acz!BA9?JA ӽRAcz!٘i)I9d@Y G J<JJJJ1E&K YqV~?y֭CAE77{738)B[[oJ[>W~?[u[[[[BZYY i)  ГIiB@W< J))JJyx=*Yr=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031973.243165 s, next control iter: 1743031973.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031973.643165 s.sYH~,)i#AJ"J*J2J:JBJnJvJAG_@A}>_@AȽW~? AۧA%"AAjNA"AZAbAjArAzAAAƴEY?AhwtA.d@AygAwAA@]?A W޿Ak<*AE9?2A϶ӽ:AmBAE9?JA϶ӽRAm٘i)I9d@Y9 G JO<JJJJ7E&K YV~?yDAE77^8AB)BSE[[eE[OW~?[z[[[[BZYY i) jIi?@{< |j<))|j<|j<yI9=q*YFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5472, header.stamp.nsec: 00 temperature: 13.572010* salinity: 33.375069, density: 1025.000000* values[0]: 0.568627F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743031973.663165 s, next control iter: 1743031974.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031974.063165 s.`H~,x #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.062931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743031974.063311F (some fields omitted in printout)Afffff`@APō[L`@AW~? AAc%"AAjNA"AZAbAjArAzAAAR3L?A:tAqe@AAhA A2?A 0ݿA<*A9?2AԽ:ABA9?JAԽRAYW@s ygٓHkU? |?@Pjl?iɨ?@Ƶ?[v1?)W@ I٘i)I9qe@Y G J,<B=JJJJ<E&Kpq> YIV~?yDAs Eŧ7b78BB)BVE[[O@[_W~?[[[[[BZYY i) r0Ii;@T{< (=))hv(=(=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031974.083165 s, next control iter: 1743031974.463185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743031974.483165 s.u_gH~,잩#AJ"J*J2J:JBJnJvJA`@A!ַ`@AW~? A AL%"AAMjNA"AZAbAjArAzAAA'?A{tA f@A;A\}A!Az?A ܿAh <*As9?2A{gս:AABAs9?JA{gսRAA٘i)I9 f@Y G J<C=JJJJBE&K YvV~?y'DAE778)B[[ <[pW~?[w[[[[BZYY i) HIi6@< 5P=))5P=5P=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031974.503165 s, next control iter: 1743031974.883176 s, wait time: 0.380011 svV~?)'tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5473, header.stamp.nsec: 00 temperature: 13.571589* salinity: 33.375080, density: 1025.000000* values[0]: 0.569526F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031974.903165 s.mH~,͹#AA ףp=a@Ao\#a@AW~? AA%"AAZkNA"AZAbAjArAzAAAÁ:0?A^ tAmf@ATn<AAA`O?ADܿA<*A9?2AԽ:A| BA9?JAԽRA| ٘i)I9f@Yw G J4<JJJJGE&K YV~?yrEAE78) BZE[[OR7[=W~?[K[[[[BZYY i) pIi2@< `=)) `=`=j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031974.943165 s, next control iter: 1743031975.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031975.323165 s.ttH~,ԩ#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.062931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031975.323322F (some fields omitted in printout)A\a@A$aߎa@AX~? AA%"AA5kNA"AZAbAjArAzAAAb+ ?A )? tAqg@A{<ANCAA?A^ۿAeN<*AU9?2A4Խ:A2 BAU9?JA4ԽRA2 ٘i)I9qg@Y G J<JJJJLE&K YV~?y5ŪEAE{7j7 8CB)B]E[[2[W~?[ [[[[BZYY i)  IiN/@d< =))==*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031975.343165 s, next control iter: 1743031975.723175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5474., header.stamp.nsec: 0.0 temperature: 13.571188.* salinity: 33.375084., density: 1025.000000.* values[0]: 0.570386.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031975.743165 s.W{H~,u#AAGzb@Aaa@A %X~? AaA0%"AAUkNA"AZAbAjArAzAAA?]@AptAh@A"<AAA Y?AڿA ^<*A9?2A\Խ:AHBA9?JA\ԽRAH٘i)I9h@Y? G J <JJJJRE&K YW~?yɪ\FAE77748)B`E[[-[YW~?[[[[[BZYY i) R `:Ii),@^< B=))B=B=h*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031975.783165 s, next control iter: 1743031976.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031976.163165 s.v}H~,q #AJ"J*J2J:JBJnJvJAb@AS Oeb@A:X~? AīA%"AAavkNA"AZAbAjArAzAAAZoڕ@A/^|tAeh@A8_AEAAF?A@ٿA׽<*Ah9?2AzԽ:ABAh9?JAzԽRAY3@Hy 0_ٓHl?T?=ۿ@U? @?c1?`k?)3@ I٘i)I9h@Y G JI<JK<JJJWE&Kcs> Y1W~?y~ͪFAE)7ŧ7_8)BcE[[ )[W~?[@[[[[BZYY i) :IiM'@%< >))]s>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031976.183165 s, next control iter: 1743031976.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031976.583165 s.H~,R%#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237663> elevatorAngleAction: 0.062931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031976.583276F (some fields omitted in printout)ARb@A}qb@APX~? AHɫA%"AAHkNA"AZAbAjArAzAAA,C>@Ak[͡)tAoSi@AUAСAm׾AN?A ٿA썹<*AV9?2AԽ:AUBAV9?JAԽRAU٘i)I9Si@YG J!<JJJJ\E&K YKW~?y@Ѫ*GAEb778EB)BdE[[7F$[jW~?[[[[[BZYY i) 0;Ii"@l< &>))!&>&>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031976.603165 s, next control iter: 1743031976.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5475, header.stamp.nsec: 00 temperature: 13.570765* salinity: 33.375099, density: 1025.000000* values[0]: 0.571218F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031977.003165 s.y H~,P4@#AJ"J*J2J:JBJnJvJAp= Wc@Aξ)) 0b&>0b&>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031977.023165 s, next control iter: 1743031977.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031977.423165 s.uH~,[#AA(\c@AJ{c@A}X~? AѫA%"AAjkNA"AZAbAjArAzAAA  @AsCtAT~j@A_%ANJAþA B_?Ay׿A<*A%:?2A]ӽ:A~BA%:?JA]ӽRA~٘i)I9~j@YG JO<JJJJgE&K Y&~W~?yتGAE778FB)BjE[[[W~?[^[[[[BZYY i) _;Ii@b~< 9>))9>9>H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031977.443165 s, next control iter: 1743031977.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5476, header.stamp.nsec: 00 temperature: 13.570365* salinity: 33.375134, density: 1025.000000* values[0]: 0.572003F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031977.843165 s.ݜH~,u#AJ"J*J2J:Jn?BJn?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743031977.843301F (some fields omitted in printout)AHz.d@Akf-d@A˓X~? AիA%"AAkNA"AZAbAjArAzAAA;N, @A1HtAk@A%f:AA~A ?A@ֿA<*A#:?2AGԽ:ABA#:?JAGԽRA𼙘٘i)I9k@Y G J<JJJJmE&K YW~?yܪ`HAE777 8)BmE[[ [ X~?[[[[[BZYY i) Bز;Ii@K< @?M>))@?M>@?M> *YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031977.863165 s, next control iter: 1743031978.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031978.263165 s.H~,ؐ#AAd@A!˂d@AX~? Ar٫AU>%"AA*lNA"AZAbAjArAzAAA&5@AltAk@A:<A焽AfA YQW~?yyߪHAǮEj7Z758)BpE[[[X~?[[[[[BZYY i) %;Ii@< P`>))A5qP`>P`>y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031978.303165 s, next control iter: 1743031978.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5477., header.stamp.nsec: 0.0 temperature: 13.570025.* salinity: 33.375145., density: 1025.000000.* values[0]: 0.572716.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031978.683165 s.lH~,#AJ"J*J2J:JBJnJvJAQe@A(8d@AX~? A"ݫA%"AABlNA"AZAbAjArAzAAAf3@AmsvG!tAak@AO<A(A|ݣAo ?A ԿA <*Ad:?2Aս:AZBAd:?JAսRAZ켙I٘i)I9k@YG Jf<JJJJwE&K  8YW~? 8ylIAEZ7_8)B[[+ [^.X~?[[[[[BZYY i) hk;Ii:@< s>))s>s>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031978.683165 s, next control iter: 1743031979.083180 s, wait time: 0.400015 s rAdjusting time to match Gazebo time: 1743031979.103165 s.H~,ƪ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.255025> elevatorAngleAction: 0.072122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743031979.103322F (some fields omitted in printout)A= ףpe@AKVe@A`X~? AA%"AArelNA"AZAbAjArAzAAA<$P@A gp#tAcl@A;F<AqA&AD?AԿA`4<*A>:?2AUӽ:A6BA>:?JAUӽRA6񼙘٘i)I9cl@YG Jԅ<JJJJ}E&K YW~?y_kIAE7)7 8GB)BsE[[-["CX~?[k[[[[BZYY i)  Z)) pă>pă>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031979.143165 s, next control iter: 1743031979.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031979.523165 s.H~J"J*J,|#A2J:J?BJ?nJ5vJA(e@A-ͭe@A X~? AA[KXX~?[.[[[[BZYY i) ))h>h>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031979.543165 s, next control iter: 1743031979.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5478, header.stamp.nsec: 00 temperature: 13.569698* salinity: 33.375141, density: 1025.000000* values[0]: 0.573331F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031979.943165 s.VdH~,:]#AAzGf@AB-f@AY~? ARA)%"AA$lNA"AZAbAjArAzAAAAΐ@AE'tAWJm@A%A>A:Aã?AnzҿA{'<*AA:?2A;ӽ:ABAA:?JA;ӽRA٘i)I9Jm@YkG JO<JJJJE&K YX~?yEJA Eŧ7b78)ݯByE[[m[mX~?[ػ[[[[BZYY iAt=) '))I>I>N*Y#YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031979.983165 s, next control iter: 1743031980.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031980.363165 s.H~,>#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743031980.363292F (some fields omitted in printout)A3333f@A#&f@A!Y~? AnA%"AAulNA"AZAbAjArAzAAA1@Ŵ@AF 0d)tAm@APA燽A"(yA ?A`ޡѿA`<*A4<:?2Aӽ:A0BA4<:?JAӽRA0Y L@xy[ㇽWٓH`>??@<ο ?Eܟ?:? ?) L@ I٘i)I9m@YG J<B=JcJJJE&Kq> Y>8X~?ybyJAxE77 !8HB)ٯB|E[[ [QX~?[T[[[[BZYY i) 57))kpa>a>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031980.383165 s, next control iter: 1743031980.763175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5479*, header.stamp.nsec: 0*0 temperature: 13.569353** salinity: 33.375164*, density: 1025.000000** values[0]: 0.573953*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031980.783165 s.YH~,2#AAQg@Aǂ g@AD9Y~? AdAL%"AAlNA"AZAbAjArAzAAA+ @A.3+tAX))*QF>QF>F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031980.823165 s, next control iter: 1743031981.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743031981.203165 s.H~,*M#AJ"J*J2J:JBJnJvJAףp=g@AE&pg@AQY~? A3Av%"AAmNA"AZAbAjArAzAAA7@AAS,tAn@A5"A!A<`OA *?A@ϿA<*AN:?2Aӽ:AKBAN:?JAӽRAK٘i)I9n@YGG J<JJJJE&K YoX~?y0KAEb7_/8IB)ԯBE[[mܾ[zX~?[Ū[[[[BZYY i) JTV))IA>IA>ysS=b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031981.223165 s, next control iter: 1743031981.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031981.623165 s.XH~,ag#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253946> elevatorAngleAction: 0.081276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743031981.623262F (some fields omitted in printout)A)\g@Ag@A`jY~? AAnA%"AA2@mNA"AZAbAjArAzAAA[Gm.@ALX.tAe*o@A;AiAO:A@2R?AZͿA<*AqQ:?2AGӽ:ABAqQ:?JAGӽRA٘i)I9*o@YG J܌<JJJJE&K YX~?yKA Eb7768JB)ЯBE[[Ҿ[!X~?[)ɪ[[[[BZYY i) e)) O>O>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031981.643165 s, next control iter: 1743031982.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5480 , header.stamp.nsec: 0 0 temperature: 13.569014 * salinity: 33.375168 , density: 1025.000000 * values[0]: 0.574611 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031982.043165 s.H~,Â#AJ"J*J2J:J?BJ?nJ>5vJA{Gah@A.Gh@A1Y~? AZA%"AAemNA"AZAbAjArAzAAAP[@A% J0tAo@AQq<AHA}(&Anw?A"̿Aթ<*AT:?2Ahӽ:ABAT:?JAhӽRA٘i)I9o@YG J<JJJJE&K YX~?yKA&E=8)ͯBE[[ͰȾ[ X~?[5̪[[[[BZYY i) Rtu))n>n>T*Y큾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031982.063165 s, next control iter: 1743031982.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031982.463165 s.H~,~#AAh@Aqh@A(Y~? AAj%"AA_mNA"AZAbAjArAzAAASb]@A$D~1tAp@Ax6s<A[yAAธ?AObʿA<*AK:?2Aӽ:AX BAK:?JAӽRAX Yt@yu!s<ٓH`?@J+?nCB¿#?@ q7?f??)t@ I٘i)I9p@Y"G J<B=J<JJJE&Kp> YX~?yLLA+E77D8)ɯBE[[հ[X~?[Ϫ[[[[BZYY i) ))7on>n>#*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031982.483165 s, next control iter: 1743031982.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5481, header.stamp.nsec: 00 temperature: 13.568665* salinity: 33.375202, density: 1025.000000* values[0]: 0.575255F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031982.883165 s.yH~,M#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.234097> elevatorAngleAction: 0.081276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198372 time: 1743031982.883282F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8i@A+<i@ADY~? AAԲ%"AAMmNA"AZAbAjArAzAAAsٺ@A~i2tAcp@A?;A񟛽AAҷ?AȿA <*AB:?2AQԽ:A#BAB:?JAQԽRA#٘i)I9p@YpG J)<C=JJJJE&K YX~?y[LA0Eb77 L8)ůBE[[[Q Y~?[Ѫ[[[[BZYY i) R߉))끾1>1>*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031982.903165 s, next control iter: 1743031983.283183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743031983.303165 s.SH~,jgӫ#AAq= ףi@Aƽi@AY~? AAQ%"AAtmNA"AZAbAjArAzAAA2 @Az8R34tAS%q@A3^AdAVսAc?AƿAO<*A_:?2A ҽ:A.BA_:?JA ҽRA.٘i)I9%q@YG J<<JJJJE&K YX~?yMA6E77{75S8)BE[[En["Y~?[wԪ[[[[BZYY i) q))q>q>*YoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031983.323165 s, next control iter: 1743031983.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5482., header.stamp.nsec: 0.0 temperature: 13.568324.* salinity: 33.375206., density: 1025.000000.* values[0]: 0.575952.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031983.723165 s.H~,H#AJ"J*J2J:Jq?BJq?nJ5vJA(\j@AQIi@AY~? AAb%"AAmNA"AZAbAjArAzAAAy+ @A\/:5tAq@A^AA?LAe?A`|ſA<*ASc:?2Aѽ:ASBASc:?JAѽRAS٘i)I9q@YG JT<JJJJE&K YY~?y}MA;Eb77`Z8)BE[[9-[:Y~?[֪[[[[BZYY i) )) }>}>L*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031983.743165 s, next control iter: 1743031984.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031984.143165 s.U/H~,* #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743031984.143288F (some fields omitted in printout)AGzj@A(`j@AbZ~? AA))D>D>*Y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031984.163165 s, next control iter: 1743031984.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031984.563165 s.H~,J $#AJ"J*J2J:JBJnJvJAffffj@A%?Wj@AZ~? A#A%"AA KnNA"AZAbAjArAzAAA1F @Aϱ@7tA=r@A4AA@;A $?AmA<*A_:?2A!ӽ:AGBA_:?JA!ӽRAGY@+8yZٓH{?w?D?@?wڴ?mg?)@ I٘i)I9r@YG J:<B=JJJJE&Ko> YMY~?ySNA8FE77h8)B[[ͧ[zkY~?[۪[[[[BZYY i) #AAQk@A7k@A4Z~? AA%"AAqnNA"AZAbAjArAzAAA>S @Ab,8tA2s@AGV:AìAʼA8?A(Aļ<*AW:?2A`Խ:ABAW:?JA`ԽRA٘i)I9s@Y=G JH<C=JJJJE&K Y jY~?yNAKE7o8)BE[[][Y~?[ݪ[[[[BZYY i) $Q elevatorAngleAction: 0.081276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031985.403286F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpk@Aܠ[k@AsNZ~? AA%"AAnNA"AZAbAjArAzAAAMxL~!@AL8tA.t@AA<A?AqAO?A@:8A\<*Avt:?2Aҽ:A BAvt:?JAҽRA ٘i)I9.t@YG J<JJJJE&K Y>Y~?yR3OA DPE777 w8)BE[[m[Y~?[ߪ[[[[BZYY i) ;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031985.843165 s, next control iter: 1743031986.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031986.243165 s.#H~,i#AJ"J*J2J:JBJnJvJAGzl@Ak dzl@A?Z~? AA%"AAHnNA"AZAbAjArAzAAA>^"@A":tApu@Aw=<A4A=A l?A`A~<*ABq:?2A}ӽ:A!^BABq:?JA}ӽRA!^٘i)I9pu@YbG JV<JJJJE&K YY~?yPA[Ej7j7a8)BE[[cC[Y~?[[[[[BZYY i) 'h elevatorAngleAction: 0.090078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743031986.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5485, header.stamp.nsec: 00 temperature: 13.567049* salinity: 33.375240, density: 1025.000000* values[0]: 0.578395F (some fields omitted in printout)Am@AS Ol@A:Z~? AAx%"AAoNA"AZAbAjArAzAAA{#.U#@AkL:tAv@A:AOîA,]=A 6v?A\A6<*Ad:?2Aӽ:AqBAd:?JAӽRAqY@_]=yHî:ٓH F?,pŵ??w ѵ?@ސR?/?)@ I٘i)I9v@YG J~<JJJJE&Kq> YY~?yPA_]=aE778IB)BE[[./[Y~?[X[[[[BZYY i) Z~? AEAr%"AA6oNA"AZAbAjArAzAAA::#@A?W!:tAav@A"APAQ=A@ ~?AKbAA<*AX:?2A-;Խ:AhBAX:?JA-;ԽRAh٘i)I9v@Y0G J<JJJJE&K YY~?y*PAfEŧ778)BE[[+[iZ~?[[[[[BZYY i) H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.090078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743031987.923321F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Bn@AJ{(n@AbZ~? A A%"AAoNA"AZAbAjArAzAAAZ/%@A1w;tAs)x@A5YAgAĄ=AV?A A5'<*Al:?2AYҽ:AJ BAl:?JAYҽRAJ ٘i)I9)x@Y G J<B=JJJJE&K YP/Z~?y7QAqE777 8)B[[F;߽[~6Z~?[[[[[ZZZZ¸>BZYY i¸>) 7A?AVwAL<*Aa:?2Aӽ:A)gBAa:?JAӽRA)g٘i)I9x@YxG JE<C=JJJJE&K Y{KZ~?y^RAvEb7778)BE[[:[PZ~?[[[[[ZZZZBZYY i) BA?A?Aˠ<*A~g:?2A;Խ:A8BA~g:?JA;ԽRA8Y"@Z>y#;ٓH@?@ÿJ;?3?ص? v~??)"@ I٘i)I9y@YG J<JJJJE&Kds> YYgZ~?ydRA>{E{7j7a8HB){BE[[淉[kZ~?[5[[[[ZZZZBZYY i) 9NA ل?Ag?A7<*Ann:?2A$ս:ARBAnn:?JA$սRAR٘i)I9z@YxG J=JJJJE&K Y;Z~?y ISAEb778)tBE[[ =[Z~?[[[[[ZZZZBZYY i) XA Ձ?A$?Av<*A:?2Aӽ:Ad\BA:?JAӽRAd\٘i)I9U{@YG J<JJJJE&K YZ~?ySAE{7{78)mBE[[μ[6Z~?[[[[[ZZZZBZYY i) bA`i{?Av?Aq<*A٘:?2Aӽ:ABA٘:?JAӽRA٘i)I9|@YmG J<JJJJE&K YZ~?yY3TAE77j78GB)gBE[[2|["Z~?[[[[[ZZZZBZYY i) lK՘; H?))H?H?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031990.043165 s, next control iter: 1743031990.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031990.443165 s.7fH~,>]#AJ"J*J2J:J?BJ?nJ-5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083305< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199372 time: 1743031990.443270F (some fields omitted in printout)Azp@AK8p@A[~? A{A%"AArpNA"AZAbAjArAzAAAꦱ (@A 9s:tA}|@A}AۼAlo>A Hr?AJg?A<*A:?2A>eԽ:A:BA:?JA>eԽRA:٘i)I9|@YG J!<JJJJE&K YZ~?yTAE{7 8)aBE[[)/<[?Z~?[ [[[[ZZZZBZYY i) VvÈ; TM?))TM?TM?*YYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031990.463165 s, next control iter: 1743031990.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5489, header.stamp.nsec: 00 temperature: 13.565156* salinity: 33.375301, density: 1025.000000* values[0]: 0.582325F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031990.863165 s.+mH~,>#AA33333q@Aq@A[~? AAL%"AAcpNA"AZAbAjArAzAAAe])@AQ:tAVB}@A(QAcJ"A>Af?A B ?A<*AΉ:?2AO ս:AsC <BAΉ:?JAO սRAsC yG"i+QٓH?`mп3??i5?@H?$@?)= I٘i)I9B}@Y$G J<J28>JJJE&KSt> YCZ~?yTA>E77{778FB)\BE[[4K=[%Z~?[[[[[ZZZZBZYY i%) *{;`; S?))`uS?S?i)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031990.883165 s, next control iter: 1743031991.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031991.283165 s.2RtH~,ҭ#AJ"J*J2J:JBJnJvJAQq@A|Yq@A[~? AAʽ%"AApNA"AZAbAjArAzAAAͱn*@A}v,h9tA }@A@oA~;AWw>A{W?Aܸ?AG<*Av:?2Acս:A{<BAv:?JAcսRA{<٘i)I9}@YcG Jv<JJJJE&K Y [~?yTAEŧ7b7a8MB)_B[[4Qw=[F [~?[a[[[[ZZZZBZYY iݚ) ggˆ3; X?))k5X?X?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031991.303165 s, next control iter: 1743031991.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5490., header.stamp.nsec: 0.0 temperature: 13.564778.* salinity: 33.375305., density: 1025.000000.* values[0]: 0.583279.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031991.703165 s.պzH~, #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260173@ elevatorAngleAction: -0.075619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743031991.703281F (some fields omitted in printout)Aףp= r@AIe9q@Ar[~? AA%"AApNA"AZAbAjArAzAAA*@Amn8tA}@AB Aܭ<A>AH?A zü?A;*Aˊ:?2AIӽ:Az;<BAˊ:?JAIӽRAz;<٘i)I9}@YG J<B=JJJJE&K Y)[~?yXTAE7ŧ78JB)[BE[[=['[~?[[[[[ZZZZBZYY i) ʜS x ; r^?)) r^? r^?y 憽 YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743031991.743165 s, next control iter: 1743031992.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031992.123165 s.5H~,T#AJ"J*J2J:JQ?BJQ?nJ5vJA)\ur@A׼[r@A7[~? A6AZ%"AAqNA"AZAbAjArAzAAAMZW+@A*y7tA~@Ay;A =A>A%6?A%+?Aa:*A:?2A Խ:A<BA:?JA ԽRA<٘i)I9~@YG JJy;C=JJJJ#E&K YyD[~?y TAE77778IB)YBĹE[[=[C[~?[[[[[BZYY i) ?[: c?))c?c?y)=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031992.143165 s, next control iter: 1743031992.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031992.543165 s.IH~,"#AA{Gr@An-r@A\~? AA8%"AA6qNA"AZAbAjArAzAAAc+@A7tA}@AH<A7=A>A ?A?A*Ar:?2AMԽ:A0]<BAr:?JAMԽRA0]<٘i)I9}@YG J;JJJJ)E&K Y_[~?yTAE{78)ǹE[[u>[^[~?[[[[[BZYY i) |,AO?A?A8*Af:?2AwԽ:A=BAf:?JAwԽRA=Y >:>y]=<ٓH@? !ֿCĬ?&??o?@ @B0?`?) > I٘i)I9}@Y}G JJ>JJJ.E&Ks> Yfz[~?yTA:>E777 8HB)ʹE[[U'>[y[~?[[[[[BZYY i{g) ]A?A $?AY:*A[:?2AVpս:A(r=BA[:?JAVpսRA(r=٘i)I9}@YUG JJJJJ3E&K Y[~?yXTAE7778GB)[B͹E[[->[F[~?[r[[[[BZYY i) ݤ A`?AH?AFm*Ano:?2A0Խ:A=BAno:?JA0ԽRA=٘i)I99}@YG J4SJJJJ9E&K  8Yo[~? 8yTAE77b8)]B[[@D>[Ű[~?[[[[[BZYY iM) v;I_I?i񩽉ņY y?))y?y?4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031993.823165 s, next control iter: 1743031994.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031994.223165 s.gH~,H#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031994.223291F (some fields omitted in printout)A(\t@AqrCut@Am\~? ANA%"AAkqNA"AZAbAjArAzAAA*?[.@A@əw2tA7|@AՔ!A'X=A${>A?A{d?A*An:?2A;[ս:A =BAn:?JA;[սRA =٘i)I9|@YG J JJJJ>E&K Y[~?yݪSAE7777 8)`BйE[[[>[X[~?[[[[[BZYY i) :V;I I?i3 x?))x?x?yKhɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031994.243165 s, next control iter: 1743031994.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031994.643165 s.rЩH~,)#AJ"J*J2J:JBJnJvJAGt@AQt@A\~? A A %"AAqNA"AZAbAjArAzAAA N.@AS?1tAV|@AzA4ݗ=AY>A`h?A3?A6*Aj:?2Aս:A =BAj:?JAսRA =I٘i)I9V|@YG JB=JJJJDE&K Y|[~?yڪySAE{78FB)cBӹE[[r>[[~?[$ߪ[[[[BZYY i) ^ٵ;I I?i4 ?))??y#ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031994.663165 s, next control iter: 1743031995.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5493, header.stamp.nsec: 00 temperature: 13.564545* salinity: 33.375378, density: 1025.000000* values[0]: 0.582982F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031995.063165 s.H~,_ Į#AAfffffu@ALQLu@A\~? AA%"AAqrNA"AZAbAjArAzAAAUn/@Ar/tA{@AAi?A$?Ap*A?g:?2A["ֽ:AV =BA?g:?JA["ֽRAV =YGq>>y=OٓH/?*ܿ ?? d??SrS牿@?)Gq> I٘i)I9{@YFG JC=J$V=JJJIE&Ku> Y[~?y֪SA>E)7ŧ78EB)fBֹE[[[>[#\~?[ݪ[[[[BZYY i) ʗ;II?i|{ I?))|I?I?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031995.083165 s, next control iter: 1743031995.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031995.483165 s.u_H~,ޮ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246101@ elevatorAngleAction: -0.066214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743031995.483287F (some fields omitted in printout)J"J*J2J:JBJnJvJAu@A׷u@AF\~? AA %"AABrNA"AZAbAjArAzAAAH0@AV& .tA:J{@AXAg=A i>A C?A?A'A*ABd:?2Ahֽ:A\=BABd:?JAhֽRA\=٘i)I9J{@YG J JJJJNE&K Y5\~?yҪRAE7777 #8DB)jBٹE[[Ϗ>[c\~?[ڪ[[[[BZYY i) 3us;I~I?iO[I q?)) q?q??٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031995.503165 s, next control iter: 1743031995.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5494, header.stamp.nsec: 00 temperature: 13.564640* salinity: 33.375401, density: 1025.000000* values[0]: 0.582480F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031995.903165 s.ȽH~,#AA ףp=v@A[#v@A\~? AXAK%"AAgrNA"AZAbAjArAzAAA1orZ0@A/,c,tAz@A;AH=AM=>A?A LN?Aϵ*Aw:?2A=Խ:A=BAw:?JA=ԽRA=٘i)I9z@YG J JJJJTE&K Y0\~?yϪ?RAE778*8AB)kB۹E[[Y>[9\~?[ت[[[[BZYY i) W7;IH?il ފ?))ފ?ފ?tڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031995.923165 s, next control iter: 1743031996.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031996.323165 s.vH~,%#AJ"J*J2J:JBJnJvJA\v@A*n܎v@AG\~? AxA%"AArNA"AZAbAjArAzAAA>Zؤ0@A'˕*tAxz@A]Vq<A2=A?A@?A)?A*Av:?2AuԽ:A6=BAv:?JAuԽRA6=٘i)I9z@Y8G JJJJJYE&K YI\~?y*˪QAE{7{7b18)pB[[>[T\~?[Sժ[[[[BZYY i) 9y:IH?iѾą ]?))]?]?Y٪Y YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031996.343165 s, next control iter: 1743031996.723175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5495., header.stamp.nsec: 0.0 temperature: 13.564800.* salinity: 33.375389., density: 1025.000000.* values[0]: 0.581876.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031996.743165 s.WH~,q/#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031996.743281F (some fields omitted in printout)AGzw@Ak]hv@A]~? ArAw%"AArNA"AZAbAjArAzAAA9'J0@AHu(tAm}y@Ad<A1&=Al?A?A?AQܹ*Au:?2AhSս:A =BAu:?JAhSսRA =٘i)I9}y@YG J麼JJJEJ^E&K YLc\~?yLǪnQAE7b788@B)tB޹E[[S>[0p\~?[XҪ[[[[BZYY i) ]`|:IH?i徉ܛ ؐ?))ؐ?ؐ?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031996.763165 s, next control iter: 1743031997.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031997.163165 s.y}H~,qJ#AJ"J*J2J:J?BJ?nJ5vJAw@A9^ew@A]~? AFA%"AArNA"AZAbAjArAzAAAK{y 71@A?zl&tAx@A;An=A%?A@?A7?A:e*As:?2A ֽ:Ae=BAs:?JA ֽRAe=YS>B?y=u;ٓH?z?r? !1?Ҳ? :2Zw??)S> I٘i)I9x@Y{G JJJJJdE&K$v> YH{\~?yªQAB?E{7j7?8?B)xBE[[3A>[\~?[3Ϫ[[[[BZYY i) 18IH?i1 ]?))]?]?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031997.183165 s, next control iter: 1743031997.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031997.583165 s.H~,Se#AARw@Azww@AV1]~? AA$7%"AA_rNA"AZAbAjArAzAAAv*DP1@A[r$tAMx@A:Ag=A?A7a?A`7?A*Aq:?2Aֽ:A3=BAq:?JAֽRA3=٘i)I9Mx@Y G J4B=JJJJiE&K YF\~?yPAE777F8>B){BE[[?>[\~?[˪[[[[BZYY i) ZfIH?i[ͺ .3?)) .3?.3?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031997.603165 s, next control iter: 1743031997.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5496, header.stamp.nsec: 00 temperature: 13.564992* salinity: 33.375408, density: 1025.000000* values[0]: 0.581223F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031998.003165 s.w H~,H4#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743031998.003290F (some fields omitted in printout)Ap= Wx@Af[o\~?[BȪ[[[[BZYY i) 8IPH?iM.˻ ?))??̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031998.023165 s, next control iter: 1743031998.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031998.423165 s.+uH~,#AA(\x@Aho}x@AF`]~? A۫A%"AAAsNA"AZAbAjArAzAAAi 2@A>{ tA5w@AuAOZ=A?A ?A?A@ *A$}:?2A)Oֽ:A<BA$}:?JA)OֽRA<٘i)I95w@YuG JJJJJtE&K Y=\~?yOAE)7b78U8=B)BE[[[>[ \~?[wĪ[[[[BZYY i) $A2I2H?i)ٻ !?))!?!?ɪY+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031998.443165 s, next control iter: 1743031998.823198 s, wait time: 0.380033 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5497, header.stamp.nsec: 00 temperature: 13.565140* salinity: 33.375446, density: 1025.000000* values[0]: 0.580651F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031998.843165 s.H~,#AJ"J*J2J:JBJnJvJAHz.y@Am%y@Acw]~? AثA%"AAesNA"AZAbAjArAzAAAһJS2@AjX.tA v@AhAfI=A#?A?A[?AP:*Az:?2ALNֽ:AP<BAz:?JALNֽRAP<٘i)I9v@Y#G JiJJJJyE&K Y:\~?yjOAE77c\8[\~?[u[[[[BZYY i) dnIH?ip2!g ޞ?))ޞ?ޞ?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031998.863165 s, next control iter: 1743031999.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031999.263165 s.H~,Я#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743031999.263272F (some fields omitted in printout)Ay@Afy@AA]~? A)ԫAQ%"AAsNA"AZAbAjArAzAAAY?2@AtAs&v@A1;AE=A,"(?A?A-?A*Av:?2AO5ֽ:A% <BAv:?JAO5ֽRA% }.(?yD=o1;ٓH6G??~?W?@/? ı= f?@6?)+> I٘i)I9&v@YG JsJ ZJJJE&Kv> Y\~?y OA.(?EZ7SI7c88B)E[[P>[v]~?[J[[[[BZYY i噽) }I-H?iA< \?))\?\?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031999.283165 s, next control iter: 1743031999.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 54982, header.stamp.nsec: 020 temperature: 13.5652692* salinity: 33.3754432, density: 1025.0000002* values[0]: 0.5800832F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031999.683165 s.lH~,#AJ"J*J2J:JBJnJvJAQz@Ay@Aݤ]~? AЫAS%"AAtsNA"AZAbAjArAzAAAFM2@ABXQtAfu@AH?i[, >?))>?>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032000.123165 s, next control iter: 1743032000.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032000.523165 s.H~,|!#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075145< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032000.523289F (some fields omitted in printout)J"J*J2J:JBJnJvJA(z@Az@AC]~? AǫAB%"AA2sNA"AZAbAjArAzAAAF0a,d3@AKtA0t@A>*<AW=A/7?A?AE?A*Ad:?2Aֽ:A=BAd:?JAֽRA=٘i)I9t@YG JؙC=JJJJE&K Y4]~?yMAEj7Z7y85B)BE[[o?[}\]~?[y[[[[BZYY i) [qIH?idI |?))|?|?y˙YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032000.543165 s, next control iter: 1743032000.923182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5499, header.stamp.nsec: 00 temperature: 13.565412* salinity: 33.375446, density: 1025.000000* values[0]: 0.579530F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032000.943165 s.[dH~,O]<#AAzG{@AZ-{@A]~? AëA%"AAmtNA"AZAbAjArAzAAAΓ*3@AJbtA_t@AA=A=?A?A@wk?Ab⏼*Ae]:?2AhG׽:A=BAe]:?JAhG׽RA=٘i)I9t@YG JmJJJJE&K YK]~?y0MAEŧ7b798)B[[?[u]~?[q[[[[BZYY i) ٛIDH?il t?))t?t?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032000.963165 s, next control iter: 1743032001.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032001.363165 s.H~,>W#AJ"J*J2J:JK?BJK?nJ5vJA3333{@Ai {@A~]~? AAD%"AA30tNA"AZAbAjArAzAAA7<3@AΉtAs@AE+A=AaB?A/8?A W7?A1*AU:?2A׽:A=<BAU:?JA׽RA= Y_]~?y 0MA[B?E7ŧ7d81B)E[[?[b]~?[C[[[[BZYY i) IH?iRz 5 _?))_?_?ʾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032001.403165 s, next control iter: 1743032001.763180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5500*, header.stamp.nsec: 0*0 temperature: 13.565526** salinity: 33.375446*, density: 1025.000000** values[0]: 0.579006*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032001.783165 s.YH~,r#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075145< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032001.783294F (some fields omitted in printout)AQ|@AÚʢ|@A^~? AAL%"AAPtNA"AZAbAjArAzAAApƬ['4@AժS tAI0s@Ai{AeE=AG?A@?A`C?Ao*ApN:?2A׽:AWs=BApN:?JA׽RAWs=٘i)I90s@YG JiJJJJE&K Y t]~?yLA"E7780B)BE[[M ?[Ԧ]~?[ݞ[[[[BZYY i) 'IqH?iE( P?))P?P?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032001.803165 s, next control iter: 1743032002.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032002.203165 s.#H~,#AJ"J*J2J:JBJnJvJAףp=|@A9x&p|@Ay&^~? AߴA_%"AAUptNA"AZAbAjArAzAAAex\݁f4@A±tAr@AGAA_=A-M?A-?A8?A/*A>G:?2A׽:A=BA>G:?JA׽RA=٘i)I9r@YG JJJJJE&K Y]~?yvLA'E78)B[[r&?[]~?[@[[[[BZYY i) 7I cH?i^. "J?))"J?"J?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032002.223165 s, next control iter: 1743032002.603178 s, wait time: 0.380013 s]~?) rAdjusting time to match Gazebo time: 1743032002.623165 s.Y)H~,e⧰#AA)\|@AӁ|@A:^~? AݯA %"AAtNA"AZAbAjArAzAAAz4@AL-tA Y]~?y2pXKA}\?7E)7ŧ798)B[[GX9?[E^~?[>[[[[BZYY i) JeId4H?iᕿa? F?))F?F?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032003.503165 s, next control iter: 1743032003.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5502, header.stamp.nsec: 00 temperature: 13.565761* salinity: 33.375473, density: 1025.000000* values[0]: 0.578019F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032003.883165 s.y=H~,M#AJ"J*J2J:J?BJ?nJ)5vJAQ8~@A;~@Avv^~? AA:%"AAtNA"AZAbAjArAzAAAR9Y5@A;5 sABp@A_<A=Ava?Ai?A,?A:*A/:?2Aֽ:A =BA/:?JAֽRA =٘i)I9p@Y~G JCJJJJE&K YN]~?yiJA<E7777d8)B)E[[A??[^~?[߀[[[[BZYY i4) tI#H?i<)F E?))E?E?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032003.903165 s, next control iter: 1743032004.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032004.303165 s.]DH~,g#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032004.303325F (some fields omitted in printout)Aq= ף~@Aο~@A^~? AA%"AAuNA"AZAbAjArAzAAAD.5@Af@sA(p@AM;A=AGf?A`]?A /?A[*A):?2A@׽:AI =BA):?JA@׽RAI =٘i)I9(p@Y*G JJJJJE&K Y]~?ybJABEŧ7ŧ78)B[[E?[2^~?[Lz[[[[BZYY i) U߁IH?i>L TK?))TK?TK?cϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032004.343165 s, next control iter: 1743032004.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5503*, header.stamp.nsec: 0*0 temperature: 13.565913** salinity: 33.375473*, density: 1025.000000** values[0]: 0.577459*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032004.723165 s.KH~,H.#AJ"J*J2J:JBJnJvJA(\@ASD~@AU^~? AA%"AA$uNA"AZAbAjArAzAAA^5@Aπ7sAݡo@ApŻAG=AJl?A(?A?A0N*A :?2A5׽:A' =BA :?JA5׽RA' =٘i)I9o@YG JJJJJE&K Y]~?y(\-JAGE)78$B)BE[[K?[G^~?[s[[[[BZYY i) |I H?iܢuP V?))V?V?dѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032004.743165 s, next control iter: 1743032005.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032005.143165 s.Z/RH~,*I#AAGz@A_`@A^~? A8A{%"AA@uNA"AZAbAjArAzAAAڲ6@ARwsAlo@AteA2Ú=Aiq?A6d?A?A&Ɲ*A:?2A׽:A= =BA:?JA׽RA= =٘i)I9o@YG JJJJJE&K Y ^~?yzUIA DME7778)B[[f-R?[ ]^~?[l[[[[BZYY i) IGG?iWS g?))g?g?y!ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032005.183165 s, next control iter: 1743032005.543179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032005.563165 s.XH~,c d#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032005.563324F (some fields omitted in printout)Affff@A'Q@A^~? A\A%"AA^\uNA"AZAbAjArAzAAACl :6@Aظ&"sAחn@AoAѝ=Av?A5 ?A3?A*A+:?2A׽:Aq=BA+:?JA׽RAq=Y>?v?yI͝=e? I٘i)I9n@Y6G JJ4<JJJE&Kx> Y^~?y?N_IAv?RE{7j78 B)E[[dX?[q^~?[~e[[[[BZYY i) !IG?iwZ k?))k?k?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032005.603165 s, next control iter: 1743032005.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5504, header.stamp.nsec: 00 temperature: 13.566099* salinity: 33.375500, density: 1025.000000* values[0]: 0.576921F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032005.983165 s._H~,~#AAQ@A{7@AE^~? AdA e%"AAXwuNA"AZAbAjArAzAAA[o6@A,P}sA] n@AA-=A{?A`_?Az?A*A:?2AE׽:AG=BA:?JAE׽RAG=٘i)I9 n@YG JޤJJJJE&K Y-^~?yGHAWE77:8)B[[j^?[݅^~?[8^[[[[BZYY i) IG?i5D` 9v?))9v?9v?eݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032006.003165 s, next control iter: 1743032006.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032006.403165 s.&fH~,͙#AJ"J*J2J:JBJnJvJA ףp@A^@Aw^~? AP}A%"AAuNA"AZAbAjArAzAAAUE}6@ADnsAG{m@A(j;AB=A`{?AƧ?A@p?A-*A9?2Aֽ:A_=BA9?JAֽRA_=٘i)I9{m@YG J⭼JJJJE&K Y=^~?y?HA]Eb77e8B)BE[[d?[^~?[V[[[[BZYY i) IG?id M?))M?M?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032006.423165 s, next control iter: 1743032006.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5505", header.stamp.nsec: 0"0 temperature: 13.566225"* salinity: 33.375515", density: 1025.000000"* values[0]: 0.576318"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032006.823165 s.lH~,:#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743032006.823319F (some fields omitted in printout)A\(@A@AC^~? A!wA$R%"AAuNA"AZAbAjArAzAAATth6@A5.)sA l@ASQ<A=A?A?A ?Ah*A9?2Aքֽ:AU4=BA9?JAքֽRAU4=٘i)I9l@Y+G JJJJJE&K YM^~?y8"HAbE778)B[[6k?[^~?[ O[[[[BZYY i)  IhG?i!g k?))k?k?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032006.843165 s, next control iter: 1743032007.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032007.243165 s.sH~,iϱ#AJ"J*J2J:Js?BJs?nJ5vJAGz@A+nbz@A_~? ApA%"AAuNA"AZAbAjArAzAAAP{7@Al+sA_@l@A#{<AM=A5?A.?A`l?A ¼*AM9?2Aֽ:As=BAM9?JAֽRAs=٘i)I9@l@YG JHJJJJE&K Y^^~?yW1GAgE{7{78B)B E[[q?[W^~?[TG[[[[BZYY i) 扶IȏG?ii ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032007.263165 s, next control iter: 1743032007.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032007.663165 s.zH~,q#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5506, header.stamp.nsec: 00 temperature: 13.566436* salinity: 33.375504, density: 1025.000000* values[0]: 0.575665F (some fields omitted in printout)A@AuV 偵@A_~? AvjAeG%"AA=uNA"AZAbAjArAzAAAZI 87@A4 qEsASk@A <A*=A??A@sk?A?Aü*A29?2Aֽ:A=BA29?JAֽRA=YX?Z?y|(=^!<ٓH@?`?`V? ?`y?^@? ?)X? I٘i)I9k@YeG JBüJ[~<JJJE&Kx> Yk^~?y)EGAZ?mEb7b78B)B E[[w?[A^~?[m?[[[[BZYY i) ؽI{G?i2o ?))??AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032007.683165 s, next control iter: 1743032008.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032008.083165 s.DH~, S#AJ"J*J2J:J^?BJ^?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032008.083297F (some fields omitted in printout)ARk@AMpQ@A*$_~? AcA%"AA%uNA"AZAbAjArAzAAARmg7@AOsAj@AYA׬=A?A 2?A?Aِü*An9?2A5C׽:A} =BAn9?JA5C׽RA} =٘i)I9j@YG JļJJJJE&K Yey^~?y!FArE778B)B E[[ ~?[^~?[Z7[[[[BZYY i) G'żI#gG?iԾCt j?))j?j?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032008.103165 s, next control iter: 1743032008.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032008.503165 s.H~,P4 #AAp= ׂ@A@AF3_~? Ad]AD%"AAd vNA"AZAbAjArAzAAApFo7@ALZJsAfSj@A}4A7=A?A?AH?A)`ü*A9?2Ap׽:Aa:=BA9?JAp׽RAa:=٘i)I9Sj@YG JüJJJJE&K  8Y^~? 8y@_FAwEŧ7b7:8)ƯB[[;?[d^~?[/[[[[BZYY i) Dv̼IWRG?iiw ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032008.523165 s, next control iter: 1743032008.903182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5507, header.stamp.nsec: 00 temperature: 13.566680* salinity: 33.375515, density: 1025.000000* values[0]: 0.574943F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032008.923165 s.;H~,;#AJ"J*J2J:JBJnJvJA(\B@A4y(@AA_~? AVA%"AA"vNA"AZAbAjArAzAAAـ67@ApY7sAi@Ak4|AZ;=AZ?A`$ ?A@?AWż*A9?2Aߒ׽:A=BA9?JAߒ׽RA=٘i)I9i@Y9G JBļJJJJE&K Y^~?yEA}E777e8B)ʯBE[[h?[_~?[&[[[[BZYY i) ӼIc=G?i¿/y ?))??(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032008.943165 s, next control iter: 1743032009.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032009.343165 s. Yw^~?yEAd?E77778)үB[[ Ë?[!_~?[[[[[BZYY i) FIG?i"ǿ~ N?))N?N?GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032009.783165 s, next control iter: 1743032010.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032010.183165 s.ˢH~,x#AAQ@A#k@A?k_~? A%BAT%"AAbvNA"AZAbAjArAzAAA3[!?8@A˕sAצg@A<A쑴=A,?A?AK?AN|׼*As9?2Argֽ:Az=BAs9?JArgֽRAz=٘i)I9g@Y G JԼJJJJ E&K Y^~?yDAE778B)֯BE[[?[/_~?[ [[[[ZZ¸BZYY i¸=) -CּIEF?iɿ* k?))k?k?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032010.203165 s, next control iter: 1743032010.583183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032010.603165 s.<4H~,Ú#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743032010.603324F (some fields omitted in printout)A= ף@Alք@Ax_~? A ;A%"AAvvNA"AZAbAjArAzAAA_@%f8@Aa`sAf@A2w<A B=A@p?A`E?A`?Aܼ*A9?2AAֽ:A;!=BA9?JAAֽRA;!=ߗI٘i)I9f@Y G JټJJJJE&K Y^~?yDAE7777%8)ܯB[["?[j=_~?[[[[[ZZBZYY i) >ʼIeF?ir˿4 ?))??y›[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032010.623165 s, next control iter: 1743032011.003180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5509, header.stamp.nsec: 00 temperature: 13.567168* salinity: 33.375553, density: 1025.000000* values[0]: 0.573443F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032011.023165 s.ZH~,{#AA(\@A}B@A_~? A4Af%"AAvNA"AZAbAjArAzAAAaqs8@Au sA#f@AaY<A=A?A?A ?AH*A9?2Apֽ:A*=BA9?JApֽRA*=٘i)I9#f@Y G JJJJJE&K Y^~?yCAE77;,8B)߯BE[[T?[/J_~?[[[[[ZZBZYY i) :IvF?i̿폂 ?))??yA=TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032011.043165 s, next control iter: 1743032011.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032011.443165 s.3öH~,-]ܲ#AJ"J*J2J:JBJnJvJAzDž@AMF@As_~? A,A%"AA6vNA"AZAbAjArAzAAA68@AhުsA3De@A;Aș=A^ğ?A ?A?A*Av9?2A2ֽ:A<BAv9?JA2ֽRA<٘i)I9De@Y G J+JJJJE&K Y^~?yl CAEŧ7b7e38B)BE[[p?[:V_~?[[[[[ZZBZYY i) 6IF?i}˿; K?))K?K?yW= ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032011.463165 s, next control iter: 1743032011.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5510, header.stamp.nsec: 00 temperature: 13.567454* salinity: 33.375546, density: 1025.000000* values[0]: 0.572545F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032011.863165 s.+H~,>#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200932 time: 1743032011.863356F (some fields omitted in printout)A33333@A@A_~? A%A~%"AAvNA"AZAbAjArAzAAAHwߥ8@AfI>sAnd@AE-Ax=Arv?A7?A+?A*A9?2ALֽ:Afh<BA9?JALֽRAfh Y/^~?yکBAh?Ej7j7:8)B[[!?[a_~?[[[[[ZZBZYY i) 寮IfF?iDο ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032011.883165 s, next control iter: 1743032012.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032012.283165 s.5RH~,#AJ"J*J2J:Jr?BJr?nJ5vJAQ@A<ן@A_~? AKA %"AAvNA"AZAbAjArAzAAARt8@A[;ǬsAc@AUxA4=A?AZ?A`u`?A ̼*A9?2Aֽ:A;BA9?JAֽRA;٘i)I9c@Y G JC=JJJJ%E&K Y^~?yѩyBAEb77A8)B[[?['l_~?[eߩ[[[[ZZBZYY i) I F?iϿ Z@))Z@Z@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032012.303165 s, next control iter: 1743032012.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5511., header.stamp.nsec: 0.0 temperature: 13.567798.* salinity: 33.375565., density: 1025.000000.* values[0]: 0.571617.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032012.703165 s.ֺH~,-#AAףp= @AE*-@A`_~? AAY%"AAJvNA"AZAbAjArAzAAA*ֈb9@Au DsAc@A=~A<A~?A{z?A?Ab*A 9?2A~ֽ:A,BA 9?JA~ֽRA,٘i)I9c@Y2 G JB=JJJJ+E&K Y^~?y.ɩ&BAE77H8 B)BE[[#?[v_~?[֩[[[[ZZBZYY i) bIxF?iп者 @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032012.723165 s, next control iter: 1743032013.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032013.123165 s.8H~,aG#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743032013.123288F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A(+[@Ab_~? AtA3-%"AAvNA"AZAbAjArAzAAA^g 29@A_sA]b@AdA-<ARE?A\?A?Ang*A9?2Aֽ:AMBA9?JAֽRAM٘i)I9b@Y G JC=JJJJ0E&K Yf^~?yAAE77j7P8)B[[Y?[#_~?[̩[[[[ZZBZYY i) gI;bF?i&п7 :@)):@:@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032013.143165 s, next control iter: 1743032013.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032013.543165 s.IH~,b#AA{Gᇵ@AmY.LJ@A_~? AAO%"AAvNA"AZAbAjArAzAAA N9@A6!sA?/b@A~^;ATWAb߬?A`v?A5?A?*A 9?2Aֽ:AOvBA 9?JAֽRAOv٘i)I9/b@Y G JiJJJJ6E&K Y_~?y[AAE{7;W8)B[[?[y_~?[é[[[[ZZBZYY i) sILF?iο= @))@@(YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032013.563165 s, next control iter: 1743032013.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5512, header.stamp.nsec: 00 temperature: 13.568018* salinity: 33.375546, density: 1025.000000* values[0]: 0.570961F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032013.963165 s.yH~,}#AJ"J*J2J:JBJnJvJAL@AV}2@A_~? A]AR%"AAvNA"AZAbAjArAzAAARAj9@AC!r5sAya@A`P<AEǡA?A ?A&?A*A9?2A׽:AQ楼BA9?JA׽RAQ楼YNk?w?yákP<ٓH@dk?@\7? 5[?`d?@f@'8? ??)Nk? I٘i)I9a@Y G JV!JCJJJ;E&Kx> Yn _~?yAAw?E{7Z7f^8B)E[[1ī?[_~?[i[[[[ZZBZYY iq=) aI5F?ihпa d@))d@d@D)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032013.983165 s, next control iter: 1743032014.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032014.383165 s.H~,@#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.059006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032014.383290F (some fields omitted in printout)AQ@An;@Ao_~? AA%"AA wNA"AZAbAjArAzAAA a9@AH(ٕsAGa@Av<AʧAH?A`?A EC?A)'*A9?2A׽:A̼BA9?JA׽RA̼٘i)I9a@Yi G J^JJJJ@E&K Y _~?yAAE77e8)B[[{?[ߕ_~?[[[[[BZYY i%=) jOIF?iѿՅ @))@@m4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032014.403165 s, next control iter: 1743032014.783181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5513", header.stamp.nsec: 0"0 temperature: 13.568079"* salinity: 33.375565", density: 1025.000000"* values[0]: 0.570650"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032014.803165 s.vAH~,wg#AJ"J*J2J:JBJnJvJAq= #@Ak @As_~? A A|%"AAwNA"AZAbAjArAzAAA~ `9@AcO)sAa@A|<A76A?A@?A@h?AϡF;*A9?2AOֽ:AoBA9?JAOֽRAo缙٘i)I9a@Y JpJJJJFE&K Y_~?yhAAEŧ77l8B)BE[[2?[_~?[[[[[BZYY i) 1J=IF?iпA { @)){ @{ @t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032014.823165 s, next control iter: 1743032015.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032015.223165 s.gH~,Hγ#AA(\@AnEu@A_~? AQA%"AAq!wNA"AZAbAjArAzAAA?(9@A@psAa@AgںAg[AZ9?A`-?A`?Aa;*Ah9?2Afcֽ:A19BAh9?JAfcֽRA19٘i)I9a@Y~ G J\;JJJJKE&K YL_~?yAAEb7b7s8)B[[i?['_~?[C[[[[BZYY i) ;)+IcE?iGϿ ( @))( @( @y:E=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032015.243165 s, next control iter: 1743032015.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032015.643165 s.H~,5*#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069670< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032015.643293F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A@A_~? AAi%"AA~,wNA"AZAbAjArAzAAAg[Il9@AU|sA*b@AlAA@yA?A \?A`?Af=<*AF9?2Aֽ:A% BAF9?JAֽRA% ٘i)I9*b@Y G J<JJJJPE&K Y_~?yBAE77{7{8B)BE[[3?[_~?[}[[[[BZYY i) I_E?i̿D  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032015.663165 s, next control iter: 1743032016.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5514, header.stamp.nsec: 00 temperature: 13.568038* salinity: 33.375587, density: 1025.000000* values[0]: 0.570700F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032016.063165 s.H~,k #AAfffff@AkzPL@A}_~? A٪AB%"AA6wNA"AZAbAjArAzAAA*''9@AByWsAbb@AF&AʈAO?A?A`)?Ap<*Aͳ9?2A ֽ:A<BAͳ9?JA ֽRA<YQf?r?yňpٓH!?\ ?@}t?r?D?)Qf? I٘i)I9b@Y G JU<J]JJJVE&KAw> Y"_~?yWcBAr?E{7j7<8)B[[һ?[C_~?[[[[[BZYY i\g=) E~ IHE?i}Ϳ S@))S@S@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032016.083165 s, next control iter: 1743032016.463183 s, wait time: 0.380018 s"_~?)W rAdjusting time to match Gazebo time: 1743032016.483165 s.w_H~,#AJ"J*J2J:JBJnJvJAъ@Ax ҷ@A|_~? AѪA%"AAJ@wNA"AZAbAjArAzAAAڂU9@Aa~sAb@A)?AjA?AQ?AH?Ams<*AN9?2APֽ:AhBAN9?JAPֽRAh٘i)I9b@Y G Jf<JJJJ[E&K Y{%_~?y{BAEŧ77f8)B[[?["_~?[~[[[[BZYY i) I9E?i*Ϳ+N r@))r@r@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032016.503165 s, next control iter: 1743032016.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5515, header.stamp.nsec: 00 temperature: 13.567869* salinity: 33.375561, density: 1025.000000* values[0]: 0.571091F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032016.903165 s. H~,9#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056579< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032016.903280F (some fields omitted in printout)A ףp=@A`#@A_~? AɪAu&"AAIwNA"AZAbAjArAzAAAƥ9@A rMysAkc@A$AAЧ?Ai?A{?ASf<*Ai9?2Aֽ:A<BAi9?JAֽRA<٘i)I9kc@Yi G J><B=JJJJaE&K YB(_~?yrCAE78)B[[9?[7_~?[ u[[[[BZYY i) ԻIOE?i˿h ~@))~@~@F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032016.923165 s, next control iter: 1743032017.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032017.323165 s.uH~,!T#AJ"J*J2J:JBJnJvJA\@Ad⎋@A`~? A ªA&"AAPwNA"AZAbAjArAzAAAL :@AD90vtsAc@A0<AA`^?A :?A`s?Ar<*A69?2A ׽:A2 BA69?JA ׽RA2 ٘i)I9c@Y G J<C=JJJJfE&K Y +_~?y jwCAE7778B)BE[[j?[_~?[8k[[[[BZYY i) :IE?iKɿԀ @))@@yEh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032017.343165 s, next control iter: 1743032017.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5516*, header.stamp.nsec: 0*0 temperature: 13.567615** salinity: 33.375595*, density: 1025.000000** values[0]: 0.571688*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032017.743165 s.WH~,mo#AAGz@Abc@AV`~? AA&"AAXwNA"AZAbAjArAzAAA1}j$Z:@A-osA:{d@A:}<AAi?A?A`-?A~\<*AU9?2A=׽:A2BAU9?JA=׽RA2٘i)I9{d@Y G J<JJJJkE&K Y-_~?yGaCAE{7j78)߯B[[7?[_~?[ma[[[[BZYY i=) IioE?iſN!} T@))T@T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032017.763165 s, next control iter: 1743032018.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032018.163165 s.{}"H~,q#AJ"J*J2J:Jo?BJo?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743032018.163292F (some fields omitted in printout)A@At e@A< `~? AAF&"AAj^wNA"AZAbAjArAzAAA>ρ*':@AjsA e@A>Y<A3Aԝ?A&?A`w@?AjE<*A|9?2A׽:ABA|9?JA׽RAYp?|?yY<ٓH,2k4,? ?ľqMP?'??)p? I٘i)I9 e@Ye G J<JxJJJqE&KXx> Y-_~?yyX:DA|?E778)گB[[A?[_~?[W[[[[BZYY i) qI+ZE?iſ| W>@))W>@W>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032018.183165 s, next control iter: 1743032018.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032018.583165 s.(H~,S#AAR댵@Abmь@A`~? AA&"AAcwNA"AZAbAjArAzAAASge1:@A~ YesAe@A;AGĘA("?A`hd?ADP?A$*<*As9?2Aֽ:ABAs9?JAֽRA٘i)I9e@Y G JK<JJJJvE&K Y-_~?yODAEŧ7b7<8B)ԯBE[[V?[_~?[M[[[[BZYY i) L4IEE?i8Ŀ({ F@))F@F@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032018.623165 s, next control iter: 1743032018.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5517, header.stamp.nsec: 00 temperature: 13.567330* salinity: 33.375599, density: 1025.000000* values[0]: 0.572345F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032019.003165 s.y 0H~,P4#AJ"J*J2J:J?BJ?nJ5vJAp= W@AU<@Aw`~? A A&"AAhwNA"AZAbAjArAzAAA ::@A'ՠ`sA.f@A;AvA?AG?A]?A|<*A9?2A]ֽ:ABA9?JA]ֽRA٘i)I9.f@Y G J/<JJJJ{E&K Y-_~?yF EAEj7Z7g8)ЯB[[%?[֬_~?[ D[[[[BZYY i) BI:0E?i!x f@))f@f@!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032019.023165 s, next control iter: 1743032019.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032019.423165 s.u6H~,۴#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743032019.423275F (some fields omitted in printout)A(\@A@w@A`~? AA&"AAlwNA"AZAbAjArAzAAA/jFq A:@A8)T\sAf@ARGpAYA+?A?A h?A'<*A9?2A;ֽ:ARBA9?JA;ֽRAR٘i)I9f@Yq G J<JJJJE&K Yq-_~?y>rEAEb7b78)˯B[[P?[;_~?[U:[[[[BZYY i) qIE?ils u@))u@u@y=b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032019.443165 s, next control iter: 1743032019.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5518, header.stamp.nsec: 00 temperature: 13.567047* salinity: 33.375584, density: 1025.000000* values[0]: 0.573074F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032019.843165 s.rJ:@A*.RsAEg@AֻAAv?A`x?Aw?A<*A9?2Aݼֽ:ABA9?JAݼֽRAYy?م?yGJ׻ٓHκ G???Ʊ겱?z8?)y? I٘i)I9g@Y G JΦ<C=Jw<JJJE&KIx> Yb*_~?y,9FA?E778B)BE[[?[_~?['[[[[BZYY i) u:ID?i|l q!@))q!@q!@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032020.283165 s, next control iter: 1743032020.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 55192, header.stamp.nsec: 020 temperature: 13.5667672* salinity: 33.3755952, density: 1025.0000002* values[0]: 0.5737692F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032020.683165 s.lJH~,Z+#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743032020.683313F (some fields omitted in printout)AQ@A\W뎵@A`~? ÁA&"AAswNA"AZAbAjArAzAAAuL:@A@MsAdh@Ag;AA,?A5֊?A{?As<*A9?2AM׽:ABA9?JAM׽RA٘i)I9dh@Yp G JƝ<JJJJE&K Yk'_~?y#FAE78)B[[P?[ڝ_~?[k[[[[BZYY i) 6:IDD?ii @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032020.683165 s, next control iter: 1743032021.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743032021.103165 s.QH~,F#AA= ףp@AMKV@A`~? AyA&"AAtwNA"AZAbAjArAzAAAeM:@Am)RHsAh@A^<AA?A``A}?Aѿ<*AF9?2AM׽:ABAF9?JAM׽RA񼙘٘i)I9h@Y G Jє<JJJJE&K Yt$_~?yFAEj7j7=8)B[[Z?[8_~?[[[[[BZYY i) V8;ID?i8fe F!@))F!@F!@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032021.123165 s, next control iter: 1743032021.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032021.523165 s.WH~,{a#AJ"J*J2J:JBJnJvJA(܏@A"@A`~? AqAv0&"AAtwNA"AZAbAjArAzAAA!hL:@AAcCsAYi@ACz<ABxA%y?AtA{?A~<*Ar9?2A/>׽:ABAr9?JA/>׽RA9٘i)I9Yi@YG J<JJJJE&K Y}!_~?y<VGAE77g8)B[[?[ߑ_~?[q [[[[BZYY i) Xv;I3D?iி_ "@))"@"@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032021.543165 s, next control iter: 1743032021.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5520, header.stamp.nsec: 00 temperature: 13.566511* salinity: 33.375561, density: 1025.000000* values[0]: 0.574382F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032021.943165 s.Yd^H~,F]|#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032021.943298F (some fields omitted in printout)AzG@Aj-@A`~? AiA8&"AAswNA"AZAbAjArAzAAAxI:@Aquu>sAhi@A*<AXA ?AWAw?A䘌<*A\9?2Aoֽ:ABA\9?JAoֽRA򼙘٘i)I9i@YMG JM<JJJJE&K Y_~?yz GA#Eb778B)BE[[0?[ӊ_~?[[[[[BZYY i) ;ID?i}gX li$@))li$@li$@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743032021.963165 s, next control iter: 1743032022.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032022.363165 s.eH~,>#AJ"J*J2J:J?BJ?nJB5vJA3333@A= $@AJ`~? A}aAk&"AArwNA"AZAbAjArAzAAAcE:@ABkz9sAFj@AAeA2?A槿A q?A<*A'9?2Aֽ:ABA'9?JAֽRAYY??yeBٓH5?ʿ`cQa4?,@?@Iʿ j?a ?)Y? I٘i)I9Fj@YG J.<B=J#<JJJE&Kx> Y_~?yHA?(Eŧ7b78)B[[S?[_~?[[[[[BZYY i=) C;ID?ihHV %@))%@%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032022.403165 s, next control iter: 1743032022.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5521&, header.stamp.nsec: 0&0 temperature: 13.566295&* salinity: 33.375587&, density: 1025.000000&* values[0]: 0.574914&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032022.783165 s.XkH~,#AAQ@A]@Ab`~? AnYAa &"AAowNA"AZAbAjArAzAAA\l?:@AL4sAaj@ADArAX?AApAKh?A<*A9?2Aq]ֽ:AA(BA9?JAq]ֽRAA(٘i)I9j@YG JE<C=JJJJE&K Y_~?y;iHA.E77778)B[[r?[|z_~?[[[[[BZYY i) U;IOD?iHTHR '@))'@'@d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032022.803165 s, next control iter: 1743032023.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032023.203165 s.sH~,͵#AJ"J*J2J:JA?BJA?nJi5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077119< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032023.203278F (some fields omitted in printout)Aףp=@A;%p@A`~? AbQA &"AAOlwNA"AZAbAjArAzAAA<0}8:@A,aг/sA5k@AbAA?AA\?AkN<*A9?2A(^ֽ:A RBA9?JA(^ֽRA R٘i)I95k@Y'G JK<JJJJE&K Y _~?yHA3E78B)BE[[Ȏ?[Iq_~?[c[[[[BZYY i) ;IsD?iL 7)@))7)@7)@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032023.223165 s, next control iter: 1743032023.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032023.623165 s.ZyH~,i#AA)\@AJۑ@A`~? A[IAC &"AAEhwNA"AZAbAjArAzAAA 8v/:@A3a5=*sAk@AH4AASI?ANAN?A!<*A9?2Aֽ:ACBA9?JAֽRAC٘i)I9k@YnG JX<JJJJE&K  8YM_~? 8yIA8EZ7Z7=8)B[[?[ng_~?[_ܨ[[[[BZYY i) Q Eb77h 8)B[[?[\_~?[|Ө[[[[BZYY i) B& <3,@))<3,@<3,@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032024.063165 s, next control iter: 1743032024.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032024.463165 s.ZH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077119< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743032024.463273F (some fields omitted in printout)A̒@Agx@A`~? A]9A]| &"AA]wNA"AZAbAjArAzAAAN\:@Amo_ !sAl@A$<AGA4?AA4*?A <*A9?2AI׽:A"BA9?JAI׽RA"Y?8?yEcO%<ٓH iӿQz ?k? V~ӿ=ܮ? ?t?)? I٘i)I9l@YG J-<C=J[JJJE&K}x> Y^~?yըIA?CE77j78)B[[?[Q_~?[ʨ[[[[BZYY i) *;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077119< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032025.723294F (some fields omitted in printout)A(\@ARE@AV_~? A!AM &"AAHwNA"AZAbAjArAzAAA9@A3߇sA;m@ALP;AԑA6n?A@9ſA \?A7<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9m@YG J<JJJJE&K Y%^~?yμJASEj7Z7'8)B[[@[Y,_~?[ݰ[[[[BZYY i) [Y YI^~?yWKA?^E77h58B)BE[[6 @[w_~?[U[[[[BZYY i) x elevatorAngleAction: 0.077119< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743032026.983347F (some fields omitted in printout)AQ@A 7@A_~? A( A&"AAY+wNA"AZAbAjArAzAAAg#ͮ9@AV5z9sAeo@A,gA:A @AʿA?Aͥ<*A߽9?2AUֽ:AuBA߽9?JAUֽRAuޗI٘i)I9eo@YG J3<JJJJE&K Y^~?yD LAcEb777<8)B[[Ҍ@[_~?[>[[[[BZYY i) \<JJJJE&K Y^~?y2pLAiE7C8)B[[4@[>^~?[O[[[[BZYY i) . elevatorAngleAction: 0.086715< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032028.243295F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A7az@A2_~? A$A&"AAwNA"AZAbAjArAzAAAz .d9@A(-rAq@ANc<AA;@A пAZ?A<*AY9?2AIO׽:A BAY9?JAIO׽RA ٘i)I9q@YG J<JJJJE&K Y6^~?y ;MAsE7{7R8B)~BE[[ @[^~?[[[[[BZYY i) tT珏rAq@A)lu<A-Ae@AпA`?Ar<*A9?2A4׽:ABA9?JA4׽RAYX?R@y+v<ٓHG߿v@@?G?@)p߿?:?1?)X? I٘i)I9q@YG J<B=J JJEJE&K7x> Y^^~?yaMAR@yEZ7Z7>Y8)yB[[ @[^~?[ky[[[[BZYY i) ]ˡ@)) >@ >@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032029.123165 s, next control iter: 1743032029.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032029.503165 s.H~,a4`#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086715< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743032029.503305F (some fields omitted in printout)Ap= ח@AO󼗵@AV_~? AܩAՔ&"AA(vNA"AZAbAjArAzAAA5o 9@ASprAr@Ak?A4A@A )ҿA A?A(<*Ao9?2A-dֽ:ABAo9?JA-dֽRA٘i)I9r@YG J<JJJJE&K Yt^~?y u|NAE{7{7g8)rB[[U~@[^~?[j[[[[BZYY i) ` elevatorAngleAction: 0.086715< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032030.763285F (some fields omitted in printout)A@Ai@A)_~? AƩAB&"AAvNA"AZAbAjArAzAAAqiڨ8@AcZrA@t@AP+AA @ACտA@w?A;Y<*A9?2Aeֽ:ABA9?JAeֽRAY?0 @y+ٓH`*@no?@E?@j&? j?)? I٘i)I9t@YG Jy<JuJJJE&K0x> YH^~?y^OA @E)7ŧ7}8 B)gBE[[@[e^~?[OV[[[[BZYY i) L9?2Aֽ:A,BA>9?JAֽRA,٘i)I95u@Y=G J<JJJJE&K Y8^~?yQW:PAEb7b7?8)bB[[V@[Q^~?[O[[[[BZYY i) 8 elevatorAngleAction: 0.086715< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032032.023289F (some fields omitted in printout)A(\@A B@Ah_~? A~A &"AA~tvNA"AZAbAjArAzAAAC\78@A rAv@A}<AOA @A`׿A5?AT<*Av9?2A'7׽:AABAv9?JA'7׽RAA٘i)I9v@YG J<JJJJ"E&K Y^~?yH"QAE778B)]BE[[d9@[)^~?[.C[[[[BZYY i) 7#AA33333@Af@AzM_~? AA!&"AAKvNA"AZAbAjArAzAAA,޺7@A/*rAew@A$;A AM\@A`hٿAF?A%<*Ä́9?2A0xֽ:AnBÄ́9?JA0xֽRAnYvR@X@y %;ٓH@#`?`k ? 5Ѱ@ٶ?d?E?)vR@ I٘i)I9w@YG JV<B=J>HJJJ-E&Kw> Y5]~?y;RAX@E78)TB[[@[]~?[K7[[[[ZZZZ¸>BZYY i¸>t) \ݿA`P?A\e<*A9?2Amֽ:ABA9?JAmֽRAYD @i@yF#3`;ٓH`O ɢ??V4cb?|??)D @ I٘i)I9{@YNG J<J=JJJHE&Kv> Y]~?y8TA@Eŧ7b78):B[[]%"@[]~?[[[[[ZZZZBZYY i) @Ae^~? A|A&"AAuNA"AZAbAjArAzAAAԈ6@ArA|@AhJ{<A+ټA'@AݿA?Aky<*A9?2A]ֽ:A\01;BA9?JA]ֽRA\01;٘i)I9|@YG J8<JJJJME&K Y]~?ytTAE)78B)6BE[[#@[.{]~?[[[[[ZZZZBZYY i) ܽ: Ә=))Ә=T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032035.403165 s, next control iter: 1743032035.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5534", header.stamp.nsec: 0"0 temperature: 13.383968"* salinity: 33.391701", density: 1025.000000"* values[0]: 0.708470"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032035.803165 s.{A5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073610< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743032035.803310F (some fields omitted in printout)Aq= #@AIL @A^~? AvAj&"AAZuNA"AZAbAjArAzAAA g6@A*rA}@ACC<A$Asr@AB޿A,?A(x<*A9?2AbOֽ:A<BA9?JAbOֽRA<٘i)I9}@YG J<JJJJRE&K YOm]~?yzTAE{7{78B)E[[L$@[d]~?[[[[[ZZZZBZYY i) Pk; )<)))<U@k)YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743032035.823165 s, next control iter: 1743032036.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032036.223165 s.gCH~,H#AA(\@AQHu@A]^~? ApA&"AAuNA"AZAbAjArAzAAA(R}[f6@A6yrAG[}@A@ <A0;A@As߿Af?Ax.<*Ap9?2AZfֽ:Ax<BAp9?JAZfֽRAx<٘i)I9[}@Y3G JY<JJJJXE&K YX]~?ypTAEŧ7b7@8)3B[[S&@[L]~?[[[[[ZZZZBZYY i*)  yԶ1; :)):cW@ymYӨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032036.243165 s, next control iter: 1743032036.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032036.643165 s.zIH~,*)#AJ"J*J2J:JBJnJvJAG@Ay@A^~? AjAW&"AA7uuNA"AZAbAjArAzAAA06@Ai ddڢrA'}@ATA㦙<A @AA@?A^;*A9?2Aֽ:Ai<BA9?JAֽRAi<٘i)I9}@YXG J<JJJJ]E&K YD]~?yg)UAE77j8B)2BݹE[['@[5]~?[C [[[[ZZZZBZYY i) acb; iP9))iP9LX@yϩYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5535, header.stamp.nsec: 00 temperature: 13.383822* salinity: 33.391701, density: 1025.000000]:* values[0]: 0.709274F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743032036.663165 s, next control iter: 1743032037.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032037.063165 s.PH~,N D#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083002< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032037.063286F (some fields omitted in printout)Afffff@AT~OL@A^~? AdA&"AA>ZuNA"AZAbAjArAzAAAZ5@ALrAi}@AsSAJ=A_@AmA?A+;*Aˢ9?2Aֽ:A<BAˢ9?JAֽRAJJJcE&Kex> Y-]~?y TAX@E{7j78!B)3BڹE[[)@[]~?[[[[[BZYY iJOl) Q; 7))7:Z@y$.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032037.083165 s, next control iter: 1743032037.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032037.483165 s.w_WH~,^#AJ"J*J2J:JBJnJvJAџ@Aҷ@A[^~? A_A:&"AA>uNA"AZAbAjArAzAAAn}5@A54ћrA7}@AJ~A/=A @A-Ah?AT ̺*Az9?2AJֽ:A՗<BAz9?JAJֽRA՗<٘i)I9}@YpG J(]:JJJJhE&K Y]~?yTAEZ7Z78)[[!t*@[]~?[[[[[BZYY i) &f@[; >z6))>z6w[@y٩oYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743032037.503165 s, next control iter: 1743032037.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5536, header.stamp.nsec: 00 temperature: 13.383786* salinity: 33.391685, density: 1025.000000* values[0]: 0.709519F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032037.903165 s.]H~,y#AA ףp=@A 1^#@A^~? AYA&"AA"uNA"AZAbAjArAzAAAlW"}5@AgrA}@AA>W=A!@A*A`?Adڻ*Aʕ9?2Aֽ:A2<BAʕ9?JAֽRA2<٘i)I9}@Y`G J.}B=JJJJmE&K Y]~?yXTAE778"B)5B׹E[[+@[\~?[T[[[[BZYY i) . Y|\~?y SA%@E77k 8'B)BBйE[[E/@[Ԥ\~?[ [[[[BZYY i$k) :';I-C?ip3?8;  0)) 0Aa@(ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032039.203165 s, next control iter: 1743032039.563180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032039.583165 s.xH~,S#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032039.583286F (some fields omitted in printout)AR롵@A'jinѡ@A8^~? A]DAJK&"AAtNA"AZAbAjArAzAAAuu4@AEx~rA3.|@AF<A =A'@A`UAE?A"*A9?2A$ֽ:Ac3=BA9?JA$ֽRAc3=٘i)I9.|@Y|G JIC=JJJJE&K Yk\~?ynާSAE77j78)B)GB͹E[[s61@[4\~?[[[[[BZYY i) z;IC?iA?; !z/))!z/b@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032039.603165 s, next control iter: 1743032039.983182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5538, header.stamp.nsec: 00 temperature: 13.384044* salinity: 33.391716, density: 1025.000000* values[0]: 0.708492F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032040.003165 s.z H~,U4#AJ"J*J2J:JBJnJvJAp= W@AD<@A#^~? Ac?Aǭ&"AAtNA"AZAbAjArAzAAA׭Ԏ]4@A ԙurAͨ{@AV*:Ac=Ao(@A@A?Ai*A?9?2Aֽ:A!=BA?9?JAֽRA!=٘i)I9{@Y+G JҞJJJJE&K YX\~?y٧/SA E778*B)MBʹE[[2@[s\~?[ [[[[BZYY i) ͻ;IC?iQ?A< _.))_.Vd@qԪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032040.023165 s, next control iter: 1743032040.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032040.423165 s.uH~,#AA(\¢@Aw@A^~? A:A &"AAntNA"AZAbAjArAzAAAd4@A{rA!{@AAC=A)@A A`?Aͧ*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9{@YG JCJJJJE&K YEs\~?y8էRAE)7ŧ7!8)QB[[3@[Z\~?[N[[[[BZYY i) ;IC?ic?b< ,)),ie@yjk\֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032040.443165 s, next control iter: 1743032040.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5539, header.stamp.nsec: 00 temperature: 13.384312* salinity: 33.391724, density: 1025.000000* values[0]: 0.707442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032040.843165 s.݌H~,5#AJ"J*J2J:J5?BJ5?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743032040.843306F (some fields omitted in printout)AHz.@A {@A]~? A5Ak&"AANtNA"AZAbAjArAzAAA]׎w3@AMhKrAz@A%AP=A +@A`M5A?AS*A9?2A׽:A=BA9?JA׽RA=٘i)I9z@YG JJJJJE&K Y3[\~?yЧmRAEb77)8,B)WBǹE[[.5@[WB\~?[[[[[BZYY i) |;IcC?iw?$< |V+))|V+9f@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032040.863165 s, next control iter: 1743032041.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032041.263165 s.H~,P#AA@AA@A>]~? AD1A&"AA.tNA"AZAbAjArAzAAA}3@A rA|y@AU-aA =Ak,@A{A`,?A¬*Aa9?2Aֽ:A=BAa9?JAֽRA=YzT@Z,@yU=aٓH@ WۿͲM?@_?Q+p%9?)zT@ I٘i)I9y@Y'G JB=J 1<JJJE&K3x> YA\~?y̧RAZ,@EZ7SI7A08.B)^B¹E[[Z6@[O)\~?[X[[[[BZYY i) @;IZC?i?@A&< C)))C)r(h@xӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032041.283165 s, next control iter: 1743032041.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5540., header.stamp.nsec: 0.0 temperature: 13.384562.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.706323.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032041.683165 s.lH~,Vk#AJ"J*J2J:JBJnJvJAQ@A>[룵@A]~? A,A &"AAtNA"AZAbAjArAzAAA?Ԅ[3@Am-8!}rABly@A%AǑ=A-@A@ A@xb?A1*A9?2Aֽ:Ah$=BA9?JAֽRAh$=٘i)I9ly@YG J"C=JJJJE&K YQ(\~?yȧQAEk780B)dBE[[7@[N\~?[[[[[BZYY i7) A+;ID?i?{/< %())%(i@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032041.683165 s, next control iter: 1743032042.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032042.103165 s.H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743032042.103291F (some fields omitted in printout)A= ףp@A/OV@A]~? A(Ads &"AAsNA"AZAbAjArAzAAAe3@A(TzrAx@A;A筒=AP.@AA?Aϯ*A*9?2AEֽ:A#=BA*9?JAEֽRA#=ݗI٘i)I9x@YtG JůJJJJE&K Y\~?y)ŧ8QA$E{7{7>81B)jBE[[b"9@[V[~?[ [[[[BZYY i) :ID?i,?9< <'))<'j@@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032042.123165 s, next control iter: 1743032042.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032042.523165 s.H~,{#AJ"J*J2J:JBJnJvJA(ܤ@A<¤@A6]~? A\$A1 &"AAWsNA"AZAbAjArAzAAARaJ2@AlwrAFx@A~s<A€=A20@A@=A?Ah*AA9?2AX%ֽ:A4<BAA9?JAX%ֽRA4<٘i)I9Fx@YG JB=JJJJE&K Ym[~?yXPA*E7777E8)oB[[n:@[p[~?['[[[[BZYY i) D69IE.D?i?2CE< U%))U%`?l@vĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032042.543165 s, next control iter: 1743032042.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5541, header.stamp.nsec: 00 temperature: 13.384864* salinity: 33.391731, density: 1025.000000* values[0]: 0.705143F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032042.943165 s.VdH~,:]#AAzG@A["-@A]~? AV AE!&"AA`sNA"AZAbAjArAzAAAvT2@A1$ϲurAw@Ar<A=A51@A`zA?A*A'9?2AVKֽ:A%<BA'9?JAVKֽRA%<٘i)I9w@YG J{C=JJJJE&K Y[~?yjPA/Eŧ7b7L83B)uBE[[;@[[~?[oާ[[[[BZYY i) ZCI?D?i?Q< O$))O$fm@yD)BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032042.963165 s, next control iter: 1743032043.343175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032043.363165 s.H~,>׺#AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J:J8 propOmegaAction: 25.132812BJnJ< rudderAngleAction: -0.261799vJ@ elevatorAngleAction: -0.066512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032043.363276F (some fields omitted in printout)A3333@A@At]~? AuAc!&"AAsNA"AZAbAjArAzAAA[AK2@ABBW#srA4w@A;Ac=A2@AA?Aߘ*Ai9?2Aֽ:Ah<BAi9?JAֽRAh Yk[~?yPA2@5E{7{7T84B)zBE[[=@[t[~?[ܧ[[[[BZYY i) &z޺I1RD?idsNA"AZAbAjArAzAAA12@AprALv@AlA:̄=A04@A A AB?AL*A+9?2AN׽:A<BA+9?JAN׽RA<٘i)I9v@Y)G JJJJJE&K Yڦ[~?yOA:Eŧ7ŧ7A[85B)BE[[O>@[R[~?[rۧ[[[[BZYY i) Œ-IEeD?ip?c< z!))z!;Lp@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032043.823165 s, next control iter: 1743032044.183176 s, wait time: 0.360011 sڦ[~?) rAdjusting time to match Gazebo time: 1743032044.203165 s.H~,& #AJ"J*J2J:J4?BJ4?nJ<5vJAףp=@Ax $p@AsF]~? A"A!&"AAAsNA"AZAbAjArAzAAAwZ1@AnnrADv@AJaA =A 5@A&Ad?Af*Ap9?2A|7׽:A<BAp9?JA|7׽RA<٘i)I9Dv@YG JXJJJJE&K YH[~?yYOA?E77{7kb86B)BE[[c?@[Iz[~?[4ڧ[[[[BZYY i) :kI6yD?i~?;om< { )){  q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032044.223165 s, next control iter: 1743032044.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032044.623165 s.ZH~,i'#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743032044.623283F (some fields omitted in printout)A)\@A-ۦ@A.]~? AAR:"&"AAsNA"AZAbAjArAzAAArcw1@A9flrAPu@ATbAl=AP6@A`:[A?AJ6*AS9?2A$*׽:A,<BAS9?JA$*׽RA,<٘i)I9u@YG J߃JJJJE&K Yq[~?yNA DEE7S7i8)B[[q@@[_a[~?[ ٧[[[[BZYY iN1) ID?id?x< $))$r@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032044.643165 s, next control iter: 1743032045.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5543 , header.stamp.nsec: 0 0 temperature: 13.385384 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.703084 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032045.043165 s.H~,B#AJ"J*J2J:J3?BJ3?nJ<5vJA{Ga@Au.G@A!]~? AiA|"&"AArNA"AZAbAjArAzAAA^M/1@AWjrA*hu@ApAB=A8@A`ЌA[?Ax*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9hu@Y\G JJJJJE&K Y$W[~?yNAJEj7j7p89B)BE[[!B@[H[~?[5ا[[[[BZYY i) :ID?i?< ))Ot@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032045.063165 s, next control iter: 1743032045.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032045.463165 s.YH~,]#AA̧@A'@A&\~? AF A"&"AArNA"AZAbAjArAzAAA[n0@AoahrAt@AN:A=A_9@A`A >?A“*A9?2Aֽ:A*u<BA9?JAֽRA*u Y;[~?ykLNAa9@OE77w8:B)BE[[hC@[/[~?[pק[[[[BZYY i) ӻID?id?< {)){u@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032045.503165 s, next control iter: 1743032045.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5544, header.stamp.nsec: 00 temperature: 13.385594* salinity: 33.391750, density: 1025.000000* values[0]: 0.702194F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032045.883165 s.yH~,4x#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075289< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032045.883308F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@AP}:@A\~? AIA"&"AArNA"AZAbAjArAzAAAj+2ޘ0@AfrA,t@AzF<A=AA:@AA?A|}*A9?2A=@A`:A99?Ae*Av9?2Ajֽ:AzZ=BAv9?JAjֽRAzZ=٘i)I9s@YKG J凼C=JJJJE&K Y|Z~?yGMA_E)7b7l8=B)BE[[0G@[Z~?[֧[[[[BZYY i) IE?i>?< <))<yty@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032046.743165 s, next control iter: 1743032047.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032047.143165 s.Z/H~,*ɻ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075289< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032047.143300F (some fields omitted in printout)AGz@A ``@AY\~? A>A#&"AAArNA"AZAbAjArAzAAAmD|/@ANJ 7arA6s@Aޯz:A~=A>@A@QaAc?Ak*A9?2Amֽ:AD=BA9?JAmֽRAD=٘i)I96s@YG JJJJJE&K YZ~?yߣLAeES778)BE[[mH@[}Z~?[է[[[[BZYY i) (IE?i?< m))mz@޻YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032047.163165 s, next control iter: 1743032047.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032047.563165 s.H~,k #AJ"J*J2J:JBJnJvJAffff橵@A&P̩@Ax\~? AA#&"AAhrNA"AZAbAjArAzAAA5.@A^y`rA r@A=$A=A?@A`jA D?Ac*Aп9?2A6׽:Aa=BAп9?JA6׽RAa=YD1@g?@y*=$ٓH ,¿ύ!8?03Z]p?)D1@ I٘i)I9r@YG JʄJd-<JJJE&KUx> YZ~?yLA?@jE777›8)B[[I@[Z~?[է[[[[BZYY i) 78I8E?i?F< ,)),{@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032047.603165 s, next control iter: 1743032047.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5546, header.stamp.nsec: 00 temperature: 13.386044* salinity: 33.391747, density: 1025.000000* values[0]: 0.700457F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032047.983165 s.H~,#AAQ@Aa7@Aqk\~? AA#&"AAqNA"AZAbAjArAzAAA=5"N.@A _rAPWr@A?䀼AE=A~EA@AӦA@?Az*A59?2A"H׽:A=BA59?JA"H׽RA=٘i)I9Wr@Y~G JJJJJE&K Y(Z~?y\5LApE778>B)BE[[DJ@[Z~?[֧[[[[BZYY i) GI7TE?is@dk< z))z;2}@-êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032048.003165 s, next control iter: 1743032048.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032048.403165 s.&H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075289< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032048.403290F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AY@AFR\~? AA($&"AAqNA"AZAbAjArAzAAA)-@ANu]rAfq@AVA Ր=AB@A`mA?A{*Aٺ9?2A=׽:Al=BAٺ9?JA=׽RAl=٘i)I9q@Y8G J͈JJJJE&K Y2zZ~?yKAuE77{78)BE[[R+L@[Z~?[]֧[[[[BZYY i) 6,WIpE?iV@+d< l))lIo~@8ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032048.423165 s, next control iter: 1743032048.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5547", header.stamp.nsec: 0"0 temperature: 13.386252"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.699588"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032048.823165 s. H~,24#AA\(@A1A @A8\~? AAE$&"AAWqNA"AZAbAjArAzAAA&-@Ae\rAIkq@ABjA=AC@A SA ?AOJ*Aظ9?2Aֽ:A# =BAظ9?JAֽRA# =٘i)I9kq@YG J.JJJJE&K Y<^Z~?y؞zKAzEŧ7b7B8?B)BE[[fM@[jjZ~?[֧[[[[BZYY i(̬) }fIE?i@< u))u@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032048.843165 s, next control iter: 1743032049.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032049.243165 s.H~,mO#AJ"J*J2J:JBJnJvJAGz@AAcz@A\~? AA1i$&"AAqNA"AZAbAjArAzAAAw{r,@Ao[rAxp@AO<A=AEE@AA$?A\*AB9?2AEֽ:A~ =BAB9?JAEֽRA~ =٘i)I9p@YG J\JJJJE&K YGBZ~?yKAEm8@B)BE[[N@[iRZ~?[bק[[[[BZYY i) !vIqE?iQ @)< =))= q@<ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032049.263165 s, next control iter: 1743032049.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032049.663165 s.H~,qj#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743032049.663299F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5548, header.stamp.nsec: 00 temperature: 13.386485* salinity: 33.391762, density: 1025.000000* values[0]: 0.698635F (some fields omitted in printout)A@A9嫵@A\~? ApA$&"AAY]qNA"AZAbAjArAzAAA8ny[+@AoZrAcp@Ax<A=AUF@AA SJ?AҢ*A9?2AKֽ:A=BA9?JAKֽRA=Y8b8@[hF@yq=xy<ٓHf@ͥ ϲt+?#?@?z?)8b8@ I٘i)I9cp@YNG J^J~x<JJJE&Kw> Y&Z~?y9JAhF@E{7j78AB)BE[[O@[,:Z~?[ا[[[[BZYY i) NIwE?iD@n< ))@"ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032049.683165 s, next control iter: 1743032050.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032050.083165 s.D!H~, S#AJ"J*J2J:JBJnJvJARk@ACoQ@Ar[~? AAצ$&"AA6qNA"AZAbAjArAzAAAtؔL+@AߖYrAo@A/Vn<A=ATG@A@&AlӾ?A󎥼*A[9?2AAֽ:A.=BA[9?JAAֽRA.=٘i)I9o@YG J.JJJJ E&K Y Z~?yܜPJAE778)¯BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #24q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) 1)yfxԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032050.103165 s, next control iter: 1743032050.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032050.503165 s.'H~,;4#AAp= ׬@A9B򼬵@A[~? AA$&"AAqNA"AZAbAjArAzAAA=0B*@A&YrANo@AC;An=AyH@A 9A?A祼*AI9?2A-ֽ:A=BAI9?JA-ֽRA=٘i)I9No@YG JڥJJJJE&K YY~?y~IAEb778BB)ǯBE[[CKR@[K Z~?[٧[[[[BZYY i) j‘IE?ia@< { )) { G@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032050.523165 s, next control iter: 1743032050.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5549, header.stamp.nsec: 00 temperature: 13.386739* salinity: 33.391750, density: 1025.000000* values[0]: 0.697591F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032050.923165 s.:.H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743032050.923323F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@A-z(@A[~? AA $&"AApNA"AZAbAjArAzAAA?=*@AMsXrAn@A8 AJ=A HA "]A?A*Al:?2A½:A#<=BAl:?JA½RA#<=٘i)I9n@YPG JJJJJE&K YmY~?y!IAE778)̯B[[ڀS@[Y~?["ۧ[[[[BZYY i) RIx F?i@< Z ))Z h@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032050.943165 s, next control iter: 1743032051.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032051.343165 s.<5H~,ռ#AAHz@AJi@A[~? AA $&"AAupNA"AZAbAjArAzAAA(v)@AN(9WrAa5n@AǬqA$=ALGA@VgAq?A1*A{:?2AĽ:A=BA{:?JAĽRA=٘i)I95n@YG JJJJJE&K Y7Y~?yÛIAEj7j7B8)ѯBE[[T@[YY~?[gܧ[[[[BZYY i) ⠼I/F?i @< ' ))' {@ߪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032051.363165 s, next control iter: 1743032051.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5550*, header.stamp.nsec: 0*0 temperature: 13.387019** salinity: 33.391731*, density: 1025.000000** values[0]: 0.696546*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032051.763165 s.;;H~,0#AJ"J*J2J:JBJnJvJA@Ad@A[~? AA&$&"AA*pNA"AZAbAjArAzAAA.(@AO&unWrA~m@AANj=A]HFA#qA`?A|*A}:?2A-ƽ:A@=BA}:?JA-ƽRA@=Y=@]Fym= ٓH@k9?@~@@`ʴ#6`?)=@ I٘i)I9m@YG J<B=J<JJJE&KK> YY~?y"HA]FE77n8CB)կBE[[U@[Y~?[ݧ[[[[BZYY i) `BISF?iH#@<  )) @YsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032051.783165 s, next control iter: 1743032052.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032052.183165 s.BH~,x #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743032052.183322F (some fields omitted in printout)AQ@A lk@Ak[~? AgA %&"AArpNA"AZAbAjArAzAAAՖ;(@A WrAm@A A=A$+EAyA r?A*A$y:?2AtȽ:Ay=BA$y:?JAtȽRAy=٘i)I9m@YGG JC=JJJJ$E&K Y|Y~?y>HAE{7{78)ۯBE[[IW@[Y~?[]ߧ[[[[BZYY i) =IvF?i&@Ֆ< u))u@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032052.203165 s, next control iter: 1743032052.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032052.603165 s.54IH~,&#AJ"J*J2J:JBJnJvJA= ף@A!֮@AQ[~? AA%&"AAbKpNA"AZAbAjArAzAAA '@AcʵVrALql@Afj;A Ҭ=AlCAA?Ahg¼*Aq:?2Aʽ:AT;=BAq:?JAʽRAT;=٘i)I9ql@YG JsJJJJ)E&K Y`Y~?yGAE778)B|E[[NX@[Y~?[[[[[BZYY i) IF?i*@< Ɍ))ɌvI@VYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743032052.623165 s, next control iter: 1743032053.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5551 , header.stamp.nsec: 0 0 temperature: 13.387276 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.695462 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032053.023165 s.ZPH~,{A#AA(\@A-ͭB@A6[~? A~A%&"AA#pNA"AZAbAjArAzAAA&@A+uzVrAQk@A Ma<A"=ABAAU?Aر˼*A{g:?2A ͽ:A=BA{g:?JA ͽRA=٘i)I9k@YG JƼJJJJ/E&K YoDY~?y?_GAEŧ7b78DB)ByE[[c~Y@[Y~?[[[[[BZYY i) ]IOF?i7/@/G< []))[]-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032053.043165 s, next control iter: 1743032053.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032053.443165 s.8VH~,B]\#AJ"J*J2J:J1?BJ1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032053.443303F (some fields omitted in printout)Azǯ@A@A[~? ACAN%%&"AAjoNA"AZAbAjArAzAAAl+a&@AcUVrAk@A;<Aİ=AvAAшA*?A>Ѽ*An]:?2A;;Ͻ:A=BAn]:?JA;;ϽRA=٘i)I9k@YG JμJJJJ4E&K  8Y<(Y~? 8yFAEŧ78)BvE[[lZ@[hY~?[[[[[BZYY i) żIF?i3@.^< S0))S0w@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032053.463165 s, next control iter: 1743032053.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5552, header.stamp.nsec: 00 temperature: 13.387580* salinity: 33.391735, density: 1025.000000* values[0]: 0.694209F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032053.863165 s.+]H~,>w#AA33333@A |(@A[~? A/A(%&"AAoNA"AZAbAjArAzAAAi%@AIVrAlj@A3<A?ݱ=A@A@A@SEA-uҼ*A[S:?2A_ѽ:AQ=BA[S:?JA_ѽRAQ=YD@ @y~ڱ=84<ٓH`9 YL Y~?yڞxFA @E7777D8)BsE[[[@[RY~?[[[[[BZYY i) ̼IcG?i 7@UJ< ))@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032053.883165 s, next control iter: 1743032054.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032054.283165 s.4RdH~,#AJ"J*J2J:JBJnJvJAQ@Ae@AZ~? AEA(%&"AA\oNA"AZAbAjArAzAAA A%%@AB&VVrAi@Aa A]=Ar>A@AƥAoм*A}I:?2AKӽ:A߽=BA}I:?JAKӽRA߽=٘i)I9i@YAG JҼC=JJJJ?E&K Y`X~?yFAE77n8)B[[f ]@[;Y~?[[[[[BZYY i) E-ԼI7G?i~:@< Y))Y.@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032054.303165 s, next control iter: 1743032054.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5553., header.stamp.nsec: 0.0 temperature: 13.387917.* salinity: 33.391747., density: 1025.000000.* values[0]: 0.692889.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032054.703165 s.ۺjH~,&#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032054.703295F (some fields omitted in printout)Aףp= @Am4@AZ~? AA%%&"AA؅oNA"AZAbAjArAzAAAp-$@AΏ}VrA i@Aۂ@A៳=AP=AA2&A'ϼ*A@:?2A9Խ:A =BA@:?JA9ԽRA =٘i)I9 i@Y G J мJJJJDE&K YqX~?ySEAE{7j78)BpE[[%7^@[%Y~?[;[[[[BZYY i) dۼIm`G?iW>@< ))=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032054.723165 s, next control iter: 1743032055.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032055.123165 s.4qH~,Pǽ#AJ"J*J2J:JBJnJvJA)\u@A"[@AZ~? AAC%&"AAZ^oNA"AZAbAjArAzAAAB;X?#@A2VrA^h@A$A=A;An|A ;Aϼ*A7:?2Aܦս:A!=BA7:?JAܦսRA!=٘i)I9^h@Yl G JqϼJJJJJE&K YX~?yEAEb7b78EB)BmE[[a_@[Y~?[[[[[BZYY i龽) ͛I?G?iB@ < !z))!z҈@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032055.143165 s, next control iter: 1743032055.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032055.543165 s.IxH~,#AA{Gᱵ@AKu/DZ@AZ~? AA%&"AA6oNA"AZAbAjArAzAAAۅK#@AcQWrA|g@AUA⑵=A:ArA`ЮA>Լ*A~.:?2Aս:A=BA~.:?JAսRA=٘i)I9g@Y G JѼJJJJOE&K YX~?yˣDAE77#8)BjE[[Ӊ`@[X~?[[[[[ZZ¸BZYY i¸6=) ּIG?i-G@< ף))ףf@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032055.563165 s, next control iter: 1743032055.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5554, header.stamp.nsec: 00 temperature: 13.388230* salinity: 33.391754, density: 1025.000000* values[0]: 0.691586F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032055.963165 s.}~H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082779< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032055.963285F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A-`2@AZ~? A?A %&"AAoNA"AZAbAjArAzAAALY"@A%ВWrAf@AUAhŶ=Af9A`_fA(Aeؼ*A!:?2Aս:A=BA!:?JAսRA=YJ@tj9yFŶ=qٓH@?7ο` `!x жொc@`?)J@ I٘i)I9f@Y G JռJL;JJJTE&Kl|> Y=X~?y쥧 DAj9Ej7j7+8) BgE[[a@[&X~?[[[[[ZZBZYY i) FʼIG?iI@0E= CL))CL@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032055.983165 s, next control iter: 1743032056.363184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743032056.383165 s.؅H~,M#AAQ@Ak'JB@AfZ~? A%A6$&"AA;nNA"AZAbAjArAzAAAnu"@AS-XrA/f@A<A=A'8AUA ඿A*A':?2Aս:A!:=BA':?JAսRA!:=٘i)I9/f@Y G JJJJJZE&K YeX~?y CAE77D28)BdE[[b@[X~?[[[[[ZZBZYY i) zI H?i.M@P= ))@y]=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032056.403165 s, next control iter: 1743032056.783180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5555&, header.stamp.nsec: 0&0 temperature: 13.388566&* salinity: 33.391727&, density: 1025.000000&* values[0]: 0.690267&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032056.803165 s.xAH~,g3#AJ"J*J2J:J0?BJ0?nJJ95vJAq= #@A׊6 @ALZ~? A4A=$&"AA nNA"AZAbAjArAzAAAt!@AdbAXrAdLe@AY<A=A6ACAǡA|*Aj0:?2Aֽ:AC<BAj0:?JAֽRAC<٘i)I9Le@Y G JGJJJJ_E&K YJX~?y.*CAE7o98)BaE[[_d@[X~?[a[[[[ZZBZYY i) HjI9H?iP@R= ))+&@yz= ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032056.823165 s, next control iter: 1743032057.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032057.223165 s.gH~,HN#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082779< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743032057.223277F (some fields omitted in printout)A(\@A6Du@A/3Z~? AmA$&"AAnNA"AZAbAjArAzAAAT?)Z4Q@ I٘i)I9c@Y- G J5J%JJJoE&KYx> Y(W~?ynBA2E{7j7N8DB),B\E[[8|g@[}X~?[[[[[ZZBZYY i=) NI/H?i[@ = ))@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032058.083165 s, next control iter: 1743032058.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032058.483165 s.r_H~,잾#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068669< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4202022 time: 1743032058.483488F (some fields omitted in printout)AѴ@Aڷ@A}Y~? AAz$&"AA~%nNA"AZAbAjArAzAAA<𻹳@A%7R\rAb@AA<A1AALĿA#w*A.:?2A1ֽ:A(%BA.:?JA1ֽRA(%٘i)I9b@Y G JJJJJuE&K YW~?ymAAEŧ77V8)0BYE[[h@[WiX~?[[[[[ZZBZYY i렞=) cI H?i^@t= cp))cps@rhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032058.503165 s, next control iter: 1743032058.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5557, header.stamp.nsec: 00 temperature: 13.389271* salinity: 33.391727, density: 1025.000000* values[0]: 0.687331F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032058.903165 s.ȭH~,͹#AA ףp=@Abc^#@A#Y~? AAW$&"AAmNA"AZAbAjArAzAAAd?@A9v]rA|3b@AADĻAG0AA &ƿAP *A\*:?2ANֽ:AtBA\*:?JANֽRAtܗI٘i)I93b@Y G JQJJJJzE&K YW~?ylAAE777D]8)2BVE[[Yi@[zUX~?[N[[[[ZZBZYY i) ֞vII?ia@ٗ= $))$쿩@y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032058.943165 s, next control iter: 1743032059.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032059.323165 s.uH~,!Ծ#AJ"J*J2J:J/?BJ/?nJc85vJA\@AEHݎ@AY~? AA1$&"AAmNA"AZAbAjArAzAAAVP@AM/Y^rAXa@A A䠼A.AֲA@ȿA|̹*A:?2Aֽ:AӉBA:?JAֽRAӉ٘i)I9a@Y G JRJJJJE&K YKW~?ykAAEZ7Z7nd8)4BSE[[Sj@[AX~?[ [[[[ZZBZYY i) \aIie@ = ))鿩@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032059.343165 s, next control iter: 1743032059.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5558*, header.stamp.nsec: 0*0 temperature: 13.389464** salinity: 33.391712*, density: 1025.000000** values[0]: 0.686649*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032059.743165 s.WH~,m#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077455< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743032059.743292F (some fields omitted in printout)AGz@ALRb@AҚY~? A'A$&"AAmNA"AZAbAjArAzAAAy@Ax `rAa@A;AAŤ-A(A`kpʿA8*A:?2A6׽:ALɼBA:?JA6׽RALɼ٘i)I9a@Yy G JJJJJE&K YW~?yjAAEk8CB)PE[[xl@[.X~?[_[[[[BZYY i) RVMIii@= ))翩)@j.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032059.783165 s, next control iter: 1743032060.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032060.163165 s.v}H~,q #AJ"J*J2J:JBJnJvJA@ADe@AY~? AA#&"AAmNA"AZAbAjArAzAAAԹJ@AHxarAa@Aj<Av`0AO,AlAtJ̿Ax;*Aw :?2Ar׽:ATBAw :?JAr׽RATYW@Y,y[0HJj<ٓH`@w? ? ۿn}'? ?B?@?)W@ I٘i)I9a@Yx G J3J_(JJJE&KPy> Y.uW~?y=AAY, E777r8)[[f4m@[X~?[[[[[BZYY ivh=) }@ARccrAa@A!<A$_XA*AFAοA_;*A9?2Al׽:ABA9?JAl׽RA٘i)I9a@Y G J1t;JJJEJE&K Y[W~?yŧAAE77y8)3BME[[Xn@[X~?[[[[[BZYY i8=) +Iin@o= W))W㿩N@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032060.603165 s, next control iter: 1743032060.983182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5559, header.stamp.nsec: 00 temperature: 13.389519* salinity: 33.391720, density: 1025.000000* values[0]: 0.686543F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032061.003165 s.{ H~,Y4@#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032061.003284F (some fields omitted in printout)Ap= W@A =b<@APY~? AA{#&"AA|AmNA"AZAbAjArAzAAA<C[@Az}drA1b@A #<AxA-)A`qA@XϿA ]-<*A9?2A׽:AxCBA9?JA׽RAxC٘i)I91b@Y G J<JJJJE&K Y3BW~?yȧ4BAE)7ŧ78)1BJE[[czo@[W~?[[[[[BZYY i) [Iiq@]= ))࿩-ߐ@X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032061.023165 s, next control iter: 1743032061.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032061.423165 s.uH~,[#AA(\·@A0|@A8Y~? A~AE#&"AASmNA"AZAbAjArAzAAAb@AY*YfrAb@ANAtADv(AA`2пA@h<*A9?2Aֽ:Ap$ BA9?JAֽRAp$ ٘i)I9b@Y G JH<JJJJE&K Y(W~?y̧oBAEb7b7E8BB).BGE[[)p@[W~?[[[[[BZYY i)  Ii5u@= +޿))+޿o@y= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032061.443165 s, next control iter: 1743032061.823181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5560, header.stamp.nsec: 00 temperature: 13.389456* salinity: 33.391678, density: 1025.000000* values[0]: 0.686889F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032061.843165 s.H~,u#AJ"J*J2J:JBJnJvJAHz.@AB@AY~? Au AQ #&"AAplNA"AZAbAjArAzAAAץ@AEG(hrAGb@AjUA?oA_5'A9AѿA]<*A09?2ATֽ:A`BA09?JATֽRA`٘i)I9b@Y G JN<JJJJE&K Y8W~?yЧBA E77{7o8)*BEE[[&q@[W~?["[[[[BZYY i) 5Iiy@%^= 3Cܿ))3Cܿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032061.863165 s, next control iter: 1743032062.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032062.263165 s.H~,0ؐ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743032062.263270F (some fields omitted in printout)A@AoK@AY~? A A "&"AAlNA"AZAbAjArAzAAAlo\@AaMjrA]oc@AIA:A%A A`ҿAJ<*A&9?2AOֽ:Aa^BA&9?JAOֽRAa^YA^@%yr¬ٓH3]?@p?6 K`z??`_?)A^@ I٘i)I9oc@Yk G J!<J̖JJJE&Kw> Y(V~?y%էCA%&E7778)&B[[2r@[W~?[&[[[[BZYY i) ӻIi{@ = ڿ))ڿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032062.283165 s, next control iter: 1743032062.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5561., header.stamp.nsec: 0.0 temperature: 13.389303.* salinity: 33.391674., density: 1025.000000.* values[0]: 0.687745.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032062.683165 s.lH~,^#AJ"J*J2J:JBJnJvJAQ@A$븵@AX~? AA͓"&"AAlNA"AZAbAjArAzAAALla@A-o/lrAc@AKA;A$A%eA@zwӿA.<*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y G J<JJJJE&K YV~?y٧vCA+Eĝ8)"BBE[[3s@[tW~?[?+[[[[BZYY i) 쥵Iih}@."= ׿))׿@?*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743032062.683165 s, next control iter: 1743032063.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743032063.103165 s. H~,Ԛƿ#AA= ףp@A&V@AdX~? ADAR"&"AAlNA"AZAbAjArAzAAA*zk-C@Atx%nrATd@AȕA+A@<#A0A@oXԿAÆ<*A9?2A׽:AFBA9?JA׽RAF٘i)I9d@Y G J<JJJJE&K YV~?yZާCA1Ej7Z78AB)B?E[[u@[ elevatorAngleAction: 0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032063.523289F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܹ@A[¹@AX~? AAo"&"AAglNA"AZAbAjArAzAAAv'@A:#SprAe@A/<A杽A !AlA7տAh<*A\9?2A}׽:AJ BA\9?JA}׽RAJ ٘i)I9e@Yn G J><JJJJE&K YV~?yADA6Eb778)B#AJ"J*J2J:JBJnJvJA3333@AX7@AX~? AmA_}!&"AA lNA"AZAbAjArAzAAA2 @AT%vftrA;f@A j<AzA>ArA:ֿA0<*An9?2A>\׽:ABAn9?JA>\׽RAYd@Py^򜽙wj<ٓH`[-s?? ]h?a?A?`?)d@ I٘i)I9;f@Y G Jƭ<JvϻJJJE&Kx> YrV~?yEAP  DAE7777p8@B)B9E[[qx@[^kW~?[=[[[[BZYY i) b!Ii@@G)= ;ο));οZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032064.383165 s, next control iter: 1743032064.763179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5563., header.stamp.nsec: 0.0 temperature: 13.388867.* salinity: 33.391663., density: 1025.000000.* values[0]: 0.689921.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032064.783165 s.W H~,2#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032064.783329F (some fields omitted in printout)AQ@A0@Ae|X~? Ao#A0!&"AAckNA"AZAbAjArAzAAAh.b3 @AZ hwrAZf@Aj;A{AA@IA׿Aڲ<*A 9?2Aֽ:AGBA 9?JAֽRAG٘i)I9f@Yz G JͰ<JJJJE&K YjV~?y>zEAFEŧ7b78) B7E[[y@[?[W~?[A[[[[BZYY i) ?EvIiI@N*= ̿))̿r@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032064.823165 s, next control iter: 1743032065.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032065.203165 s.J "J *J 2J :J 0?BJ 0?nJ [95vJ H~,M#AAףp=@A&p@A fX~? A'A &"AAJkNA"AZAbAjArAzAAAg}@AܞyrAgg@A?AZANA A&ؿA[˵<*A9?2Aֽ:AʣBA9?JAֽRAʣ٘i)I9gg@Y G J_<JJJJE&K YSV~?yEAKE77778)B[[)z@[sKW~?[zF[[[[BZYY i) @˷Ii@g+,= +aʿ))+aʿw@*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032065.223165 s, next control iter: 1743032065.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032065.623165 s.UH~,Tg#AA)\@A%ۻ@AOX~? A+AɎ &"AAkNA"AZAbAjArAzAAA<[@A5َ|rAh@AA󣖽AzAA`ZٿAr<*Aa:?2A;hֽ:AHBAa:?JA;hֽRAH٘i)I9h@Y3 G J <JJJJE&K Y%=V~?yLFAQE78?B)B4E[[-{@[;W~?[HK[[[[BZYY i) i:Ii@-= #+ȿ))#+ȿ@d*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743032065.643165 s, next control iter: 1743032066.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5564 , header.stamp.nsec: 0 0 temperature: 13.388615 * salinity: 33.391644 , density: 1025.000000 * values[0]: 0.691102 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032066.043165 s. H~,Â#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:JBJ< rudderAngleAction: -0.261799nJvJ> elevatorAngleAction: 0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032066.043301F (some fields omitted in printout)A{Ga@Aޏ/G@A):X~? AM0A9 &"AASkNA"AZAbAjArAzAAAV-@AZtBrAh@AA3A+A`A r'ڿA<*A:?2Aֽ:A&BA:?JAֽRA&٘i)I9h@Y G J<JJJJE&K Y&V~?yEFAVE77{78>B)B0E[[|@[,W~?[%P[[[[BZYY i) 9:Ii@Y0= ſ))ſꑗ@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032066.063165 s, next control iter: 1743032066.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032066.463165 s.X'H~,#AA̼@A/@A$X~? A4A"&"AA~xkNA"AZAbAjArAzAAAuaV@AV rA(i@A?߻A_AAkBAڿA뼧<*A!:?2Aֽ:A BA!:?JAֽRA YzNk@y^P߻ٓHC?@N?`(U $?@?`{v?)zNk@ I٘i)I9(i@Y G J<B=J|o<JJJE&Kix> YV~?yMGA[E)7ŧ7F8)B[[}@[W~?[!U[[[[BZYY i) 3;Ii0@W0= ÿ))ÿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032066.483165 s, next control iter: 1743032066.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5565, header.stamp.nsec: 00 temperature: 13.388377* salinity: 33.391644, density: 1025.000000* values[0]: 0.692266F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032066.883165 s.y-H~,<#AJ"J*J2J:J81?BJ81?nJ95vJAQ8@A1B@AvX~? A9Ać&"AAXkNA"AZAbAjArAzAAA%p?A75jlrA0i@Ał;A׊AvA HAۿA<*A:?2AZ׽:A&BA:?JAZ׽RA&٘i)I9i@Y;G JZ<C=JJJJE&K YU~?yUxGAaEŧ77q8)B-E[[@[=W~?[.Z[[[[BZYY i) )q;Ii@1= ))o@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032066.923165 s, next control iter: 1743032067.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032067.303165 s.U4H~,sg#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032067.303294F (some fields omitted in printout)Aq= ף@A}@AW~? Ag>A*&"AA78kNA"AZAbAjArAzAAA3b(?A>"އrAi3j@A)w<A EA7A@ATܿA<*A\:?2AQ׽:A}BA\:?JAQ׽RA}򼙘٘i)I93j@YG Jԙ<JJJJE&K YU~?y\GAfE77j78)B+E[[@[W~?[K_[[[[BZYY i) r8;Ii@X3= 3U))3U:@̽*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032067.323165 s, next control iter: 1743032067.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5566*, header.stamp.nsec: 0*0 temperature: 13.388186** salinity: 33.391613*, density: 1025.000000** values[0]: 0.693342*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032067.723165 s.;H~,H#AJ"J*J2J:J~1?BJ~1?nJ:5vJA(\@AvöE@AW~? A_CA&"AAkNA"AZAbAjArAzAAAz_զ ?A^>rAj@Al<A܎AA`1dAGݿANO<*Ak:?2Ax׽:AfaBAk:?JAx׽RAfa𼙘٘i)I9j@YG JG<JJJJE&K Y^U~?yd9HAlE{78)B[[#@[V~?[vd[[[[BZYY ii=) ;IiZ@4= "))"Ǚ@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032067.763165 s, next control iter: 1743032068.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032068.143165 s.^/BH~,(* #AAGz@A>`@AW~? AxHAh&"AAjNA"AZAbAjArAzAAAcm K?ArA(k@AE<Aw=ABA&A޿AC5<*A::?2A&׽:ABA::?JA&׽RA򼙘٘i)I9(k@YG Jؐ<JJJJE&K YȿU~?yk HAqE{7j78=B)B(E[[$1@[HV~?[i[[[[BZYY i) B;IiƎ@6= ))򺿩S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032068.163165 s, next control iter: 1743032068.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032068.563165 s.HH~,J $#AJ"J*J2J:J1?BJ1?nJ@:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075194< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743032068.563285F (some fields omitted in printout)Affff澵@A6N̾@AW~? AMAF&"AAujNA"AZAbAjArAzAAAC2 ?AP3rAQk@A/AbAHAAI޿A9#<*A:?2A[ֽ:A]BA:?JA[ֽRA]Yq@EyB2c/ٓHW>*?v:?`,`[?]?e?)q@ I٘i)I9k@YiG J<J(<JJJE&Kgx>  8YDU~? 8y'HAEvE77{78#AAQ@A@7@A_W~? A SA5&"AAjNA"AZAbAjArAzAAAJ[ȗ?A(vrAl@AX[AҭAAWxA*r߿A\<*A9?2Ayֽ:AGBA9?JAyֽRAG٘i)I9l@YG J<JJJJE&K YU~?y-PIA|E7F 8)ۯB[[J@[V~?[ft[[[[BZYY i) 0l elevatorAngleAction: 0.075194< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032069.823298F (some fields omitted in printout)A\(@A,@AYW~? A^A&"AAVjNA"AZAbAjArAzAAA Ew?A85rAm@A>AA0AhA@A"kAz<*AT9?2A/ֽ:AYuBAT9?JA/ֽRAYu٘i)I9m@YIG J<JJJJE&K YuU~?y;JAE8)ӯB[[b@[{V~?[V[[[[BZYY i) m(!?Aϰ,9rAm@AAA AxAAN<*A=9?2A*׽:AqBA=9?JA*׽RAq٘i)I9m@YG J^<B=JJJJ E&K Y3cU~?yAaJAE77{78;B)ϯB E[[@[`V~?[ᄨ[[[[BZYY i) >$8rApm@AB9<A>A AAA<*A:9?2A{׽:AzBA:9?JA{׽RAzY0Zx@d y~9<ٓH@]\0?xߞ?a?W?8(?4?)0Zx@ I٘i)I9m@YG J<C=JzJJJE&Kx> YRU~?yHJA Eb77%8)˯B[[z@[V~?[[[[[BZYY i) G elevatorAngleAction: 0.075194< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743032071.083320F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@A@7nQ@A$NW~? AoAv&"AA@0jNA"AZAbAjArAzAAAdֿAz vޥrA8rn@A<AݎA^ A`߿A}lAŊ<*AW9?2A׽:A&BAW9?JA׽RA&٘i)I9rn@YG J܉<JJJJE&K YBU~?yPKAE-8)ǯBE[[@[V~?[1[[[[BZYY i) W= q))qe@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032071.523165 s, next control iter: 1743032071.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5570, header.stamp.nsec: 00 temperature: 13.387380* salinity: 33.391560, density: 1025.000000* values[0]: 0.697236F (some fields omitted in printout)>w2U~?)>LW rAdjusting time to match Gazebo time: 1743032071.923165 s.5~H~,#AJ"J*J2J:JBJnJvJA(\Bµ@At(µ@A+W~? A{A&"AAiNA"AZAbAjArAzAAAPZAAPrArdo@AaEO;A㓽AA޿An A+<*Ac9?2AHֽ:AM BAc9?JAHֽRAM ٘i)I9do@YG J<JJJJ!E&K Y8"U~?y^KAEb77q;8-B)BE[[@[wV~?[[[[[BZYY i) u@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032071.943165 s, next control iter: 1743032072.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032072.343165 s. elevatorAngleAction: 0.084182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032072.343276F (some fields omitted in printout)AHzµ@AΆµ@AW~? AA&"AAiNA"AZAbAjArAzAAA^SAz"rAo@AVA\jAؔAZݿAWA<*A9?2Avlֽ:ABA9?JAvlֽRA٘i)I9o@YG J;<JJJJ&E&K YU~?ye9LAE{7{7B8)B[[T@[omV~?[[[[[BZYY i) n Y*U~?ycmLA<E777I8,B)BE[[2@[5cV~?[h[[[[BZYY i) 48 elevatorAngleAction: 0.084182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743032073.603299F (some fields omitted in printout)A= ףõ@A۟õ@AV~? A_A&"AARiNA"AZAbAjArAzAAAM%A惦rA#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032074.863294F (some fields omitted in printout)A33333ŵ@AC5%ŵ@AV~? AA&"AAXiNA"AZAbAjArAzAAA%AxLrAr8s@A,1<A#AAA@ӟؿA@AB<*A|9?2A^W׽:A%BA|9?JA^W׽RA%Yj@myc<ٓHu_ٿR_??B`n`ٿ? ?? T?)j@ I٘i)I98s@YG J<JJJJFE&K]x> YT~?y,NAmE777m8-B)BE[[:@[$5V~?[Ũ[[[[BZYY i) <įOAE77t8)B[[r@[,V~?[˨[[[[BZYY i) Z elevatorAngleAction: 0.084182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032076.123282F (some fields omitted in printout)A)\uƵ@Ay[Ƶ@AV~? AAw{&"AAiNA"AZAbAjArAzAAAv47A!rA)u@AbAA1A*ֿA@XA<*A 9?2Aֽ:ABA 9?JAֽRA٘i)I9u@Y-G JH<C=JJJJWE&K YT~?ycOAEŧ7b78)B[[@[V~?[ب[[[[BZYY i)  YET~?yؼPAfEb77s8-B)yBE[[@[V~?[[[[[BZYY i) ` elevatorAngleAction: 0.084182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743032077.383269F (some fields omitted in printout)AQǵ@A @ǵ@AwV~? ABԩA&"AAhNA"AZAbAjArAzAAA״Ϲ A-WrA+w@A:AbAA@ӿA 8RA<*Ac9?2Aֽ:AgNBAc9?JAֽRAgN٘i)I9+w@YoG J<JJJJgE&K YT~?y:Ũ^QAE778)tB[[%@[ V~?[[[[[BZYY i) BZYY i¸>u) !?)4@ I٘i)I9y@Y%G J\<Jv;JJJ|E&Kx> YbdT~?y9SA_E{7H8)^B[[N@[vU~?[[[[[ZZZZBZYY i) ޾؏@[U~?[ [[[[ZZZZBZYY i) /5vJ H~,K#AA\ʵ@Aߎʵ@A7V~? A A&"AANhNA"AZAbAjArAzAAA>10 AFsAu|@AdA.1AۿAʿAyA~<*A9?2AXֽ:AU;BA9?JAXֽRAU;ộ٘i)I9u|@YG JJ<JJJJE&K YST~?yTA Eŧ7b78)LB[[@[4U~?[[[[[ZZZZBZYY i) 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082744< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743032081.163294F (some fields omitted in printout)A˵@A"e˵@A*V~? AA&"AAlhNA"AZAbAjArAzAAA5 ~A"j sA}@A<AGAmֿAǿAAy6x<*A9?2A'Iֽ:A.<BA9?JA'IֽRA.JJJE&KVv> YeJT~?y4UApֿE777780B)CB E[[ @[!U~?[3%[[[[ZZZZBZYY iRk) _2A 9!<*A 9?2A$ֽ:A<BA 9?JA$ֽRA<٘i)I9}@YG JS<JJJJE&K YqGT~?y'UAE7H8)AB[[@[U~?[+[[[[ZZZZBZYY i7y) v5vJAp= W̵@AU<̵@AXV~? AZ(Ar &"AAYhNA"AZAbAjArAzAAA,+͛AwosAo%~@AÆ<Al<ABѿAQPÿAA;*A9?2A(ֽ:A<BA9?JA(ֽRA<٘i)I9%~@YG J;B=JJJJE&K Y}DT~?y#3UA"E77t8)?B[[@[vU~?[m2[[[[ZZZZBZYY i) bB[[F@[*U~?[9[[[[BZYY i) jEOT~?yS5LUA-Eb7782B)@B E[[!,@[:U~?[?[[[[BZYY i) ;AE7A̻*A9?2A׽:A@<BA9?JA׽RA@JJJE&Kx> Y>T~?y#>UAeɿ2E77{78)AB[[s@[U~?[[F[[[[BZYY i8g) r8+hNA"AZAbAjArAzAAA5u0A+*sA}@A )Akv=A̬ƿArAGA1*A9?2Aֽ:AE=BA9?JAֽRAE=٘i)I9}@YG JJJJJE&K  8Yo>T~? 8yFTA7E7778)CB[[A@[sU~?[M[[[[BZYY i) =A ĿAApUA`*A9?2Aֽ:AN =BA9?JAֽRAN =٘i)I9}@YSG J]=JJJJE&K Y\>T~?yOtTA !D=Eŧ77I 8)FB[[˕@[U~?[S[[[[BZYY it)  T~?yX,TABE{7{7t84B)KBE[[V@[U~?[_Z[[[[BZYY i) i;Ii@9UC= L))Lx@yg,ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032084.563165 s, next control iter: 1743032084.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5583, header.stamp.nsec: 00 temperature: 13.567623* salinity: 33.375000, density: 1025.000000* values[0]: 0.580906F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032084.943165 s.ZdNH~,J]<#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065738< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032084.943305F (some fields omitted in printout)AzGϵ@Aؖ-ϵ@AV~? AJ`A0 &"AAr1hNA"AZAbAjArAzAAA$lA߽8sA|@AlT<A;z=A A CcA`iAA*A9?2Aս:A =BA9?JAսRA =٘i)I9|@YG JJJJJE&K Y7>T~?yfaSAGE7)78)OB[[wȿ[U~?[a[[[[BZYY i) ;Ii@JC= _H))_H_HyΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032084.983165 s, next control iter: 1743032085.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032085.363165 s.UH~,>W#AJ"J*J2J:JBJnJvJA3333ϵ@Ayϵ@A2V~? AYhA&"AA.hNA"AZAbAjArAzAAARi AX=sA|@A<A"ߙ=A?A`%ӠApA멼*A"9?2Aqս:A=BA"9?JAqսRA=YC@fy_ٙ= a<ٓH6???6>?`?)C@ I٘i)I9|@YsG J-J^=JJJE&Kw> YAT~?y(j}SAfME777 8+B)JB[[ߍƿ[9U~?[g[[[[BZYY i) ;Ii@B=  D)) D DӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032085.403165 s, next control iter: 1743032085.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5584&, header.stamp.nsec: 0&0 temperature: 13.567860&* salinity: 33.374989&, density: 1025.000000&* values[0]: 0.580305&F (some fields omitted in printout):AT~?):(j rAdjusting time to match Gazebo time: 1743032085.783165 s.[H~,h!r#AAQе@A.е@AHV~? AjpAG&"AA-hNA"AZAbAjArAzAAA3A6%>BsAԍ{@A YQT~?yӕyQA]hE7D8,B)bBE[[鯻[U~?[[[[[BZYY i) қu:Ii@)>= O.))O.O.ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032087.483165 s, next control iter: 1743032087.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5586, header.stamp.nsec: 00 temperature: 13.568407* salinity: 33.374981, density: 1025.000000* values[0]: 0.578955F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032087.883165 s.y}H~,<#AJ"J*J2J:JBJnJvJAQ8ҵ@Av1<ҵ@AV~? AAc&"AA 0hNA"AZAbAjArAzAAAo 1AfH[sAx@A@A=AA;?A`zfA(g*A^9?2A;ֽ:A =BA^9?JA;ֽRA =٘i)I9x@YcG JJJJJE&K YkWT~?ysQAmE77K8)fB[[[LU~?[Ï[[[[BZYY i) Sq7Ii@$<= )))))ϪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743032087.903165 s, next control iter: 1743032088.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032088.303165 s.ZH~,g#AAq= ףҵ@A~߿ҵ@AV~? A̠A*D&"AA 3hNA"AZAbAjArAzAAA xA81`sA*x@A3<A>=A;AR^?A&\A*f*A9?2A>ֽ:A=BA9?JA>ֽRA=٘i)I9*x@Y G JhJJJJE&K Y ]T~?yPArE7R8)kB[[S[U~?[m[[[[BZYY i) nIiݒ@;= %))%%̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032088.323165 s, next control iter: 1743032088.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5587., header.stamp.nsec: 0.0 temperature: 13.568676.* salinity: 33.374985., density: 1025.000000.* values[0]: 0.578290.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032088.723165 s.H~,H.#AJ"J*J2J:J ?BJ ?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065738< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743032088.723271F (some fields omitted in printout)A(\ӵ@AׇFҵ@A V~? AԨA4&"AA6hNA"AZAbAjArAzAAAGvĮA&WesAw@A=<A=AݲA E ?AzOA*AI9?2Awֽ:A =BAI9?JAwֽRA =٘i)I9w@YG JIJJJJE&K YbT~?yFPAxEZ8)oB[[#[BU~?[[[[[BZYY i) ^IiJ@i@;= #8!))#8!#8! ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032088.743165 s, next control iter: 1743032089.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032089.143165 s.X/H~,*I#AAGzӵ@A$`ӵ@AV~? AװA &"AAo;hNA"AZAbAjArAzAAA[Am isAw@A@}<A=AGA?AX@Ape*Aw9?2AHֽ:A#=BAw9?JAHֽRA#=٘i)I9w@YYG JJJJJE&K YOhT~?yUOA}E)7ŧ7Ja8)tBE[[5[U~?[[[[[BZYY i) Kq4Ii@:= ))ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032089.163165 s, next control iter: 1743032089.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032089.563165 s.H~,F d#AJ"J*J2J:JBJnJvJAffffӵ@A AJӵ@AV~? AԸAVn&"AA@hNA"AZAbAjArAzAAA|KXA0PnsA }v@A;Af-=APeA?A.Aß*AN9?2Aѫֽ:A <BAN9?JAѫֽRA YpT~?yOAVEŧ7b7th8-B)yBE[[?Ű[U~?[W[[[[BZYY iv) :rIi@9= z))zz;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032089.583165 s, next control iter: 1743032089.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5588, header.stamp.nsec: 00 temperature: 13.568933* salinity: 33.374989, density: 1025.000000* values[0]: 0.577626F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032089.983165 s.H~,~#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074571< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743032089.983335F (some fields omitted in printout)AQԵ@AC7Ե@ANV~? AA&"AAGhNA"AZAbAjArAzAAA9)#A.ssAju@A,}Aֹ=ApA`-?A`%A3*A9?2A׽:A<BA9?JA׽RA<٘i)I9u@YG J{JJJJE&K Y$yT~?y%ɩ#OAE7777o8)~B[[[U~?[[[[[BZYY i) \Ii|@&7= ))ٽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032090.003165 s, next control iter: 1743032090.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032090.403165 s.&H~,͙#AJ"J*J2J:J?BJ?nJ5vJA ףpԵ@AeXԵ@A4V~? AȪAT7&"AANhNA"AZAbAjArAzAAA I@EAq&DxsAYu@A~vAK=AA`?AAc*A9?2AxD׽:A<BA9?JAxD׽RA<ڗI٘i)I9u@YkG JTJJJJ E&K YT~?yѩNAE8787v8.B)BE[[b[U~?[[[[[BZYY i) 綻Ii@tw6= ))YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743032090.423165 s, next control iter: 1743032090.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5589", header.stamp.nsec: 0"0 temperature: 13.569169"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.577042"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032090.823165 s.H~,#AA\(յ@A)յ@A!V~? AЪA&"AAUhNA"AZAbAjArAzAAAKA8b}sAJ u@A= Al;=AaA͌?A@A"*A9?2A/׽:Ao<BA9?JA/׽RAo<٘i)I9 u@Y$G J$JJJJE&K YT~?y٩gNAE7S7}8)B[[A/[U~?[&[[[[BZYY i) ջIi͍@݁5= N ))N N yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032090.843165 s, next control iter: 1743032091.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032091.243165 s.H~,d#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074571< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032091.243298F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzյ@AjN^dzյ@A'V~? A}تA&"AA]^hNA"AZAbAjArAzAAAxьAA/sAt@AHA =A)חABf?AAՊ*A9?2Aֽ:AM<BA9?JAֽRAM<٘i)I9t@YG J$JJJJE&K YcT~?y^ NAEj7Z7 8/B)BE[[[U~?[ĩ[[[[BZYY i) kIi<@4= G))GGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032091.263165 s, next control iter: 1743032091.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032091.663165 s.H~,q#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5590, header.stamp.nsec: 00 temperature: 13.569372* salinity: 33.374992, density: 1025.000000* values[0]: 0.576500F (some fields omitted in printout)Aֵ@Ah$յ@A.V~? APAi%"AAghNA"AZAbAjArAzAAAfYAnsA"t@A<;AV=AWA9?AA]*A29?2Asֽ:A".=BA29?JAsֽRA".=Y@!QyU=F=;ٓH`?Fl?@hw? Zv)?`C-`aGg?H?)@ I٘i)I9"t@YG JJ JJJE&Kw> YT~?ywMAQE)7)7K8)B[[Mɥ[U~?[=˩[[[[BZYY i)  Iiŋ@2= ))pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032091.683165 s, next control iter: 1743032092.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032092.083165 s.DH~,R#AJ"J*J2J:J?BJ?nJ5vJARkֵ@A[tQֵ@A4V~? AA%"AAqhNA"AZAbAjArAzAAAovv A sA(s@A\<AE=AcԒA`5 ?A @A*A9?2A$,ֽ:Aw4=BA9?JA$,ֽRAw4=٘i)I9s@YKG JJJJJ#E&K YT~?yOMAEŧ7u8)BE[[[V~?[ѩ[[[[BZYY i) YIi|@B1= 6))66^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032092.103165 s, next control iter: 1743032092.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032092.503165 s.H~,H4 #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074571< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743032092.503307F (some fields omitted in printout)Ap= ֵ@A 8ֵ@Aiة[[[[BZYY i) (Iib@/= _))__5ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032092.523165 s, next control iter: 1743032092.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5591, header.stamp.nsec: 00 temperature: 13.569560* salinity: 33.375027, density: 1025.000000* values[0]: 0.575936F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032092.923165 s.;H~,;#AJ"J*J2J:JBJnJvJA(\B׵@Ax(׵@A^DV~? AAѢ%"AAXhNA"AZAbAjArAzAAAh An!R!sAr@AJ><A/b=AA?A EA*AJ9?2A{ֽ:A@J=BAJ9?JA{ֽRA@J=٘i)I9r@YG JJJJJ.E&K Y־T~?yLAE7ʡ8)B[[([V~?[ީ[[[[BZYY i) VW8Iiw@.= ƀ))ƀ꾩ƀêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032092.943165 s, next control iter: 1743032093.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032093.343165 s.׽:A_-=BA9?JA>׽RA_-=Y@}GyDd=|;ٓH ?P??`?@쬿@(T`?)@ I٘i)I9q@YG J.Ji<JJJ8E&K]x> YT~?yKAGE77{7 82B)B$E[[[!V~?[[[[[BZYY i) %WIi@o+= Vؾ))VؾVؾȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032093.783165 s, next control iter: 1743032094.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032094.183165 s.H~,V#AAQص@A kص@AF_V~? ACA%"AAhNA"AZAbAjArAzAAA Gt A .sA+6q@APAF=AAV?A An*An9?2AL׽:A=BAn9?JAL׽RA=٘i)I96q@YG J:JJJJ>E&K YUT~?yBuKAEŧ7b7K8)B[[=[)V~?[[[[[BZYY i{.) SvfIi@)= >Ͼ))>Ͼ>ϾʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032094.223165 s, next control iter: 1743032094.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032094.603165 s.:4H~,#AJ"J*J2J:JBJnJvJA= ףص@Afyص@A=iV~? AAR%"AAhNA"AZAbAjArAzAAADA֝TsAp@A7]A"7=AA q?A A*A 9?2Am ׽:A;=BA 9?JAm ׽RA;=٘i)I9p@YG J씼JJJJCE&K YT~?y!KAEb7u8)B'E[[H['2V~?[G[[[[BZYY i) 1uIid@.(= Ǿ))ǾǾFͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032094.643165 s, next control iter: 1743032095.003181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5593 , header.stamp.nsec: 0 0 temperature: 13.569962 * salinity: 33.375019 , density: 1025.000000 * values[0]: 0.574827 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032095.023165 s.ZH~, |#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083585< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032095.023302F (some fields omitted in printout)A(\ٵ@ABٵ@AsV~? AA%"AAhNA"AZAbAjArAzAAA`CAsA7p@ABAj=AqAN?AdAn*A9?2A]ֽ:A =BA9?JA]ֽRA =٘i)I97p@Y3G J噼B=JJJJHE&K YU~?y)JAE77778)B[[w [:V~?[[[[[BZYY i) 牂IiP@w&= &))&&9ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032095.043165 s, next control iter: 1743032095.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032095.443165 s.>H~,[]#AJ"J*J2J:J?BJ?nJ;5vJAzٵ@AEAٵ@A~V~? Ar$A1%"AA-hNA"AZAbAjArAzAAAs)|AjDsAͰo@A<A=AA{A y(?A1AD*A9?2A,3ֽ:Ai=BA9?JA,3ֽRAi=٘i)I9o@YG JC=JJJJNE&K YgU~?y]1PJAE{7j783B)B(E[[m͑[CV~?[[[[[BZYY i) v0Iil@%= ))yӪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032095.463165 s, next control iter: 1743032095.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5594, header.stamp.nsec: 00 temperature: 13.570158* salinity: 33.375011, density: 1025.000000* values[0]: 0.574249F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032095.863165 s.+H~,>#AA33333ڵ@A!ڵ@AV~? A+AG%"AA hNA"AZAbAjArAzAAA2JgA\g sA#o@Aن<A=AvA?AMAҜ*A9?2A ֽ:AȘ=BA9?JA ֽRAȘ=Y;@Xvy= ?<ٓH 8?@I? Ȟ?`-1=? v΍ ې??);@ I٘i)I9#o@YG J'J0U<JJJSE&Kw> YU~?y8IAvEb7784B)B+E[[?[PMV~?[ [[[[BZYY i) IiF@M`#= F1))F1F1OתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032095.883165 s, next control iter: 1743032096.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032096.283165 s.6RH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083585J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000500*J dt: 0.4199942J2 time: 1743032096.283284:JF (some fields omitted in printout)BJnJvJAQڵ@A~ڵ@AݕV~? A2A4%"AAiNA"AZAbAjArAzAAAx`HAM&]sAn@A_x<A =AqA?A`<Aˮ*A:9?2A8ֽ:A=BA:9?JA8ֽRA=٘i)I9n@Y3G JFJJJJYE&K Y.U~?y?~IAE77 8)B[[W[WV~?[E[[[[BZYY i) u2Ii|@MS!= ~?))~?~?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032096.303165 s, next control iter: 1743032096.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 55952, header.stamp.nsec: 020 temperature: 13.5703552* salinity: 33.3750192, density: 1025.0000002* values[0]: 0.5736512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032096.703165 s.պ H~, -#AAףp= ۵@A.ڵ@A2V~? A9A%"AAiNA"AZAbAjArAzAAA=_A!?sAm@A;AIg=A4lA@?AYAi*A9?2Aֽ:A7K=BA9?JAֽRA7K=٘i)I9m@YG JB=JJJJ^E&K Y>U~?y GIAE7L85B)ůB.E[[W[?G?W1`?ഢ`@?)~@ I٘i)I9Cl@YG J챼Jo<JJJnE&K-x> YgqU~?y*\GAv\EZ7Z78)կB5E[[oT[V~?[)[[[[BZYY i) : Iip@!=  d~)) d~ d~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032098.003165 s, next control iter: 1743032098.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032098.383165 s.%H~,+#AAQܵ@A0/>ܵ@A$V~? AUA?l%"AA3ciNA"AZAbAjArAzAAA YfU~?y|EAkBEb7b78)B[[/q[|V~?[F[[[[BZYY i) FۼIi`@= Py#))$oPy#Py# YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032100.103165 s, next control iter: 1743032100.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032100.483165 s.w_GH~,#AJ"J*J2J:J<?BJ<?nJW5vJA޵@Aҷ޵@A]%W~? AvA%"AAxiNA"AZAbAjArAzAAA]AB[OVsAJh@Aa2A=AL0=A?AA<ͼ*Ay9?2Aֽ:A/y=BAy9?JAֽRA/y=٘i)I9Jh@Y` G JмJJJJE&K YU~?yEAE7"8;B)B?E[[#^m[V~?[{L[[[[BZYY i) 'Ii3]@ۑ =  9))  9 9 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032100.523165 s, next control iter: 1743032100.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5599, header.stamp.nsec: 00 temperature: 13.571311* salinity: 33.375050, density: 1025.000000* values[0]: 0.570863F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032100.903165 s.MH~,9#AA ףp=ߵ@AnRX#ߵ@A6W~? A1|A't%"AAtiNA"AZAbAjArAzAAAf/hA$sAg@ACAXP=A7A@?A AU˼*AN9?2A2ֽ:Ad=BAN9?JA2ֽRAd=٘i)I9g@Y G Jr̼JJJJE&K YOU~?yDAEŧ7b7)8)BBE[[h[V~?[R[[[[ZZ¸BZYY i¸4=) ּIiY@f =  ))  ypzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032100.943165 s, next control iter: 1743032101.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032101.323165 s.vTH~,%T#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032101.323297F (some fields omitted in printout)A\ߵ@A2ߵ@A.GW~? ACAs%"AA jNA"AZAbAjArAzAAAHۿAuLnsAf@AŠA=A2A@?A {A̼*A9?2AQֽ:A:=BA9?JAQֽRA:=٘i)I9f@Y G J}˼JJJJE&K Y V~?y0DAE777"18)B[[(d[V~?[W[[[[ZZBZYY i) 4ʼIiV@z = @ؽ))@ؽ@ؽy6qY2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032101.343165 s, next control iter: 1743032101.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5600*, header.stamp.nsec: 0*0 temperature: 13.571576** salinity: 33.375061*, density: 1025.000000** values[0]: 0.570108*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032101.743165 s.W[H~,qo#AAGz@ATbߵ@AXW~? A:Aۆ%"AA?#jNA"AZAbAjArAzAAAyJO,ͿAɉ\tsA|3f@AUA=A~-A?A)A<*As9?2A*ֽ:A<BAs9?JA*ֽRA<٘i)I93f@Y G JJJJJE&K Y:!V~?y#CAE7L88=B) BFE[[W_[TV~?[.][[[[ZZBZYY i) g侼Ii/T@F= ૳))૳૳yD=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032101.763165 s, next control iter: 1743032102.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032102.163165 s.{}bH~,q#AJ"J*J2J:JBJnJvJA@A#)e@AjW~? AAk%"AA>jNA"AZAbAjArAzAAA&AKבsAYe@AANF=Av(AL?AAA*A"9?2A[ս:A<BA"9?JA[սRA Y7V~?yQCA(#E77w?8>B)BIE[[Z[ W~?[b[[[[ZZBZYY i) 2IiO@= 펽))p|펽펽y=!תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032102.183165 s, next control iter: 1743032102.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032102.583165 s.hH~,R#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246525> elevatorAngleAction: 0.082619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032102.583297F (some fields omitted in printout)AR@Aj2m@A|W~? AГA(%"AAVYjNA"AZAbAjArAzAAA &?Ah(sAjd@A5<A{=Aх#Aq?AAߔ*A29?2A,ս:A>}<BA29?JA,սRA>}<٘i)I9d@Y G JJJJJE&K YMV~?y韪BA)EF8)B[[kMV[1W~?[g[[[[ZZBZYY i) IiK@oo= S)) SSmYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032102.603165 s, next control iter: 1743032102.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5601, header.stamp.nsec: 00 temperature: 13.571840* salinity: 33.375027, density: 1025.000000* values[0]: 0.569209F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032103.003165 s.w pH~,H4#AJ"J*J2J:JBJnJvJAp= W@A@<@AgW~? ApA#3%"AA@ujNA"AZAbAjArAzAAA?AsAIc@A<A7=A|AX?A)A6ټ*A9?2A]Խ:A;BA9?JA]ԽRA;٘i)I9c@Y G JJJJJE&K Y8dV~?yLBA.E77M8)!BLE[['Q[$W~?[+m[[[[ZZBZYY i) ΛIi/H@= T ))T T ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032103.023165 s, next control iter: 1743032103.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032103.423165 s.uvH~,#AA(\@A¡x@AcW~? AAX%"AAjNA"AZAbAjArAzAAA0Ǥ?A*, RsAc@A6^<A]<AaA`L?A߿A *A9?2AԽ:A(BA9?JAԽRA(٘i)I9c@Y1 G JʼJJJJE&K YzV~?yBA3E{7j7T8?B)'BOE[[WL[4W~?[dr[[[[ZZBZYY i) LIiD@f< y))yy Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032103.443165 s, next control iter: 1743032103.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5602, header.stamp.nsec: 00 temperature: 13.572146* salinity: 33.375076, density: 1025.000000* values[0]: 0.568331F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032103.843165 s.|H~,#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743032103.843332F (some fields omitted in printout)AHz.@AS@AW~? AUA[%"AAjNA"AZAbAjArAzAAA[E?A#VsAĉb@A;AE*<A5A t?A ޿A센*A 9?2Aս:A{5BA 9?JAսRA{5٘i)I9b@Y G JٟJJJJE&K YV~?yAA "D9E7)7"\8AB)-BSE[[@H[EW~?[w[[[[ZZBZYY i) jIiB@v<  O;)) O; O;kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032103.863165 s, next control iter: 1743032104.243234 s, wait time: 0.380069 s rAdjusting time to match Gazebo time: 1743032104.263165 s.H~,#AA@A@AiW~? AA%"AAIjNA"AZAbAjArAzAAAw@l?ApV tA.*b@AlAAAC?AF޿A.*Ai9?2Aս:AI~BAi9?JAսRAI~Y6+@ yٓH@!?7?4=!?0? v??)6+@ I٘i)I9*b@Y G JcJFJJJE&K"s> YV~?yAA >E77Mc8)0B[[OC[UW~?[|[[[[ZZBZYY i΃z=) uIi=@4< Q<))|#yQ<Q<(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032104.283165 s, next control iter: 1743032104.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 56032, header.stamp.nsec: 020 temperature: 13.5723232* salinity: 33.3750652, density: 1025.0000002* values[0]: 0.5677852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032104.683165 s.lH~,^+#AJ"J*J2J:JZ?BJZ?nJi5vJAQ@Ag@AoW~? AA%"AAYjNA"AZAbAjArAzAAAQ1?AetAa@AdAfMAs Ah9?AݿAi_*A9?2Af'ս:AqձBA9?JAf'սRAqձ٘i)I9a@Y G J8 JJJJE&K YV~?ynAACE77j7wj8BB)2BVE[[>[ufW~?[[[[[ZZBZYY i_y=) :cIiY9@?< "=)) "="=2)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032104.683165 s, next control iter: 1743032105.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032105.103165 s.H~,F#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072009< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743032105.103291F (some fields omitted in printout)A= ףp@AaV@AW~? AdzA8*%"AAkNA"AZAbAjArAzAAA+͘^?A;!| tAa@AXAAA?A`ܿA *A;9?2Aӽ:AмBA;9?JAӽRAм٘i)I9a@Yu G JEJJJJE&K YV~?yAAIE{7q8)3BZE[[#:[wW~?[n[[[[BZYY i) PIi5@+c< n=))n=n=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032105.123165 s, next control iter: 1743032105.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032105.523165 s.H~,{a#AJ"J*J2J:JBJnJvJA(@AXSY@A}X~? AA?%"AA(kNA"AZAbAjArAzAAA彙_J?ANj tAJa@AA#0A}A?A@ܿAe;*A9?2A3^Խ:AvBA9?JA3^ԽRAv鼙٘i)I9a@Y| G J4:JJJJE&K YV~?yªAANEb77x8CB)]E[[^5[W~?[B[[[[BZYY i) %5=Ii%2@J< `=))`=`=y=l*Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032105.543165 s, next control iter: 1743032105.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5604, header.stamp.nsec: 00 temperature: 13.572296* salinity: 33.375099, density: 1025.000000* values[0]: 0.567648F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032105.943165 s.]dH~,W]|#AAzG@Aҩ+-@A~X~? ApAj%"AAGkNA"AZAbAjArAzAAA=5f@AFE tAb@Av;ATA[A5?A)OۿA;*AO9?2AJս:AmBAO9?JAJսRAm٘i)I9b@Y G JF;B=JJJJE&K YW~?yyǪAATE77778)2B[[Ӓ0[W~?[[[[[BZYY i) K*Ii#/@t-< @=))@=@={*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032105.963165 s, next control iter: 1743032106.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032106.363165 s.H~,>#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072009< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032106.363298F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@Ay@A0X~? A«A%"AAgkNA"AZAbAjArAzAAAMH,@AܥntA;@b@Ah<AsADA^?A ڿAq1<*A9?2Aս:A=BA9?JAսRA=Ya@ys/qh<ٓH`?? E?NSEܿ?݋?]w??@?)a@ I٘i)I9@b@Y G J<C=JJJJE&Kt> YA"W~?y_˪)BAYE)7b7#8)1B`E[[+[ЭW~?[[[[[BZYY ijg=) [Iii*@B < =))u==*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032106.383165 s, next control iter: 1743032106.763179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5605", header.stamp.nsec: 0"0 temperature: 13.572163"* salinity: 33.375114", density: 1025.000000"* values[0]: 0.567878"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032106.783165 s.YH~,#AAQ@Ak{@AiFX~? AƫA%"AA$kNA"AZAbAjArAzAAA@AtAdb@A<AAV߾Ah?A@/ٿA,9P<*AE9?2Aս:A2 BAE9?JAսRA2 ٗI٘i)I9b@Y G JV5<JJJJE&K Y;W~?yEϪ{BA^E77M8)/BcE[['[dW~?[[[[[BZYY i) k Ii&@l< 0>))넾0>0>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032106.803165 s, next control iter: 1743032107.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032107.203165 s.H~,#AJ"J*J2J:Jm?BJm?nJ}5vJAףp=@Am(p@AQ\X~? AʫA^%"AAkNA"AZAbAjArAzAAAOq@AkO+tAb@Ac<A'AվA?AؿA<*A9?2AZӽ:ADQ BA9?JAZӽRADQ ٘i)I9b@Y G Jj<JJJJE&K YTW~?y+ӪBAdEj7Z7x8EB).BgE[[KD"[aW~?[[[[[BZYY i) Ii "@< @.>)) @.>@.>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032107.223165 s, next control iter: 1743032107.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032107.623165 s.TH~,P#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743032107.623273F (some fields omitted in printout)A)\@A@ArX~? A)ϫA %"AAkNA"AZAbAjArAzAAAjY@ATGtAgc@AT AA_J̾A`%?A)ؿAc}<*A9?2A{ӽ:ABA9?JA{ӽRA٘i)I9gc@Yg G Jȏ<JJJJE&K YJnW~?yתCAiE{7j78)*B[[ n[W~?[塪[[[[BZYY iU=) GջIi@J< @.>))@.>@.>ybg=w*YM YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032107.643165 s, next control iter: 1743032108.023174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5606 , header.stamp.nsec: 0 0 temperature: 13.571872 * salinity: 33.375092 , density: 1025.000000 * values[0]: 0.568319 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032108.043165 s.H~,#AJ"J*J2J:J}?BJ}?nJ5vJA{Ga@AKu/G@AX~? AAӫAz%"AAKkNA"AZAbAjArAzAAAt @A1?tAc@AѝPAA*~¾Av`?Aa׿A<*A9?2Aӽ:AsBA9?JAӽRAs٘i)I9c@Y G J<JJJJE&K YW~?yڪpCAnE{7ͣ8FB)&BjE[[7[W~?[)[[[[BZYY i) 5Iio@< A>))A>A>yg=*YlYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032108.083165 s, next control iter: 1743032108.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032108.463165 s.VH~,#AA@AZ@AX~? A6׫Aj%"AA{lNA"AZAbAjArAzAAAބ4( @AuAtAd@A`A暽AsOA?A ֿA#<*A9?2AFԽ:A0BA9?JAFԽRA0Y&@yᚽĈٓH?? }`gֿ??jW? r?)&@ I٘i)I9d@Y G J<JJJJE&Kr> YW~?yުCAtE778)"BmE[[[EX~?[A[[[[BZYY i) Ii@< `7U>))s`7U>`7U>yi==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032108.483165 s, next control iter: 1743032108.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5607, header.stamp.nsec: 00 temperature: 13.571543* salinity: 33.375114, density: 1025.000000* values[0]: 0.569012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032108.883165 s.J "J *J 2J :J ?BJ ?nJ 5vJ yH~,Q8#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238070> elevatorAngleAction: 0.065879< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032108.883299F (some fields omitted in printout)AQ8@AV9@AX~? A۫A%"AA1lNA"AZAbAjArAzAAAuT@A$NtAe@AAAuAVA?AXտA|<*A9?2A.ս:AI BA9?JA.սRAI ٘i)I9e@Yp G J(<JJJJE&K YW~?y&@DAyEZ7Z7#8)BpE[[[o"X~?[C[[[[BZYY i) rIi$@< `h>))ك`h>`h>z*YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743032108.903165 s, next control iter: 1743032109.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032109.303165 s.WH~,{gS#AAq= ף@AxE@AX~? AޫAz%"AATlNA"AZAbAjArAzAAAHɊ@A]j;"tAe@ACA3AN%A?A#ԿA<*A:?2A³ӽ:A`BA:?JA³ӽRA`٘i)I9e@Y G Jm<JJJJE&K YW~?y=DA~E7777N8GB)BsE[[ [7X~?[/[[[[BZYY i) 5Ii@i<  |>))  |> |>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032109.323165 s, next control iter: 1743032109.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5608*, header.stamp.nsec: 0*0 temperature: 13.571145** salinity: 33.375107*, density: 1025.000000** values[0]: 0.569791*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032109.723165 s.H~,Hn#AJ"J*J2J:J?BJ?nJ5vJA(\@A74D@AEX~? A7A&%"AAcwlNA"AZAbAjArAzAAA"Pc@A"!a$tAAf@A+0<AADA E?AԿAC<*AK:?2A"Խ:A_BAK:?JA"ԽRA_٘i)I9Af@Y# G J<JJJJ E&K YaW~?yTEAE{7x8)BvE[[s[KX~?[[[[[BZYY i) !)Iiq @5< >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032109.743165 s, next control iter: 1743032110.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032110.143165 s.U/H~,*#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065879< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032110.143290F (some fields omitted in printout)AGz@A DO`@AX~? AAK%"AAlNA"AZAbAjArAzAAA-@A̵Kq&tA.f@Aׇ<A'畽AQAw?A/ӿAY<*AH:?2AxԽ:Ac^BAH:?JAxԽRAc^٘i)I9f@Yx G Ju<JJJJ E&K Y X~?ylxEAE778)B[[*[EaX~?[[[[[BZYY i) *yuIi4@n< ʑ>))ʑ>ʑ>T*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032110.163165 s, next control iter: 1743032110.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032110.563165 s.H~,J #AJ"J*J2J:JBJnJvJAffff@AbT@AY~? AA %"AAlNA"AZAbAjArAzAAAâobA!@AWY)j(tAXg@AoH`<Aq,AA@I?AUҿAq<*A+:?2Aս:A_BA+:?JAսRA_Y¹@ y(`<ٓH?T?ȲYп?)}u??`??)¹@ I٘i)I9Xg@Y G J<J;JJJ E&Kr> Y'X~?yEAE8) ByE[[[vX~?[G[[[[BZYY i) 1ӶIiE@< !>))#*r!>!>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032110.603165 s, next control iter: 1743032110.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5609, header.stamp.nsec: 00 temperature: 13.570747* salinity: 33.375134, density: 1025.000000* values[0]: 0.570559F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032110.983165 s.H~,#AAQ@A87@A,Y~? AA%"AAtlNA"AZAbAjArAzAAAƫlE@AnK*tAg@AQl;ATA4tA?A`TyѿA7ܥ<*AX:?2A"ս:AsBAX:?JA"սRAs٘i)I9g@Y! G J<JJJJ E&K YjBX~?y?FAE)7ŧ78)B|E[[e[AX~?[[[[[BZYY i) gr:Ii{?< Qo>))Qo>Qo>{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032111.023165 s, next control iter: 1743032111.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032111.403165 s.&H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256080> elevatorAngleAction: 0.065879< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199272 time: 1743032111.403270F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@A[@A9EY~? AA=%"AAmNA"AZAbAjArAzAAAl@A ,tAoh@A=AHA`A?A@UпAR<*Al@:?2ASҽ:A`BAl@:?JASҽRA`٘i)I9oh@Yv G J<JJJJ E&K Y]X~?y0FAE{7j7#8IB)BE[[[UX~?[Ī[[[[BZYY i) :Ii;?E< a>)) a>a>a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032111.423165 s, next control iter: 1743032111.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5610", header.stamp.nsec: 0"0 temperature: 13.570395"* salinity: 33.375191", density: 1025.000000"* values[0]: 0.571272"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032111.823165 s.H~,B#AA\(@A{e@A]Y~? AAGZ%"AA-mNA"AZAbAjArAzAAA@A:e-tAh@AbAAtMA-?A`sϿA&<*AH:?2A,ҽ:AI3BAH:?JA,ҽRAI3٘i)I9h@Y G JV<JJJJ E&K YyX~?yqGAEN8JB)BE[[ؾ[ǸX~?[PǪ[[[[BZYY i) `6;Ii?D<  e>)) e> e>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032111.843165 s, next control iter: 1743032112.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032112.243165 s.H~,u#AJ"J*J2J:JBJnJvJAGz@Argz@A^vY~? ABA+%%"AAKRmNA"AZAbAjArAzAAA,[@Aqbd/tA i@AuAnAY9A`S?AͿAeʡ<*AH:?2Aӽ:ABAH:?JAӽRA٘i)I9i@Y G J<JJJJ% E&K YOX~?yjGAE77y8SB)BE[[Qξ[X~?[nʪ[[[[BZYY i) Ps;Ii4?)< ez>))ez>ez>P*Y; YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032112.263165 s, next control iter: 1743032112.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032112.663165 s. H~,q*#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065879< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032112.663284F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5611, header.stamp.nsec: 00 temperature: 13.569993* salinity: 33.375195, density: 1025.000000* values[0]: 0.572007F (some fields omitted in printout)A@A @A0Y~? AA%"AAwmNA"AZAbAjArAzAAAH@A|.ќ0tA. j@AλA|LA#A x?AL˿A9ۙ<*AG:?2AԽ:AcBAG:?JAԽRAcY@_#yKλٓHʅ? fc?JĿ ??H?.&? 4yo?)@ I٘i)I9 j@YqG J<JN<JJJ* E&Kr> Y3X~?yGA_#E77778)BE[[ľ[KX~?[`ͪ[[[[BZYY iu<=) ;Ii>?P< q>))_qq>q>)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032112.683165 s, next control iter: 1743032113.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032113.083165 s.DH~,SE#AJ"J*J2J:JBJnJvJARk@AD.lQ@A+Y~? AA%"AAmNA"AZAbAjArAzAAAvS@AʞT2tA&j@A\R;AgAW*A *?A@ʿA<*AE:?2A~ս:A[BAE:?JA~սRA[٘i)I9j@YG J<JJJJ0 E&K YX~?y"HAE778)B[[ [eX~?[4Ъ[[[[BZYY i) ;Ii?fv< >))ɂ>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032113.103165 s, next control iter: 1743032113.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032113.503165 s.H~,L4`#AAp= @A&Q/@AMY~? A=Aҗ%"AAxmNA"AZAbAjArAzAAAnL@A1<@3tA_j@AMq<AAA@0?AI3ȿAWa<*Ab:?2Aӽ:AS<BAb:?JAӽRAS<󼙘٘i)I9j@YG J<B=JJJJ5 E&K  8YX~? 8y~HAEb7ŧ78)BE[[{[Y~?[Ҫ[[[[BZYY i) ;Ii?6#< >)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032113.523165 s, next control iter: 1743032113.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5612, header.stamp.nsec: 00 temperature: 13.569653* salinity: 33.375187, density: 1025.000000* values[0]: 0.572698F (some fields omitted in printout)6X~?)6 rAdjusting time to match Gazebo time: 1743032113.923165 s.6H~,{#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075799< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032113.923299F (some fields omitted in printout)A(\B@AMy(@AY~? A?An%"AAmNA"AZAbAjArAzAAA֩i@Awv4tA]pk@A곃<A,AʽA@?A`kƿAՅ<*A$f:?2AVӽ:AyBA$f:?JAVӽRAy٘i)I9pk@YKG J<C=JJJJ: E&K YY~?yKHAEŧ7b7$8RB)BE[[AE[,Y~?[ժ[[[[BZYY i) :;IiL?+x< u>))u>u>y+=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032113.943165 s, next control iter: 1743032114.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032114.343165 s.<%H~,#AAHz@A'@AY~? AAH%"AAnNA"AZAbAjArAzAAA\Iu@A&,6tA@k@A<AAMA ?AmĿAC<*A_:?2Aӽ:A4BA_:?JAӽRA4٘i)I9k@YG Jh<JJJJ@ E&K YY~?y7IAE777N8)BE[[=[DY~?[ת[[[[BZYY i) nt ))y">y">*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032114.363165 s, next control iter: 1743032114.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5613*, header.stamp.nsec: 0*0 temperature: 13.569309** salinity: 33.375221*, density: 1025.000000** values[0]: 0.573351*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032114.763165 s.;+H~,0ذ#AJ"J*J2J:JBJnJvJA@Al@A~ Z~? AA%%"AA6nNA"AZAbAjArAzAAA:/!@AE6X 7tAUl@A{DAöAwA!?A>¿A<*AX:?2A8Խ:A@BAX:?JA8ԽRA@Ya@ vyB?EٓHe?;? ?` ?@|?nS?lh.?)a@ I٘i)I9Ul@YG JՊ<B=J׺JJJE E&Kr> Y;Y~?y9IAvE77{7z8)BE[[1ґ[\Y~?[8ڪ[[[[BZYY i)  elevatorAngleAction: 0.075799< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743032115.183259F (some fields omitted in printout)AQ@Aݖk@A'Z~? A[A%"AAZ]nNA"AZAbAjArAzAAAuF\ @AKM7tA l@AZA0ьAi?'A.'?A6 A <*AQ:?2AԽ:AUBAQ:?JAԽRAU٘i)I9l@Y!G Jq<C=JJJJK E&K Y(XY~?yIAE778)BE[[[3uY~?[\ܪ[[[[BZYY i) Hn)?))>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032116.043165 s, next control iter: 1743032116.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032116.443165 s.8FH~,B]#AJ"J*J2J:J?BJ?nJ)5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075799< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743032116.443289F (some fields omitted in printout)Az@A@A|tZ~? A A%"AAknNA"AZAbAjArAzAAA^Od"@Ac>:tAOn@A8AAg<A`?AAIח<*Adg:?2AV=Խ:Aڷ BAdg:?JAV=ԽRAڷ ٘i)I9On@Y G Jɘ<JJJJ[ E&K YY~?yXKAE77{7%38)߯B[[cP[=Y~?[[[[[BZYY i) W7#AA33333@AO@AlZ~? AAj%"AAnNA"AZAbAjArAzAAAX$3#@AK3:tAn@A8<AdA$=Am?A=,A?<*Az`:?2A0ս:AgBAz`:?JA0սRAgYO@V!=yb9<ٓH?@1p5$? ?`e`q???)O@ I٘i)I9n@YXG J]<J=JJJ` E&Ks> YY~?ylKA!=Ej7Z7O:8QB)ۯBE[[C;[ZY~?[{[[[[BZYY i) g elevatorAngleAction: 0.075799< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743032117.703272F (some fields omitted in printout)Aףp= @A75@ArZ~? AGA%"AAoHoNA"AZAbAjArAzAAA̤=$@A9l*;tAo@AQV<AYAMݤ=A ?A`㦿A<*At:?2Aӽ:AbI BAt:?JAӽRAbI ٘i)I9o@YG J'<B=JJJJk E&K YlZ~?yM4LAE77H8)үBE[[#[ Z~?[[[[[BZYY ir?=) ǂ elevatorAngleAction: 0.085082< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032118.963280F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@AQ2@A[~? A AVs%"AAoNA"AZAbAjArAzAAA3&@AtA?A ]aA<*A_:?2A1Խ:ABA_:?JA1ԽRAYZ@br>y7pٓH`\?EB?@;?@;yu?`?`@0?)Z@ I٘i)I9yq@YG J<JHJJJ{ E&Kr> YUZ~?ycfMAr>E7ŧ7%^8OB)įBE[[[ZZ~?[[[[[BZYY i) EwA '?A㝉?Ai<*AT:?2A/Խ:AR_BAT:?JA/ԽRAR_٘i)I9r@YSG J?<JJJJ E&K YqZ~?y+MAEZ7Z7Pe8)BE[[ r["uZ~?[h[[[[BZYY i) qA ?A`<˜?A<*ACj:?2Aӽ:ABACj:?JAӽRA٘i)I9r@YG J<JJJJ E&K YZ~?y elevatorAngleAction: 0.085082< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032120.223289F (some fields omitted in printout)A(\@ABu@A^[~? AiAz%"AA5pNA"AZAbAjArAzAAArV'@AȨ;tA?s@A;A\ASL>A?Aץ?AQ2<*A f:?2AZԽ:A BA f:?JAZԽRA ٘i)I9?s@Y G J<JJJJ E&K YZ~?yNA E77s8NB)BE[[[wZ~?[ [[[[BZYY i) ޯAz?A@N?Aʵ<*A\:?2A ս:A/BA\:?JA սRA/٘i)I9s@YhG J<JJJJ E&K YZ~?yOA E777z8)BE[[;[pZ~?[[[[[BZYY i) BVA o?Ac?Al<*AR:?2Abս:AoBAR:?JAbսRAoYh<t>y% `<ٓH?zο賿@)6? Q?z?@Z??)h< I٘i)I9rt@YG Jַ<JBtJJJ E&Ks> Y Z~?ylOAt> EZ7Z78MB)BE[[)<[Z~?[[[[[BZYY i) 1; O?))uO?O?\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032121.103165 s, next control iter: 1743032121.463185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743032121.483165 s.w_H~,^#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240195> elevatorAngleAction: 0.085082< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032121.483295F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A+ݷ@A[~? AJA%"AApNA"AZAbAjArAzAAAT)@A[1ge:tA3u@Ax<AԮAa2>Aa?A ?A<*A*I:?2A&ս:A[BA*I:?JA&սRA[٘i)I9u@Y(G J<B=JJJJ E&K YuZ~?yWOA Eb7ŧ7&8)BE[[H?=[Z~?[[[[[BZYY i) Kq; jU?))sjU?jU?**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032121.523165 s, next control iter: 1743032121.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5620, header.stamp.nsec: 00 temperature: 13.566659* salinity: 33.375324, density: 1025.000000* values[0]: 0.578468F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032121.903165 s.ȝH~,y#AA ףp=@Auub#@A[~? ACAs%"AA.pNA"AZAbAjArAzAAAh*@A!j[9tApu@A;JwA92A ؎>AR?A:?A(<*A]:?2Auӽ:A+BA]:?JAuӽRA+٘i)I9u@YG JI<C=JJJJ E&K Y[~?yAlPA Eŧ7b7Q8LB)B¹E[[J=[[~?[.[[[[BZYY i) ]:I; dZ?)) dZ?dZ?**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032121.943165 s, next control iter: 1743032122.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032122.323165 s.qH~,#AJ"J*J2J:JBJnJvJA\@A Yݎ@A[~? AA%"AA[pNA"AZAbAjArAzAAAG݂+@A/ 9tAjv@A_A\A>A@?A?A5<*A}U:?2Aӽ:AzBA}U:?JAӽRAz٘i)I9jv@YG J<JJJJ E&K YC3[~?y,PA% E{7{7{8IB)BĹE[[j=[W1[~?[[[[[BZYY i) ЄY&; ( `?))( `?( `?*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743032122.343165 s, next control iter: 1743032122.723175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5621., header.stamp.nsec: 0.0 temperature: 13.566196.* salinity: 33.375336., density: 1025.000000.* values[0]: 0.579353.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032122.743165 s.WH~,u#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085082< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743032122.743292F (some fields omitted in printout)AGz@AJ#f@A^[~? AAl%"AAk!qNA"AZAbAjArAzAAAGU +@Aߵ88tA w@AA5A>AK,?Aʒ?A<*AM:?2A5UԽ:A+ BAM:?JA5UԽRA+ ؗI٘i)I9 w@YhG J<JJJJ E&K YN[~?ySQA* E778)B[[{=[L[~?[[[[[BZYY i) \; Xe?))Xe?Xe?*Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032122.763165 s, next control iter: 1743032123.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032123.163165 s.v}H~,q#AJ"J*J2J:JBJnJvJA@Aw e@A\~? A:A%"AAXHqNA"AZAbAjArAzAAA0P?z<,@A_(1N7tAw@Asn-AA\>A?Am?Am<*A}D:?2A0ս:A@BA}D:?JA0սRA@Yr=׭>yT.ٓH`-?Aտv4k;?n.?ԓ?೭`?)r= I٘i)I9w@YG JG<J)JJJ E&Kt> YGi[~?y)QA׭>/ Ej7Z7ѥ8)BǹE[[M>[g[~?[[[[[ZZZZ¸>BZYY i¸>s) OΜ: V#k?))kxV#k?V#k?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032123.183165 s, next control iter: 1743032123.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032123.583165 s.H~,R#AAR@A~k@A-\~? AA%"AAoqNA"AZAbAjArAzAAA"E,@AXÕJ6tANx@A+GO:AAW>A?A`M?A9<*A <:?2Asֽ:AɾBA <:?JAsֽRAɾ٘i)I9x@YHG Jc<JJJJ E&K Y܃[~?y;FRA #D5 E7778HB)BʹE[[>[[~?[b[[[[ZZZZBZYY i) TA ?A`5[C[~?[[[[[ZZZZBZYY i) A ?AS?A<*Ab:?2Anս:AծBAb:?JAnսRAծ٘i)I90z@YFG J,=JJJJ E&K Y [~?y`9SA? Ej7j7Q8FB)uBйE[[-K>[[~?[U[[[[ZZZZBZYY i) ըA?A?AH<*A f:?2ADս:ARVBA f:?JADսRARV٘i)I9{@YG Jz<JJJEJ E&K Y[~?yrުSAE E777{8EB)mBӹE[[eYb>["[~?[[[[[ZZZZBZYY i) };A/AE>A|?A>?As<*AYe:?2Aս:A} BAYe:?JAսRA} YYb>>y/_>;ٓH ?)Nۿ`;E??n`v?@,g? l?)Yb> I٘i)I9{@Y:G J;<B=J=JJJ E&Kwv> Y=[~?yڪSA>J E8)gB[[x>[H[~?[ު[[[[ZZZZBZYY ii) ӔAX?A ht?A˯<*A_:?2A*ֽ:A:BA_:?JA*ֽRA:٘i)I9f|@YG J<C=JJJJ E&K Y\~?y֪(TAP ESI7SI78?B)\BֹE[[އ>[ \~?[Mܪ[[[[ZZZZBZYY i)  A72?AT?A`<*Aq:?2Aս:A <BAq:?JAսRA <٘i)I9|@YG J<JJJJ E&K Yg \~?y)ӪdTAU E{7{78)WBٹE[[[>[&\~?[٪[[[[ZZZZBZYY i) }~[B\~?[Cת[[[[ZZZZBZYY i) h[Y]\~?[nԪ[[[[ZZZZBZYY i) TS#AvJA3333@A8G@A ]~? AAd%"AArNA"AZAbAjArAzAAAq(1@A(tAT}@AG;Ari =AYm ?AX?AD?AF&D:*AUO:?2Aս:Ahm<BAUO:?JAսRAhmT} ?yh =1;ٓHJj?x@ ?Fx?@o??`=,}?,?)hɤ> I٘i)I9}@Y_G Ji;C=J:>JJJ E&Kt> Yk\~?yǪTA} ?e E777|8)MB[[?>['x\~?[nѪ[[[[BZYY iKm) A[\~?[8Ϊ[[[[BZYY ifx) c0[\~?[ʪ[[[[BZYY i) <[n\~?[%Ǫ[[[[BZYY i)  [\~?[Iê[[[[BZYY i) r;IH?iKƻ ?))??QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032129.063165 s, next control iter: 1743032129.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032129.463165 s.XH~,]#AA@Ag@Aa]~? A׫AB%"AAusNA"AZAbAjArAzAAAL;nu2@ActAn|@A ]A=A$?A b?A`^?A*A7:?2Aֽ:A[ =BA7:?JAֽRA[ =Y>i$?yX=ݜ]ٓH@A? 0@?@?@~?P?``, ?)> I٘i)I9n|@YG JrJض=JJJ!E&Kv> Y{\~?ySAi$? Ej7Z7R84B)E[[>[\~?[H[[[[BZYY ilo) `;IXH?i*Fڻ Oş?))Oş?Oş?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032129.483165 s, next control iter: 1743032129.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5628, header.stamp.nsec: 00 temperature: 13.564004* salinity: 33.375435, density: 1025.000000* values[0]: 0.583293F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032129.883165 s.yH~,Ix#AJ"J*J2J:JR?BJR?nJ5vJAQ8@A:@A&]~? AԫAS%"AAsNA"AZAbAjArAzAAAp 2@A%tA{@AA=Ap)?A`l?Ae?AΑ*A3:?2Aֽ:AY=BA3:?JAֽRAY=٘i)I9{@Y]G JbJJJJ!E&K Y\~?y_/SA E77|83B)SBE[[>[]~?[[[[[BZYY i)  ƻ;IlH?i8{O ?))??ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032129.903165 s, next control iter: 1743032130.283182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032130.303165 s.[$H~,g#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058376< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743032130.303289F (some fields omitted in printout)Aq= ף@AGÉ@A]~? AϫA<%"AAҺsNA"AZAbAjArAzAAA#̱I2@A z)74tAy{@AvA =A /?AR.?A7?AV*A5:?2Aֽ:A=BA5:?JAֽRA=٘i)I9y{@YG JqJJJJ !E&K Y]~?yRA E{7{782B)VBE[[R?[0]~?[[[[[BZYY i) 6);IݺH?iVDO ?))??תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032130.323165 s, next control iter: 1743032130.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5629., header.stamp.nsec: 0.0 temperature: 13.564118.* salinity: 33.375443., density: 1025.000000.* values[0]: 0.582846.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032130.723165 s.+H~,H#AJ"J*J2J:JBJnJvJA(\@Aw,I@A]~? A˫A]%"AAsNA"AZAbAjArAzAAAgA3@AY^tA+z@A-:Aמ=A 4?A ?A?A**A87:?2Aֽ:AN=BA87:?JAֽRAN=٘i)I9z@YG JJJJJ!E&K YS']~?yҟlRA EZ7Z7&8)[B[[R ?[8J]~?[[[[[BZYY i) P};IʯH?iN *y?))*y?*y?yhoڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032130.743165 s, next control iter: 1743032131.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032131.143165 s.S/2H~,)#AAGz@Av1`@A]~? ARǫA2G%"AAAsNA"AZAbAjArAzAAA 9E3@A~@NtAZPz@AC<AT=A9?A?A;?AG*AM::?2AfZֽ:A=BAM::?JAfZֽRA=٘i)I9Pz@YYG JJJJJ!E&K Y=]~?y RA E7777-81B)_BE[[X?[c]~?[[[[[BZYY i) ?;IKH?iU l?))l?l?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032131.163165 s, next control iter: 1743032131.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032131.563165 s.8H~,_ #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058376< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032131.563279F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AR@A]~? A«A%"AAVtNA"AZAbAjArAzAAA~3@Ai%P4tAiy@AU<A%=A;>?Ai?A?Ar*A=:?2Anֽ:A$ =BA=:?JAnֽRA$ =Ys?>?y=<ٓH ,x?`¥@?Ɲ??`Q?@w j? 9?)s? I٘i)I9y@YG J3JE<JJJ!E&Kx> YR]~?yQA>? E7(580B)cBE[[-T?[T|]~?[[[[[BZYY i) ;IH?i3d  R?))R?R?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032131.583165 s, next control iter: 1743032131.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5630, header.stamp.nsec: 00 temperature: 13.564291* salinity: 33.375450, density: 1025.000000* values[0]: 0.582249F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032131.983165 s.?H~,#AAQ@A7@A^~? A,A%"AA?tNA"AZAbAjArAzAAAY܍4@A0Y'_tA5y@A?<A"=AC?A z#?A@d?A.*AA:?2A_ֽ:Ag=BAA:?JA_ֽRAg=٘i)I9y@YG J\JJJJ"!E&K Yyg]~?y9QA Eb77R<8-B)eBE[[kZ?[]~?[ڢ[[[[BZYY i]) XY:IH?ip >?))>?>?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032132.003165 s, next control iter: 1743032132.383187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743032132.403165 s.&FH~,#AJ"J*J2J:JBJnJvJA ףp@A Y@A^~? AfAR%"AA%`tNA"AZAbAjArAzAAAҩ!F4@ATst tAzx@A7-:AT=A H?A?A U-?A*AD:?2A=׽:Acb<BAD:?JA=׽RAcb<٘i)I9zx@Y;G JmJJJJ'!E&K Y<|]~?yPA E77}C8,B)hBE[[j"?[7]~?[h[[[[BZYY i) \99I}H?i { 2?))2?2?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032132.423165 s, next control iter: 1743032132.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5631", header.stamp.nsec: 0"0 temperature: 13.564465"* salinity: 33.375450", density: 1025.000000"* values[0]: 0.581591"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032132.823165 s.LH~,-4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743032132.823299F (some fields omitted in printout)A\(@Ax@A0^~? A}A9%"AAtNA"AZAbAjArAzAAA>k}4@AimutAw@Af#Ay=AsjN?A?AE?Aբ*AB:?2A׽:AZ<BAB:?JA׽RAZ<٘i)I9w@YG JJJJJ,!E&K Y]~?yhPA E77{7J8+B)lBE[[(?[>]~?[[[[[BZYY i) BIoH?i^& L-?))L-?L-?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032132.843165 s, next control iter: 1743032133.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032133.243165 s.SH~,iO#AJ"J*J2J:JBJnJvJAGz@A8dz@AE^~? ArAN%"AA tNA"AZAbAjArAzAAA0]4@A*ʃatAfw@AਂAK=AS?A A?A@/?A뙼*AA:?2A<׽:A><BAA:?JA<׽RA><٘i)I9fw@YG J~JJJJ2!E&K Yĥ]~?y|OA E7Q8)pB[[.?[]~?[瑪[[[[BZYY i) =ٺI\aH?iㄿ* z-?))z-?z-?ywTYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032133.263165 s, next control iter: 1743032133.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032133.663165 s.ZH~,qj#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5632, header.stamp.nsec: 00 temperature: 13.564635* salinity: 33.375484, density: 1025.000000* values[0]: 0.580999F (some fields omitted in printout)A@A@A,Y^~? AFAu%"AAtNA"AZAbAjArAzAAA75@Az9tAv@A=]A'=A*X?A?A r?Au*A>:?2A׽:Abh<BA>:?JA׽RAbh Y}]~?y"vOAX? Eb77X8*B)sBE[[W4?[]~?[鋪[[[[BZYY i) *I^RH?igo2 { ?)){ ?{ ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032133.683165 s, next control iter: 1743032134.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032134.083165 s.DaH~,S#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032134.083293F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@A mQ@Al^~? AA%"AAtNA"AZAbAjArAzAAA-ʻ<5@A.zsAjv@AރA=A]?A`Ƣ?A@)?A.Ŕ*A<:?2A91׽:A<BA<:?JA91׽RA<٘i)I9jv@YG JJJJJ Y^~?yTMAr? E)7ŧ7|8#B)BE[[ES?[a^~?[j[[[[BZYY i) zIFH?i N ,0?)),0?,0?YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743032135.803165 s, next control iter: 1743032136.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032136.183165 s.˂H~,^ #AAQ@Ak@A^~? AA%"AAjuNA"AZAbAjArAzAAAF V6@ADƔsA t@Aw|AO =Ax?A@?A@J?A7*A?(:?2A׽:A<BA?(:?JA׽RA<٘i)I9 t@YG JC=JJJJW!E&K YO$^~?yoMMA Eb778 B)BE[[Y?[Pv^~?[c[[[[BZYY i) I{G?iuT 6?))6?6?yK굪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032136.203165 s, next control iter: 1743032136.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032136.603165 s.84H~,&#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743032136.603299F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A@A^~? AAq%"AAuNA"AZAbAjArAzAAA 26@AsAs@AeA=A}}?A Y0?A?AR~*A!:?2A׽:A<BA!:?JA׽RA<٘i)I9s@YHG JEJJJJ]!E&K Y4^~?yFF'MA E77(8B)BE[[5`?[]^~?[\[[[[BZYY i) pIFG?iWX C?))C?C?AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032136.623165 s, next control iter: 1743032137.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5635 , header.stamp.nsec: 0 0 temperature: 13.565031 * salinity: 33.375507 , density: 1025.000000 * values[0]: 0.579468 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032137.023165 s.ZH~,{A#AA(\@A"B@A^~? A|A%"AAƟuNA"AZAbAjArAzAAAC#6@AVsAA7s@AՅA,r=AV^?Au?A7?AvȀ*AG:?2Aˣ׽:A<BAG:?JAˣ׽RA<٘i)I97s@YG Js~JJJJb!E&K Y?E^~?y?LA E777S8)B[[ Sf?[^~?[U[[[[BZYY i) [p'IG?i\ 2V?))2V?2V?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032137.043165 s, next control iter: 1743032137.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032137.443165 s.7ÖH~,>]\#AJ"J*J2J:JH?BJH?nJ|5vJAz@Aؖ@Ad^~? A`vAM`%"AAduNA"AZAbAjArAzAAA=)6@AOOsAr@AHuAi=A*?A`?A:?A,*A :?2ARN׽:Aa=BA :?JARN׽RAa=٘i)I9r@YG JJJJJg!E&K YU^~?y7wLA E~8B)B E[[l?[^~?[jM[[[[BZYY i) S 7I G?i3^ Im?))Im?Im?ǿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032137.463165 s, next control iter: 1743032137.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5636, header.stamp.nsec: 00 temperature: 13.565136* salinity: 33.375534, density: 1025.000000* values[0]: 0.579025F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032137.863165 s.+H~,>w#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032137.863298F (some fields omitted in printout)A33333@Ah@A _~? ApA%"AAduNA"AZAbAjArAzAAA^k#7@A:sAyTr@A" ;Ae=Al?A`.?A`?Ac*Af:?2Axֽ:A-0=BAf:?JAxֽRA-0=Y>T?pr?ye=L ;ٓH@L? Ƣ? A?`?d?.?)>T? I٘i)I9Tr@Y}G JՊJ=Q<JJJm!E&K^x> Yc^~?yQ0LAr? E78)B[[r?[7^~?[E[[[[BZYY i) FIG?ig>[d 8x?))8x?8x?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032137.903165 s, next control iter: 1743032138.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032138.283165 s.3RH~,#AJ"J*J2J:JBJnJvJAQ@At?@A_~? AiAV%"AAuNA"AZAbAjArAzAAA2S7@A^w_sA]q@A>M<A=A2?A@G9?A?AQ*A0 :?2Aֽ:AG =BA0 :?JAֽRAG =٘i)I9q@Y1G JJJJJr!E&K Yq^~?y(KA Ej7Z7ԧ8B)B E[[(y?[^~?[=[[[[BZYY i) UIYG?i<Bi ?))??ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032138.303165 s, next control iter: 1743032138.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5637., header.stamp.nsec: 0.0 temperature: 13.565266.* salinity: 33.375526., density: 1025.000000.* values[0]: 0.578532.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032138.703165 s.޺H~,2#AAףp= @AeP3@A,_~? AcA%"AAvNA"AZAbAjArAzAAABP/M7@A}WsA7Vq@A݃<AV=A?AVt?A`?A*A:?2Aֽ:Ah=BA:?JAֽRAh=חI٘i)I9Vq@YG J暼B=JJJJx!E&K Y^~?y!XKA Eb778)B[[yx?[8^~?[5[[[[BZYY i) LeIs|G?il Ԡ?))Ԡ?Ԡ?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032138.723165 s, next control iter: 1743032139.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032139.123165 s.6H~,X#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032139.123283F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A[@A;_~? A\A1U%"AAvNA"AZAbAjArAzAAAdev1̯7@AdsAp@AO7<A0=A@-?A?A@\?A*A>:?2AEֽ:A]?=BA>:?JAEֽRA]?=٘i)I9p@YG JC=JJJJ}!E&K Y^~?yeJA Eŧ7ŧ7)8)B[[?[^~?[^-[[[[BZYY i") atIahG?io  ?)) ? ?=ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032139.163165 s, next control iter: 1743032139.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032139.543165 s.IH~,#AA{G@A&L1@AJ_~? AUA'%"AA 0vNA"AZAbAjArAzAAATj7@AiTL;sAKp@AM9Aۖ=A?A`4?A?A*A99?2A>׽:Ax =BA99?JA>׽RAx =٘i)I9Kp@Y?G JڞJJJJ!E&K Y^~?yJA!E)7T8B)BE[['?[_~?[$[[[[BZYY i)  I7TG?ico ?))??ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032139.583165 s, next control iter: 1743032139.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5638, header.stamp.nsec: 00 temperature: 13.565426* salinity: 33.375538, density: 1025.000000* values[0]: 0.577981F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032139.963165 s.|H~,#AJ"J*J2J:J?BJ?nJ&5vJAL@A'2@AX_~? AOAZ%"AAEvNA"AZAbAjArAzAAA8@A*sAo@A,A=A?A` ?A?A*A9?2AD׽:Ae =BA9?JAD׽RAe =Yn?Հ?yU=e5-ٓH?z? (?e(??@??)n? I٘i)I9o@YG JtJmI<JJJ!E&Kx> Yl^~?y 2JA?!EZ7Z78B)BE[[9?[_~?[[[[[BZYY i) I?G?i[t ?))??SҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032139.983165 s, next control iter: 1743032140.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032140.383165 s.H~,4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032140.383292F (some fields omitted in printout)AQ@AGq:@ANf_~? AHAu%"AAZvNA"AZAbAjArAzAAAq&08@An"OsAEo@A A"=AC?A<6?A$?A9*A@9?2AV׽:A =BA@9?JAV׽RA =٘i)I9Eo@YG JKJJJJ!E&K Y^~?yIA !E{7{78B)BE[[se?[$_~?[[[[[BZYY i) s#I*G?iD¿gx  ?)) ? ?y^֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032140.403165 s, next control iter: 1743032140.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5639", header.stamp.nsec: 0"0 temperature: 13.565616"* salinity: 33.375534", density: 1025.000000"* values[0]: 0.577407"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032140.803165 s.zAH~,g3#AJ"J*J2J:J?BJ?nJ5vJAq= #@A8en @As_~? A&AAg%"AA@ovNA"AZAbAjArAzAAA.D)X8@Ap"sA/n@ASA>e=A}ט?Ab?A b?A ⢼*A9?2A0Y׽:A=BA9?JA0Y׽RA=٘i)I9n@YOG JJJJJ!E&K Y]^~?yeIA!E778)B[[y?[2_~?[ [[[[BZYY i) +IG?iĿ{ B(?))B(?B(? ۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032140.823165 s, next control iter: 1743032141.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032141.223165 s.gH~,HN#AA(\@AUEu@A>_~? A:Aw%"AAvNA"AZAbAjArAzAAA_ ~8@A> YsA3n@AIA=A Y?A?Ae?A(*Ap9?2A ֽ:A=BAp9?JA ֽRA=٘i)I93n@YG J়JJJJ!E&K Y^~?yHA!E{7Z78)B[[’?[?_~?[7[[[[BZYY i) E>IG?iĿ\| K?))K?K?ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032141.263165 s, next control iter: 1743032141.623185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743032141.643165 s.uH~,*i#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743032141.643268F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A@A_~? A2Az%"AAvNA"AZAbAjArAzAAAx72&8@AfsA'm@A <A=A՝?A Y^~?y-&HA?!!E7{7T8)B[[ ?[hX_~?[*[[[[BZYY i) P"IF?iǿ. ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032142.083165 s, next control iter: 1743032142.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032142.483165 s.w_H~,#AJ"J*J2J:JBJnJvJA@A`+׷@A_~? A$Aۓ%"AA˹vNA"AZAbAjArAzAAApx38@AsA_l@Am<AR =A?A`0?A@??Ac}ü*A>9?2AMpֽ:A=BA>9?JAMpֽRA=٘i)I9_l@YG J|JJJJ!E&K Y^~?yةGA&!Ej7j78)B[[KP?[c_~?[[[[[BZYY i) yI_~? 8yaFA6!E778)B[[?[_~?[ʩ[[[[BZYY i) w}̼I F?iȿ @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032143.763165 s, next control iter: 1743032144.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032144.163165 s.J "J *J 2J :J 5?BJ 5?nJ \5x}H~vJ,q #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743032144.163298F (some fields omitted in printout)A @A\e @A%_~? AA<%"AAvNA"AZAbAjArAzAAANd9@A祏fsAi@At<|AG=A?Ap?A#?Awȼ*A9?2APZ׽:A =BA9?JAPZ׽RA =٘i)I9i@YJG J ƼJJJJ!E&K Y _~?y`EA Y[0_~?y0CA?V!E7708B)үBE[[Ҹ?[ܥ_~?[ݑ[[[[ZZBZYY i) 5ɾIF?iWPf ~ @))~ @~ @y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032146.283165 s, next control iter: 1743032146.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 56452, header.stamp.nsec: 020 temperature: 13.5671252* salinity: 33.3755802, density: 1025.0000002* values[0]: 0.5730282F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032146.683165 s.l*H~,c#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743032146.683273F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ @A] @A_~? AvتAZ%"AA@wNA"AZAbAjArAzAAAu9@A3tc'sALPe@AkAb=A4?A?A5?A*Aо9?2Aֽ:A<BAо9?JAֽRA<٘i)I9Pe@Y G JC=JJJJ!E&K Y3_~?yt?CA\!E7+78)ٯB[[{?[k_~?[9[[[[ZZBZYY i) ӲIeE?iff @))@@y=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032146.683165 s, next control iter: 1743032147.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032147.103165 s.1H~,#AA= ףp @AˢV @A_~? AЪA%"AAIwNA"AZAbAjArAzAAA"1E:@Ah[}sA|d@AP >Atw=Ao?A@?A?A%*A,9?2Anֽ:Ab<BA,9?JAnֽRAb<٘i)I9|d@Y G J%JJJJ!E&K Y6_~?y{BAa!E)7ŧ7U>8)߯B[[?[6_~?[~[[[[ZZBZYY i) ܦI'E?ii#e "@))"@"@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032147.143165 s, next control iter: 1743032147.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032147.523165 s.7H~,{#AJ"J*J2J:JBJnJvJA( @Ax @A `~? AȪA&"AAORwNA"AZAbAjArAzAAAB/vd:@AExsAmc@AWA4=A?AC6?A?A+˼*A69?2Anֽ:Af;BA69?JAnֽRAf;٘i)I9c@Y G J߼B=JJJJ!E&K Y9_~?yrSBAf!E7777E8)B[[vE?[=_~?[t[[[[ZZBZYY i) 㚼IE?ib <@))<@<@u}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032147.563165 s, next control iter: 1743032147.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5646, header.stamp.nsec: 00 temperature: 13.567493* salinity: 33.375580, density: 1025.000000* values[0]: 0.572017F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032147.943165 s.Xd>H~,B]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032147.943282F (some fields omitted in printout)AzG@Af-@A `~? AA9(&"AAZwNA"AZAbAjArAzAAA_:@A8ssAM!c@A^AB<A?AU?A?A*A9?2Aֽ:Aؼ BA9?JAֽRAؼ ٘i)I9!c@Y< G JC=JJJJ!E&K Y=_~?y#A2J:JT?BJT?nJp5vJA3333@A`@A `~? AиAb&"AA`wNA"AZAbAjArAzAAAm,:@A#ԥnsAb@AodA1<A?A 5?A.?A*A9?2ASֽ:A_8BA9?JASֽRA_8Yv?Ũ?y^1<UsdٓH@p?@v@k?@a]?vJ?@6lw?)v? I٘i)I9b@Y G JJJ6JJJ!E&Kx> Yb=_~?yhaAA?q!E77S8)B[[?[_~?[a[[[[ZZBZYY iʄ=) @IE?i=^ \@))\@\@텩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032148.403165 s, next control iter: 1743032148.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5647&, header.stamp.nsec: 0&0 temperature: 13.567752&* salinity: 33.375576&, density: 1025.000000&* values[0]: 0.571259&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032148.783165 s.[KH~,2#AAQ@AH@A`~? AӰA_&"AA gwNA"AZAbAjArAzAAA#6F8:@A:isAO;b@A"<A*AD?A`u?As@?AڻG*A9?2A{ֽ:AuBA9?JA{ֽRAu٘i)I9;b@Y G JoJJJJ!E&K Y=_~?yXAAw!E{7Z7[8)B[[˵?[_~?[W[[[[ZZBZYY i~=) A elevatorAngleAction: 0.074949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032149.203296F (some fields omitted in printout)Aףp=@A77'p@A`~? AѨAG&"AAZlwNA"AZAbAjArAzAAA^UG3 B:@AUSesAa@Ax<AEAN?AE?AP?A*A9?2Aֽ:A"BA9?JAֽRA"٘i)I9a@Y G J]"JJJJ!E&K Y>_~?yOAA|!E)7ŧ7+b8B)BE[[j?[_~?[)N[[[[ZZBZYY i) kbIE?ida[ @))@@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032149.223165 s, next control iter: 1743032149.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032149.623165 s.WYH~,]g#AA)\@Aͪ@A`~? AɠA&"AApwNA"AZAbAjArAzAAANX%8J:@Ae+`sAa@A9[d<A7A~?A@z?A@]?AC *Ag9?2Amֽ:AׁżBAg9?JAmֽRAׁż٘i)I9a@Yr G JLJJJJ"E&K YP>_~?yFAA!E777Vi8)B[[?[_~?[D[[[[BZYY i) *NIoE?irAW @))@@yϚ=/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032149.643165 s, next control iter: 1743032150.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5648 , header.stamp.nsec: 0 0 temperature: 13.567916 * salinity: 33.375587 , density: 1025.000000 * values[0]: 0.570821 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032150.043165 s.`H~,Â#AJ"J*J2J:JBJnJvJA{Ga@AKu/G@A`~? AA4&"AAtwNA"AZAbAjArAzAAA@P:@AȀ'A[sAa@A{ߧ;A1A ?ABl?A`g?A<3;*AB9?2Aщֽ:A0BAB9?JAщֽRA0缙٘i)I9Y J!JJJJ "E&K Y>_~?y>AA!E77p8)[[?[j_~?[:[[[[BZYY i) :I]E?itR e@))e@e@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032150.063165 s, next control iter: 1743032150.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032150.463165 s.WgH~,줝#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743032150.463300F (some fields omitted in printout)A@A毐@A`~? AA&"AAwwNA"AZAbAjArAzAAAԦU:@A|XVVsAa@A׻AXA?A?Ao?A;*Al9?2AD)ֽ:A-UBAl9?JAD)ֽRA-UYג?&?yX׻ٓHA@QQ]@,?@M?z@U?)ג? I٘i)I9a@Y G J;B=JJJJ"E&Kv> Y<_~?yR5AA?!E77w8)B[[w@?[!_~?[W1[[[[BZYY iwe=) }*IY:@A3OjQsA5b@Av|uA:yAD?AF?At?A8<*A9?2Aս:A) BA9?JAսRA) ٘i)I95b@Y G J<JJJJ"E&K Y9_~?y,%BA!Eb77~8B)BE[[`?[_~?['[[[[BZYY i) /I:E?icO /@))/@/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032150.903165 s, next control iter: 1743032151.283188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743032151.303165 s.RtH~,fg#AAq= ף@As@A]`~? AA &"AA {wNA"AZAbAjArAzAAA/$[:@A }LsAqb@AAA.?A?A5w?Ak9t<*AP9?2Aֽ:A~BAP9?JAֽRA~٘i)I9b@Y G J V<C=JJJJ"E&K Y6_~?y#nBA!E{7{78)B[[~?[W_~?[Q[[[[BZYY iO]=)  I)E?i;K @))@@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032151.323165 s, next control iter: 1743032151.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5650., header.stamp.nsec: 0.0 temperature: 13.567808.* salinity: 33.375595., density: 1025.000000.* values[0]: 0.571075.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032151.723165 s.{H~,H#AJ"J*J2J:J1?BJ1?nJK5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200602 time: 1743032151.723326F (some fields omitted in printout)A(\@AY0G@Aq`~? AxxA&"AA{wNA"AZAbAjArAzAAASP[:@AynGsAb@ANA=LA_?AN~wA@w?A0"<*A_9?2Agֽ:ABA_9?JAgֽRA٘i)I9b@Y& G J<JJJJ"E&K Yl4_~?yBA!Eŧ77,8)B[[+?[ܘ_~?[[[[[BZYY i) -IE?igF jL!@))jL!@jL!@ye=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032151.763165 s, next control iter: 1743032152.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032152.143165 s.T/H~,) #AAGz@AG`@A`~? AfpAYH&"AAW{wNA"AZAbAjArAzAAA_bY:@AߖBsAwc@Ayg;AYAf?A\A u?A&<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9wc@Yp G Jِ<JJJJ$"E&K Y1_~?y4BA!EZ7Z7V8)B[[G?[_~?[ [[[[BZYY i) ȗһIE?it@ %"@))%"@%"@yZއ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032152.163165 s, next control iter: 1743032152.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032152.563165 s.H~,c $#AJ"J*J2J:JBJnJvJAffff@A U@A`~? AThA&"AAEzwNA"AZAbAjArAzAAAwV:@AR2=sAHc@AX2Z<A☽Aj?A@kAp?AQ9<*A9?2A %׽:A BA9?JA %׽RA Yx?Ǩ?yߘTZ<ٓH`ȿf?R?එȿ@X? F?u?)x? I٘i)I9c@Y G J<B=JLSJJJ)"E&K Y{,_~?y fCA?!E778B)߯BE[[?[Ë_~?[I[[[[BZYY i) )]ID?i> d$@))d$@d$@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032152.603165 s, next control iter: 1743032152.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5651, header.stamp.nsec: 00 temperature: 13.567599* salinity: 33.375576, density: 1025.000000* values[0]: 0.571610F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032152.983165 s.H~,>#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032152.983296F (some fields omitted in printout)AQ@A7@Av`~? AE`Ar&"AAdxwNA"AZAbAjArAzAAAZDR:@AT?8sAe|d@A}<A5A"k?A@Ai?A<*A۱9?2A ׽:AC BA۱9?JA ׽RAC ٘i)I9|d@Y G J<C=JJJJ."E&K Y'_~?yCA!E8)ۯB[[\?[&_~?[[[[[BZYY i) 1%ID?ioo; %@))%@%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032153.023165 s, next control iter: 1743032153.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032153.403165 s.&H~,Y#AJ"J*J2J:Jh?BJh?nJ5vJA ףp@AtZ@Ag`~? A8XA &"AAuwNA"AZAbAjArAzAAAԆL:@A3sAle@A)<A@Ar?A,װA@)`?Ac<*Ai9?2Aֽ:A_ BAi9?JAֽRA_ ٘i)I9e@Yd G J<JJJJ4"E&K Y!_~?yH3DA!Eb77֩8)ׯB[[!?[{_~?[[[[[BZYY i) \oID?iԎ6 ){'@))){'@){'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032153.423165 s, next control iter: 1743032153.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5652", header.stamp.nsec: 0"0 temperature: 13.567370"* salinity: 33.375584", density: 1025.000000"* values[0]: 0.572237"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032153.823165 s.H~,>t#AA\(@AlЗ@A`~? A/PAϽ &"AA;rwNA"AZAbAjArAzAAA4Y3D:@A:2].sA͘e@APAa盽A%v?ALA`=T?Auް<*A;9?2Amֽ:AL BA;9?JAmֽRAL ٘i)I9e@Y G J<JJJJ9"E&K YN_~?yDA!E7{78)үBE[[T?[r_~?[[[[[BZYY i) bt3ID?i380 )@)))@)@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032153.863165 s, next control iter: 1743032154.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032154.243165 s.H~,m#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743032154.243288F (some fields omitted in printout)AGz@A#bz@A`~? A+HAZ &"AAmwNA"AZAbAjArAzAAAe::@Acߒ*sA}/f@A<ApA?AVA F?A<*A?9?2Ae"ֽ:A4 BA?9?JAe"ֽRA4 ٘i)I9/f@Y G Jf<JJJJ>"E&K Y_~?yEA!E77,8)ͯB[[?[Li_~?[ި[[[[BZYY i)  ID?iJ) *@))*@*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032154.283165 s, next control iter: 1743032154.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032154.663165 s.H~,q#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5653, header.stamp.nsec: 00 temperature: 13.567102* salinity: 33.375576, density: 1025.000000* values[0]: 0.572916F (some fields omitted in printout)A@A @A`~? A,@A &"AAhwNA"AZAbAjArAzAAAk۫/:@A1%sAf@A񁄼A,Aņ?AA }5?A <*AP9?2A2ֽ:A BAP9?JA2ֽRA Y?P?y|1ٓH}ҿdx??vҿ`Gm ?:?)? I֗I٘i)I9f@Yu G J,<J9JJJD"E&Kx> Y_~?yިgEA?!E77W8B)ʯBE[[%?[^_~?['ը[[[[BZYY i) >3jID?i<A& ,@)),@,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032154.683165 s, next control iter: 1743032155.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032155.083165 s.DH~,S#AJ"J*J2J:JBJnJvJARk@APlQ@A `~? A38A &"AAcwNA"AZAbAjArAzAAA8MG#:@A~#T sA_g@A IA3A),?A޿A@m"?Aذ<*A:9?2Adֽ:AVBA:9?JAdֽRAV٘i)I9_g@Y G J<JJJJI"E&K Y_~?y%֨EA!E7778)ůB[[3?[T_~?[d̨[[[[BZYY i) 7ID?i}1k" -@))-@-@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032155.123165 s, next control iter: 1743032155.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032155.503165 s.H~,L4#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032155.503294F (some fields omitted in printout)Ap= @A/@AM`~? A@0A\. &"AAo\wNA"AZAbAjArAzAAA":@A*zsAg@AQA^͒A?AA ?A<*A9?2A7ֽ:ABA9?JA7ֽRA٘i)I9g@Y* G Jn<B=JJJJO"E&K Y_^~?yͨ4FA!E78)B E[[>?[lH_~?[è[[[[BZYY i) y:ID?i u$ m'/@))m'/@m'/@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032155.543165 s, next control iter: 1743032155.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5654, header.stamp.nsec: 00 temperature: 13.387353* salinity: 33.391640, density: 1025.000000* values[0]: 0.692960F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032155.923165 s.;H~,#AJ"J*J2J:Je1?BJe1?nJ:5vJA(\B@ACu(@A`~? AV(A@ &"AATwNA"AZAbAjArAzAAAi2d:@AFʥsA{h@A!<A~AX?A ÿA W?A<*A9?2AE&׽:ABA9?JAE&׽RA٘i)I9{h@Y~ G _^~?)ͨJ<C=JJJJT"E&K Y2^~?yKŨFA!E77{78)B[[y"@[B<_~?[>[[[[BZYY i) :I'D?iOj- N0@))N0@N0@c*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032155.943165 s, next control iter: 1743032156.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032156.343165 s.{D?i]V M42@))M42@M42@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032156.363165 s, next control iter: 1743032156.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5655*, header.stamp.nsec: 0*0 temperature: 13.387161** salinity: 33.391655*, density: 1025.000000** values[0]: 0.693884*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032156.763165 s.8H~,#0#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743032156.763290F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AZ @A(_~? AA &"AACwNA"AZAbAjArAzAAA6h&9@A9 sA~i@A`e<ArɋA?A5{ǿA`5?AbG<*A9?2Am׽:ABA9?JAm׽RAY4??yŋ{ f<ٓH@ؿ -,?Xu?@Lؿq Eu?ί??)4? I٘i)I9~i@YG Jx<Jr<JJEJ_"E&K4x> Y ^~?y^GA?!E{7Z7,8)B[[&@["_~?[[[[[BZYY i=) &u;IoD?izW 3@))3@3@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032156.783165 s, next control iter: 1743032157.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032157.183165 s.H~,oK#AAQ@A6"k@Ai_~? AAٕ&"AA9wNA"AZAbAjArAzAAAb9@AIsAi@A)ɛ;A A[?A9PɿA Ҝ?A<*A9?2Aֽ:A"nBA9?JAֽRA"n٘i)I9i@YhG J*<JJJJd"E&K Y=^~?yGA!EZ7W8)B E[[J@[_~?[`[[[[BZYY i) };IdD?ibO <5@))<5@<5@"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032157.203165 s, next control iter: 1743032157.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032157.603165 s.F4H~,f#AJ"J*J2J:JBJnJvJA= ף@AM~@A(_~? A A-&"AA[/wNA"AZAbAjArAzAAA^0b9@ACusAzj@AHAo݈Akn@A˿Az?Ay<*A9?2Acֽ:ABA9?JAcֽRA٘i)I9zj@YG J<JJJJi"E&K YY^~?y}HA!E)7ŧ78B)BE[["(@[_~?[U[[[[BZYY i) h;IYD?iGE Y6@))Y6@Y6@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032157.623165 s, next control iter: 1743032158.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5656 , header.stamp.nsec: 0 0 temperature: 13.386999 * salinity: 33.391659 , density: 1025.000000 * values[0]: 0.694750 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032158.023165 s.ZH~,|#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743032158.023317F (some fields omitted in printout)A(\@A$~B@Ah_~? AXA&"AA$wNA"AZAbAjArAzAAA`g19@AL|rAj@AMvAnAN@A̿A`V?Ay<*A9?2A:ֽ:ABA9?JA:ֽRA٘i)I9j@YG Jd<B=JJJJo"E&K Yu^~?y\xHA!Ej7Z78)B[[ƥ@[w^~?[r[[[[BZYY i) V;IOD?i/9 >C8@))>C8@>C8@yjܘ=͹*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032158.043165 s, next control iter: 1743032158.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032158.443165 s.J "J *J 2J :J 1?;H~BJ1?nJ:5,O]#AvJAz@A#@A'_~? AA[&"AAwNA"AZAbAjArAzAAAP[,9@A1^+rAtk@AGxA|A @AοA0?A*<*AX9?2A7Zֽ:A1-BAX9?JA7ZֽRA1-٘i)I9tk@YMG J|<C=JJJJt"E&K Y^~?y<HA!EZ7SI78)B[[p @[^~?[[[[[BZYY i) >;IFD?i"+ ۻ 9@))9@9@ֹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032158.463165 s, next control iter: 1743032158.843182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5657, header.stamp.nsec: 00 temperature: 13.386799* salinity: 33.391647, density: 1025.000000* values[0]: 0.695555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032158.863165 s.+H~,>#AA33333@A$@Ag_~? AA.&"AA wNA"AZAbAjArAzAAAAk9@ArAk@AlA AW@A@EпA ?A<*A9?2Aֽ:ABA9?JAֽRAY?_@yٓH z޿@ ` ??@<޿2᯿ ?~r?)? I٘i)I9k@YG JC<B=JP;JJJz"E&K0x>  8Y^~? 8y~2IA_@!E7{78B)BE[[ @[^~?[[[[[BZYY i) D elevatorAngleAction: 0.074684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743032159.283284F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@@A%_~? AA7&"AAvvNA"AZAbAjArAzAAAzbGO9@A"rA,el@A,;AK+AI@A z-ѿAI?A <*A9?2A׽:ABA9?JA׽RA٘i)I9el@YG J<C=JJJJ"E&K Y^~?yIA!E77-8)B[[ @[^~?[{[[[[BZYY i) /@))ZC>@ZC>@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032159.723165 s, next control iter: 1743032160.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032160.123165 s.5H~,T#AJ"J*J2J:JBJnJvJA)\u@Aϟ6[@A%_~? A۩A&"AAvNA"AZAbAjArAzAAAP9@A ⧟rAKm@A<ALA)Z@AҿAz?A׍<*A9?2A<׽:A&2BA9?JA<׽RA&2٘i)I9Km@YlG J<C=JJJJ"E&K Y^~?yFuFJA"E78)B[[^ @[K^~?[m[[[[BZYY i) @9 elevatorAngleAction: 0.074684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743032160.543311F (some fields omitted in printout)A{G@A 7@Ai_~? AAԩA"9&"AAvNA"AZAbAjArAzAAA[Y`8@ARrAm@A <AaA: @AӿABH?A_<*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9m@YG Jό<B=JJJJ"E&K Y't^~?ymJA "Eb77#8 B)BE[[~@[T^~?[f[[[[BZYY i) Hn@A>oںA9A7 @A@'ԿA`?A<*Aپ9?2A5ֽ:As3 BAپ9?JA5ֽRAs3 Y ?, @y,ںٓH m ?C[? MM?M[?) ? I٘i)I9>n@YG J <C=Jy5JJJ"E&K x> Y:d^~?yCfKA @"E7777*8 B)BE[[@[~^~?[*_[[[[BZYY i) X elevatorAngleAction: 0.083496< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032161.803295F (some fields omitted in printout)Aq= #@AB @Ab_~? AA/&"AA-vNA"AZAbAjArAzAAAz,8@A'rAIo@AӬA"Ai @AYֿA@?A\Q<*A39?2A*ֽ:A!BA39?JA*ֽRA!٘i)I9Io@YG JE<JJJJ"E&K Y^D^~?yWKA"E-98 B)BE[[@[WX^~?[Q[[[[BZYY i) (v elevatorAngleAction: 0.083496< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743032163.063327F (some fields omitted in printout)Afffff@APL@A/\_~? AA}&"AAavNA"AZAbAjArAzAAA$R8@A*SrAp@A#<AYAes@A@ؿAx?A <*A9?2A 6׽:ABA9?JA 6׽RAY`@f@y[$<ٓH (bo?a? ``"m? t? ?)`@ I٘i)I9p@YG Ji<Jf+JJJ"E&KDx> YL^~?ytBLAf@ %D-"Eb77N8)B[[+@[^~?[/?[[[[BZYY i) w elevatorAngleAction: 0.083496< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743032164.323279F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@At ގ@A0_~? AA &"AAk!vNA"AZAbAjArAzAAA' 7@Ad rAr@Ao|;AAR@A@8ۿA|?A4<*A9?2Aֽ:A4BA9?JAֽRA4٘i)I9r@YG J<JJJJ"E&K Y]~?yF.0NA="Ej7j7.d8B)BE[[So@[s]~?[-[[[[BZYY i)  Y(]~?yp! OA@H"E77r8)wB[[ ? @[]~?[]#[[[[BZYY i) H elevatorAngleAction: 0.083496< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032165.583285F (some fields omitted in printout)AR@A;?l@A_~? A8A&"AAuNA"AZAbAjArAzAAAl R6@A @rA3_t@A;rAdA"@AxݿA`#@?A<*A9?2A5"ֽ:ABA9?JA5"ֽRA٘i)I9_t@YG J<JJJJ"E&K Yݠ]~?yS|OAM"E77{7y8B)tBE[[]!@[ ]~?[K[[[[BZYY i) &Ҿm: J`?))J`?kR@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032165.603165 s, next control iter: 1743032165.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5664, header.stamp.nsec: 00 temperature: 13.385479* salinity: 33.391708, density: 1025.000000* values[0]: 0.701748F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032166.003165 s.} `H~,a4#AJ"J*J2J:JBJnJvJAp= W @A i< @AJ^~? A{A&"AAauNA"AZAbAjArAzAAAw/=76@AtrrA|u@A(׻A ҬA0{@A6޿A?A<*A9?2Aֽ͋:A@BA9?JAֽ͋RA@٘i)I9u@Y!G J<B=JJJJ"E&K Y]~?y6OAR"Eـ8B)rBE[[n #@[w]~?[i[[[[BZYY i) %ع: =))=.T@r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032166.023165 s, next control iter: 1743032166.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032166.423165 s.ufH~,#AA(\ @A7Ӂ @AZ^~? AuAfy&"AA uNA"AZAbAjArAzAAAm&eޙ6@A>rA u@A;A#A%@A޿Av?AD1<*AZ9?2Aֽ:ABAZ9?JAֽRA٘i)I9u@YG JA<C=JJJJ"E&K YCx]~?y`PAX"E78B)oBE[[m$@[l]~?[[[[[BZYY i) zi&; h<))h<MU@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032166.463165 s, next control iter: 1743032166.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5665, header.stamp.nsec: 00 temperature: 13.385237* salinity: 33.391712, density: 1025.000000* values[0]: 0.702893F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032166.843165 s.lH~,#AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083496< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032166.843302F (some fields omitted in printout)AHz.!@A!@A^~? AoA&"AAuNA"AZAbAjArAzAAAޞrLe6@A7BL rA}Rv@ARf<A=9A23@A߿A`|M?A<*A79?2A7׽:ABA79?JA7׽RA٘i)I9Rv@YG J <JJJJ"E&K Yc]~?yPA]"Eŧ77.8B)kBE[[%@[U]~?[8[[[[BZYY iVr=) S; ;));W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032166.863165 s, next control iter: 1743032167.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032167.263165 s.tH~,#AA!@A!@AH^~? AiAQd&"AAtuNA"AZAbAjArAzAAAoRψ/6@A$prAv@A@<AˀA@A.AO?A:_<*A59?2A׽:A̪BA59?JA׽RA̪YQf@vl@y>{c<ٓHW~ )γ?` ?I.礿 k?@??)Qf@ I٘i)I9v@YPG J<JJJJ"E&K7x> YM]~?yIQAl@b"E7777Y8B)hBݹE[[k/'@[D>]~?[ [[[[BZYY i) 3P;o; 39))39qX@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032167.303165 s, next control iter: 1743032167.663174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 56662, header.stamp.nsec: 020 temperature: 13.3850082* salinity: 33.3917272, density: 1025.0000002* values[0]: 0.7040142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032167.683165 s.lzH~,^#AJ"J*J2J:JBJnJvJAQ"@A>!@A+^~? A+dA&"AAhYuNA"AZAbAjArAzAAASc5@ArA w@A`<A+A/@AjA?A<*AȆ9?2Aֽ:A BAȆ9?JAֽRA ٘i)I9w@YG J<JJJJ"E&K Y7]~?yQAh"E{7j78)bB[[(@[&]~?[[[[[BZYY i) cD; =D8))=D8xY@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032167.683165 s, next control iter: 1743032168.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743032168.103165 s.H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032168.103278F (some fields omitted in printout)A= ףp"@A<͌V"@A^~? A^AsF&"AA=uNA"AZAbAjArAzAAABlE5@AzrrANx@AlAEA!@AKAM?A^<*A9?2A@ֽ:A^BA9?JA@ֽRA^٘i)I9Nx@Y G J<JJJJ"E&K Yr!]~?y6RAm"Ej78!B)^BڹE[[)@[]~?[[[[[ZZZZ¸>BZYY i¸>A) EIK7; A6))A6tD[@yYc=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032168.143165 s, next control iter: 1743032168.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032168.523165 s.H~,{!#AJ"J*J2J:JBJnJvJA("@A4D"@A؅^~? AXA'&"AAs!uNA"AZAbAjArAzAAANr5@A100rAy@AMA'~A?A"@A@_+A?A<*Az9?2Aս:A~9!BAz9?JAսRA~9!٘i)I9y@YG J<JJJJ"E&K YC ]~?y?RAs"E777٫8"B)ZB׹E[[{I+@[\~?[[[[[ZZZZBZYY i) MW#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032169.363283F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333#@AP#@A_^~? A4NA&"AAXtNA"AZAbAjArAzAAAH5@AAޔrAȭz@A<5AͣA$@AA|?A(=*A9?2A",ֽ:A üBA9?JA",ֽRA üY@B$@y`i5ٓHR%??SwxO?|(?)@ I٘i)I9z@YG J=J<JJJ#E&Kpw> Y<\~?ySA$@}"E/8%B)PBӹE[[7-@[\~?[[[[[ZZZZBZYY i) gA?Ac*<*Ag9?2AC{ֽ:AŐĻBAg9?JAC{ֽRAŐĻ٘i)I9E|@YG J<JJJJ #E&K Y\~?yߧZTA"E7778(B)FB͹E[[50@[Օ\~?[#[[[[ZZZZBZYY i) AC< |.))|.c@E*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743032170.643165 s, next control iter: 1743032171.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5669, header.stamp.nsec: 00 temperature: 13.384142* salinity: 33.391727, density: 1025.000000* values[0]: 0.708084F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032171.043165 s.ȨH~,#AJ"J*J2J:JD5?BJD5?nJ>5vJA{Ga%@At/G%@A ^~? A::A&"AAltNA"AZAbAjArAzAAADMK4@A[ShOrADc}@Ag<A 4A"*@AA ?A<*Al9?2A#]ֽ:Ak)<BAl9?JA#]ֽRAk)<٘i)I9c}@Y8G J<JJJJ#E&K Y}\~?yB֧*UA"Eb778*B)?BʹE[[sW3@[d\~?[a[[[[ZZZZBZYY i) !JJJ#E&K%x> Yd\~?yPҧ#UAn+@"E77778,B)=BǹE[[G4@[K\~?[[[[[ZZZZBZYY iK{) av5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.061505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743032171.883330F (some fields omitted in printout)AQ8&@AD<&@A]~? A1A&"AA,tNA"AZAbAjArAzAAAMGyq3@A 4`rA"~@Ay^Aɜ<A,@AA@1?A;*Aԛ9?2Aֽ:AT<BAԛ9?JAֽRAT<٘i)I9~@YG J\<JJJJ #E&K Y,K\~?y_ΧUA"Eb77/8.B)>B¹E[[6@[2\~?[;[[[[ZZZZBZYY iݓ) c/=A]/@AA R?Ar*A9?2ABֽ:Av<BA9?JABֽRAv<٘i)I9(~@YG Jk9B=JJJJ+#E&K Y\~?y|ƧUA"E7ŧ780B)>BE[[98@[\~?[[[[[BZYY i) =&))>&k@ZYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743032173.163165 s, next control iter: 1743032173.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032173.563165 s.H~,_ d#AJ"J*J2J:JBJnJvJAffff'@AR'@A]~? AG A!&"AAsNA"AZAbAjArAzAAA 2@AvxurAF}@A;Alu=Ax1@A A?Aa0*A9?2Aֽ:A3=BA9?JAֽRA3=Yb#@1@y;u=s;ٓH@Rֿ| ?@?`6y?@!?)b#@ I٘i)I9}@Y{G J B=J>JJJ6#E&Kv>  8Y[~? 8ymTA1@"E782B)DBE[[B;@[[~?[ߧ[[[[BZYY iSf) 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743032174.403316F (some fields omitted in printout)A ףp(@A1Z(@A\]~? AA!&"AAasNA"AZAbAjArAzAAAi^@2@AprA}@A<A=A*s4@AA`?As*A9?2ANս:AT=BA9?JANսRAT=٘i)I9}@YG JꀼJJJJA#E&K Yޯ[~?y1TA"E77085B)MBE[[x=@[*[~?[ۧ[[[[BZYY i) x;I9D?i׫?[< z."))z.";o@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032174.423165 s, next control iter: 1743032174.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5673, header.stamp.nsec: 00 temperature: 13.384083* salinity: 33.391720, density: 1025.000000* values[0]: 0.708687F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032174.823165 s.H~,-#AA\()@A `)@AD]~? A4Am!&"AA>sNA"AZAbAjArAzAAALM1@A(`nrA|@Aq8<A=A5@AZ.A`)?AH*A9?2AEֽ:AR=BA9?JAEֽRAR=٘i)I9|@YG JJJJJF#E&K Yn[~?ySA"Eb7[8)QB[[$?@[[~?[ڧ[[[[BZYY iP) ;ID?i:?f<  )) Iq@yf;ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032174.843165 s, next control iter: 1743032175.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032175.243165 s.J "J *J 2J :J N5?BJ N5?nJ >5vJ H~,y#AAGz)@Aʩaz)@A'-]~? AAU8"&"AAsNA"AZAbAjArAzAAA!War1@Aq=lrA |@ALAi=A%7@A cA@H?AR*Aڝ9?2A*ֽ:A =BAڝ9?JA*ֽRA =٘i)I9 |@YhG JsJJJJK#E&K Y{[~?ymSA"E{7j786B)VBE[[j@@[5j[~?[}٧[[[[BZYY i) ζ;IE?it?r< ~))~$r@yfѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032175.283165 s, next control iter: 1743032175.643181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032175.663165 s.H~,q#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743032175.663299F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5674, header.stamp.nsec: 00 temperature: 13.384337* salinity: 33.391743, density: 1025.000000* values[0]: 0.707698F (some fields omitted in printout)A*@A)@AY]~? AAKy"&"AA rNA"AZAbAjArAzAAAGh4*1@AZ-jrA{@A/ZAgX=A~8@AA 1f?Ak*A9?2A ׽:A=BA9?JA ׽RA=Ywh*@n8@yT=ZٓH@Oaп@ae?`e@ y?@&ER?)wh*@ I٘i)I9{@YG JB=J|=JJJQ#E&K&x> Y_[~?ySAn8@"Eb7b7%88B)\BE[[A@[P[~?[ا[[[[BZYY i) Ӝ;I#E?i8?oy< 4())4(s@y^ ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032175.683165 s, next control iter: 1743032176.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032176.083165 s.DH~, S#AJ"J*J2J:JBJnJvJARk*@AYnQ*@AU\~? Ax AJ"&"AArNA"AZAbAjArAzAAAҙc0@A]?hrAlz@Ay0Aט=A(9@AhA?A Ф*Aͥ9?2A ׽:AZl=BAͥ9?JA ׽RAZl=٘i)I9z@YG JC=JJJJV#E&K YmD[~?yoRA"Eŧ77,8:B)bBE[[IB@[7[~?[ק[[[[BZYY i) bt;I9E?i?0-< u))u@@u@kӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032176.103165 s, next control iter: 1743032176.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032176.503165 s.H~,@4 #AAp= *@A\*@A\~? AAQ"&"AAIrNA"AZAbAjArAzAAA:d;0@A+yfrAnz@A!t4A!=A;@AAj?A'*Aީ9?2Aֽ:Ag5=BAީ9?JAֽRAg5=٘i)I9nz@YkG JyB=JJJJ[#E&K Y!)[~?y+9RA"E777748;B)hBE[[AD@[[~?[ק[[[[BZYY i) zu8;I-PE?iM?< ș))șv@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032176.543165 s, next control iter: 1743032176.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5675, header.stamp.nsec: 00 temperature: 13.384601* salinity: 33.391750, density: 1025.000000* values[0]: 0.706645F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032176.923165 s.7H~,;#AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743032176.923296F (some fields omitted in printout)A(\B+@Av(+@A\~? AAc*#&"AAurNA"AZAbAjArAzAAA1͢M0@A~[FerAy@A`s9A>=AU<@AA{?A.*A9?2A`ֽ:AR!=BA9?JA`ֽRAR!=٘i)I9y@YG JתC=JJJJa#E&K Y [~?y驧QA"E770;8K:<A=A=@AXBA?A *A&9?2A?ֽ:A_=BA&9?JA?ֽRA_=٘i)I9Ly@YG JJJJJf#E&K YZ~?ykQA"E77{7[B8)rB[[vF@[:Z~?['֧[[[[BZYY i) ~:IE?i?< H))Hm y@ΪYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743032177.363165 s, next control iter: 1743032177.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5676&, header.stamp.nsec: 0&0 temperature: 13.384870&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.705534&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032177.763165 s.7H~,p#AJ"J*J2J:JBJnJvJA,@Awӂ+@Ac\~? AA#&"AA>rNA"AZAbAjArAzAAAGp/@A)x&brAx@A <A誓=A>@AgA?AѮ*A89?2Af ֽ:A =BA89?JAf ֽRA =٘i)I9x@YaG JׯJJJJl#E&K YGZ~?ycQA"E77I8=B)xBE[[2H@[Z~?[է[[[[BZYY i) psU8IcE?i?vt< )))Gz@v˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032177.803165 s, next control iter: 1743032178.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032178.183165 s."H~,^#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743032178.183262F (some fields omitted in printout)AQ,@A@-k,@A{\~? ALA#&"AA_rNA"AZAbAjArAzAAA.@AX~`rA'x@A{S<Aߐ=A/@@AA?A-*A9?2A#Qֽ:AL=BA9?JA#QֽRAL=٘i)I9'x@YG J¬JJJJq#E&K YZ~?y PA"E77{7P8>B)}BE[[=I@[sZ~?[է[[[[BZYY i) dIE?ib?S< ))́{@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032178.203165 s, next control iter: 1743032178.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032178.603165 s.=4)H~,Ț#AJ"J*J2J:JBJnJvJA= ף,@A4ތ,@Ami\~? A!A#&"AAqNA"AZAbAjArAzAAA_A.@AFhh_rAsw@A%;AH=AA@A@CA 8?AUm*A9?2A^ֽ:Adg<BA9?JA^ֽRAdg<٘i)I9w@YG JJJJJv#E&K YZ~?yݠ6PA"Eb7b7W8@B)BE[[IuJ@[mZ~?[է[[[[BZYY i) |IE?iu@< uf))uf@|@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032178.643165 s, next control iter: 1743032179.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5677 , header.stamp.nsec: 0 0 temperature: 13.385153 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.704431 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032179.023165 s.Z0H~,{#AA(\-@A]B-@A;P\~? AA$&"AArqNA"AZAbAjArAzAAAW?"-@A0..^rAw@AA嫋=AFB@AwAX?Amg*A9?2A׽:AM<BA9?JA׽RAM<٘i)I9w@YdG JaJJJJ|#E&K YjZ~?yOA"E{7{7_8AB)BE[[fK@[Z~?[:֧[[[[BZYY i) r1IE?i@{< X2))X2]}@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032179.043165 s, next control iter: 1743032179.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032179.443165 s.<6H~,S]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743032179.443292F (some fields omitted in printout)J"J*J2J:JBJnJvJAz-@A *-@A6\~? AGAN;$&"AA*qNA"AZAbAjArAzAAAp*+i-@An]rAv@AAu‰=A49D@AA`w?AK*A&9?2A2׽:AP=<BA&9?JA2׽RAP=<٘i)I9v@YG JJJJJJ#E&K Y!jZ~?yVhOA"E7)71f8@B)BE[[L@[4uZ~?[֧[[[[BZYY i) ,nI F?i&@K< ))@׽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032179.463165 s, next control iter: 1743032179.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5678, header.stamp.nsec: 00 temperature: 13.385407* salinity: 33.391731, density: 1025.000000* values[0]: 0.703373F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032179.863165 s.+=H~,>#AA33333.@A|$%.@Av\~? AA]$&"AAqNA"AZAbAjArAzAAAGu,@A@k\rA#v@AvnAM=AE@A@A ?A㑎*A[9?2A? ׽:A<BA[9?JA? ׽RA YMZ~?yכ OAtE@#E77\m8)BE[[N@[\Z~?[ק[[[[BZYY i) J7I*F?i@a< ))-@ԻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032179.903165 s, next control iter: 1743032180.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032180.283165 s.>RDH~J,#A"J*J2J:J3?BJ3?nJ<5vJAQ.@A름.@A\~? AAY}$&"AAZqNA"AZAbAjArAzAAAGI[+@AC m[rAu@AgAs=AF@A@A ?A*AR9?2Aֽ:A#D<BAR9?JAֽRA#D<٘i)I9u@YG JC=JJJJ#E&K Y1Z~?yYNA #E77t8)B[[pPO@[DZ~?[ק[[[[BZYY i) NIJF?i@|U< O))O3ʀ@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032180.303165 s, next control iter: 1743032180.683180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 56792, header.stamp.nsec: 020 temperature: 13.3856522* salinity: 33.3917472, density: 1025.0000002* values[0]: 0.7024512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032180.703165 s.ֺJH~,-#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032180.703269F (some fields omitted in printout)Aףp= /@Au?.@AD[~? AA$&"AAG3qNA"AZAbAjArAzAAAY>+@A7kDZrA3u@Ao;A=AH@A -Ap?AN*A9?2AVֽ:A<BA9?JAVֽRA<٘i)I93u@Y<G JB=JJJJ#E&K Y|Z~?yٚUNA#Eb77{8AB)BE[[?P@[,Z~?[ا[[[[BZYY i) oԻIkF?ij@b< R))Rf@IYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743032180.743165 s, next control iter: 1743032181.103178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032181.123165 s.;QH~,mG#AJ"J*J2J:J3?BJ3?nJo<5vJA)\u/@Aj[/@A[~? AA$&"AA\ qNA"AZAbAjArAzAAA Foߢ*@A>nYrAzt@A9x<Aa͆=A3HA`?AC?A*A9?2AL)ֽ:A6=BA9?JAL)ֽRA6=٘i)I9t@YG JC=JJJJ#E&K YOY~?y[MA#E77ۂ8BB)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #25q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) ΁)yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032181.163165 s, next control iter: 1743032181.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032181.543165 s.IXH~,b#AA{G/@Ad ./@A[~? AvA$&"AASpNA"AZAbAjArAzAAAbq*@A|ԥXrABt@A ~<A=AGA .OA=?A*A9?2ArEֽ:A'=BA9?JArEֽRA'=٘i)I9Bt@YG JJJJJ#E&K YY~?yܙMA#Eŧ7ŧ78)BE[[R@[rY~?[ڧ[[[[BZYY i) #O IkF?i@I<  ))  ԛ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032181.563165 s, next control iter: 1743032181.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5680, header.stamp.nsec: 00 temperature: 13.385893* salinity: 33.391747, density: 1025.000000* values[0]: 0.701542F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032181.963165 s.^H~,}#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200682 time: 1743032181.963338F (some fields omitted in printout)J"J*J2J:JBJnJvJAL0@AP20@Aל[~? AA$&"AApNA"AZAbAjArAzAAAai)@AptbXrAs@A;AN=A]FA(oAް?Aь*AƆ:?2AC½:A"l=BAƆ:?JAC½RA"l=Y=@FyI = |;ٓH"n2?@.ib@=Wt?`c@|=?l?)=@ I٘i)I9s@YaG JB=J_h:JJJ#E&Kj> YY~?y6BMAF#E728CB)BE[[+T@[Y~?[ۧ[[[[BZYY i) ISF?iA"@g<  )) 7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032182.003165 s, next control iter: 1743032182.363222 s, wait time: 0.360057 s rAdjusting time to match Gazebo time: 1743032182.383165 s.eH~,@#AAQ0@A:0@Aڂ[~? AA+$&"AAĖpNA"AZAbAjArAzAAAx3(@ANWrAxVs@A AA(=AEAwAT?A&*Aa:?2A,ý:A4&=BAa:?JA,ýRA4&=٘i)I9Vs@YG JC=JJJJ#E&K YY~?yLA$#Eb7b7\8)BE[[`U@[EY~?[,ݧ[[[[BZYY i) &_(IF?iP%@ < ;{ ));{ =҃@JY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032182.403165 s, next control iter: 1743032182.783180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5681&, header.stamp.nsec: 0&0 temperature: 13.386108&* salinity: 33.391735&, density: 1025.000000&* values[0]: 0.700643&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032182.803165 s.wAlH~,{g#AJ"J*J2J:J]3?BJ]3?nJ<5vJAq= #1@AB 1@Ah[~? A]A-$&"AA\opNA"AZAbAjArAzAAAǍ6-(@AfQWrAr@A9gAˍ=ADA Aק?Ak*A:?2A\6ƽ:APf=BA:?JA\6ƽRAPf=٘i)I9r@YG JJJJJ#E&K YjY~?yꚧLA &D)#E7778)BE[[]V@[Y~?[ާ[[[[BZYY i) 7I%F?i(@< aG ))aG *l@ªYyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032182.823165 s, next control iter: 1743032183.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032183.223165 s.gsH~,H#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032183.223277F (some fields omitted in printout)A(\1@A1|DLu1@AN[~? AA%&"AAGpNA"AZAbAjArAzAAAoM'@A%k`WWrA,nr@A#AfА=A|CAA ?AhI*A9:?2AOȽ:A&=BA9:?JAOȽRA&=٘i)I9nr@YG J݊JJJJ#E&K Y.lY~?yD.LA.#E{7{78)B|E[[FW@[Y~?[D[[[[BZYY i) oGIFG?i,@!< y))y@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032183.243165 s, next control iter: 1743032183.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032183.643165 s.yyH~,*#AJ"J*J2J:JBJnJvJAG1@A}>1@A4[~? AA %&"AAc pNA"AZAbAjArAzAAA"&@A,&WrAq@A;!A=A+GBA A@uN?A*A :?2Adk˽:A =BA :?JAdk˽RA =٘i)I9q@YCG JFJJJJ#E&K YOY~?yKA4#E77ܭ8DB)ByE[[X@[8Y~?[[[[[BZYY i) VILCG?i0@d< ))霅@C˪YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743032183.663165 s, next control iter: 1743032184.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5682, header.stamp.nsec: 00 temperature: 13.386320* salinity: 33.391724, density: 1025.000000* values[0]: 0.699754F (some fields omitted in printout)OY~?) rAdjusting time to match Gazebo time: 1743032184.063165 s.H~,_ #AAfffff2@Ae5]OL2@A[~? AmA%&"AAoNA"AZAbAjArAzAAA|7gS&@A z  WrAtq@Ad;A=AM AAAo;?A@:*A=:?2AUͽ:Aߜ =BA=:?JAUͽRAߜ =YC@Ay=;;ٓH`?;@ǿ |Ҳ+a?`?)C@ I٘i)I9tq@YG JϘJ'<JJJ#E&K^P> Y3Y~?ymKAA9#E778)B[['Z@[drY~?[[[[[BZYY i) E!fIiG?i3@)< ߳))߳5@,ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032184.083165 s, next control iter: 1743032184.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032184.483165 s.z_H~,#AJ"J*J2J:J3?BJ3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032184.483297F (some fields omitted in printout)A2@APL۷2@A|[~? AgA%&"AAKoNA"AZAbAjArAzAAA F%@A$6WrAip@AP<A=A?AōA@/vA˦*A:?2ALdϽ:A=BA:?JALdϽRA=٘i)I9p@YG J%JJJJ#E&K YY~?yҝKA>#E728)BvE[[NX[@[[Y~?[[[[[BZYY i) YLuIIG?i6@'%< q))q"Ά@XҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032184.503165 s, next control iter: 1743032184.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5683, header.stamp.nsec: 00 temperature: 13.386557* salinity: 33.391727, density: 1025.000000* values[0]: 0.698817F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032184.903165 s.ȍH~,9#AA ףp=3@A Y#3@AbZ~? AA %&"AAoNA"AZAbAjArAzAAA,%@A܌WrA^p@A9<A=Ax>AA@J#A*Av:?2A_(ѽ:Agz=BAv:?JA_(ѽRAgz=٘i)I9^p@YKG JJJJJ#E&K YX~?y잧JAD#E)7b7\8)BsE[[Ɇ\@[wEY~?[[[[[BZYY i) :IdG?i:@!< T))T`e@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032184.923165 s, next control iter: 1743032185.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032185.323165 s.xH~,-T#AJ"J*J2J:JBJnJvJA\3@Aiݎ3@ALZ~? AA %&"AA0oNA"AZAbAjArAzAAAx$@AUSJWrAo@A&A<A=ӛ=A>=A AЍAלּ*A}m:?2Aҽ:A=BA}m:?JAҽRA=٘i)I9o@YG J֬JJJJ#E&K YX~?y=JAI#E778)ƯBpE[[O]@[i/Y~?[7[[[[BZYY i~)  ЉI_G?i>@< o())o(@I֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032185.343165 s, next control iter: 1743032185.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5684*, header.stamp.nsec: 0*0 temperature: 13.386843** salinity: 33.391727*, density: 1025.000000** values[0]: 0.697767*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032185.743165 s.$WH~,o#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743032185.743307F (some fields omitted in printout)AGz4@AXƆn3@A=Z~? AIA%&"AAZoNA"AZAbAjArAzAAA9s#@A@ڑWrA Y`X~?y nIAg:T#Eb778)ϯBjE[[e `@[Y~?[ [[[[BZYY i) hᘼI6H?iE@< ))'@\٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032186.183165 s, next control iter: 1743032186.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032186.583165 s.H~,S#AAR4@Auo4@A>~Z~? AA$&"AA oNA"AZAbAjArAzAAA;M."@AǣamXrA"n@AXA}=AU8AphADA*AL:?2A3Wֽ:AA=BAL:?JA3WֽRAA=٘i)I9"n@YG JPJJJJ#E&K YX~?yIAY#E7778)ԯBgE[[s7a@[/X~?[[[[[BZYY i) P\IaH?iH@Q= H))H@ynܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032186.603165 s, next control iter: 1743032186.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5685, header.stamp.nsec: 00 temperature: 13.387094* salinity: 33.391727, density: 1025.000000* values[0]: 0.696709F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032187.003165 s.x H~,L4#AJ"J*J2J:J[2?BJ[2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743032187.003311F (some fields omitted in printout)Ap= W5@AO<5@AUdZ~? AA<$&"AA}nNA"AZAbAjArAzAAAu#o"@AYrAԔm@AI^A^=AF7AXA@A!*A1A:?2Aֽ:A =BA1A:?JAֽRA =ԗI٘i)I9m@YG JJJJJ#E&K YeqX~?yHA_#E)7ŧ738)دB[[ bb@[X~?[X[[[[BZYY i) اIH?iK@x= k))kS@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032187.043165 s, next control iter: 1743032187.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032187.423165 s.uH~,#AA(\5@A|E{5@AJZ~? AAE$&"AAFnNA"AZAbAjArAzAAAZee!@AlbYrA3m@AڕhA,h=Am6AFA̻A*AN6:?2Amֽ:AI=BAN6:?JAmֽRAI=٘i)I9m@Y?G JƯJJJJ#E&K YUX~?y0HAd#E{7{7]8)ݯBdE[[c@[X~?['[[[[BZYY i) SI[H?iO@g= '))'Q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032187.443165 s, next control iter: 1743032187.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5686, header.stamp.nsec: 00 temperature: 13.387360* salinity: 33.391727, density: 1025.000000* values[0]: 0.695647F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032187.843165 s.ݼH~,#AJ"J*J2J:JBJnJvJAHz.6@A$"6@A0Z~? AA+$&"AA-nNA"AZAbAjArAzAAA1{ @AdԳvZrAel@A<AA=AZ-5A@2AlA̾*A%,:?2Aj:ֽ:Ac=BA%,:?JAj:ֽRAc=٘i)I9el@YG JVJJJJ#E&K Yk:X~?yGAi#E778)BaE[[Vd@[X~?[[[[[BZYY i) ϶IH?iS@w= T))Tz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032187.863165 s, next control iter: 1743032188.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032188.263165 s.H~,0#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743032188.263319F (some fields omitted in printout)A6@AN6@AZ~? AsA$&"AA6onNA"AZAbAjArAzAAAv- @AU[rA.k@Au#<A=A3AA^AIƼ*A":?2A 5ֽ:Ay=BA":?JA 5ֽRAy=YGP@3y=ۘ<ٓH`%@n?^ Կ vC_@oAD?2?)GP@ I٘i)I9k@Y|G Jv¼J<JJJ#E&Kz> YX~?yRGA3o#Ej7j78)B^E[[e@[QX~?[[[[[BZYY i) III?iV@ = ))p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032188.283165 s, next control iter: 1743032188.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 56872, header.stamp.nsec: 020 temperature: 13.3876442* salinity: 33.3917082, density: 1025.0000002* values[0]: 0.6945002F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032188.683165 s.lH~,^+#AJ"J*J2J:J1?BJ1?nJm:5vJAQ7@A9 6@AY~? A Ay$&"AAdHnNA"AZAbAjArAzAAAhb%@ASN\rAk@A2Dw<A=A2AA}ÿAVeʼ*A:?2A!}ֽ:A/ =BA:?JA!}ֽRA/ =٘i)I9k@YG JȼJJJEJ#E&K  8YX~? 8yٰFAt#E{78DB)B\E[[%g@[ӅX~?[F[[[[BZYY i) iżIiX@Ƽ = 3))3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032188.683165 s, next control iter: 1743032189.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743032189.103165 s.H~,F#AA= ףp7@AvV7@AY~? AA Y$&"AA!nNA"AZAbAjArAzAAAH`@AK`]rA.oj@A/a;A`=A:1A`:A`aſAʼ*A:?2Aֽ:Aϒ=BA:?JAֽRAϒ=٘i)I9oj@YG JʼB=JJJJ#E&K YcW~?ylFAy#E77 8)BYE[[*h@[qX~?[[[[[BZYY i) ̼Ii[@ = Oc))Oc←7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032189.123165 s, next control iter: 1743032189.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032189.523165 s.H~,|a#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032189.523288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(7@A7o7@AY~? AAW5$&"AACmNA"AZAbAjArAzAAAKN@A8d^rAi@ASAP=A/AA:EǿAɼ*A< :?2Aɀ׽:AC=BA< :?JAɀ׽RAC=٘i)I9i@YFG JʼC=JJJJ$E&K YW~?yEA#E{738)BVE[[>Oi@[]X~?[[[[[BZYY i) FԼIiZ_@;= ))ɍ@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032189.543165 s, next control iter: 1743032189.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5688, header.stamp.nsec: 00 temperature: 13.387954* salinity: 33.391701, density: 1025.000000* values[0]: 0.693269F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032189.943165 s.\dH~,S]|#AAzG8@A#AJ"J*J2J:JBJnJvJA33338@Aƅ!8@AY~? AAj#&"AAmNA"AZAbAjArAzAAA_l6AJ]@Ag.arAph@A&AY=A.-AALʿABͼ*A9?2AȨ׽:A=BA9?JAȨ׽RA=YV@E-yj=ٓH@ ? ڿ`Al wb@"?)V@ I٘i)I9ph@Yw G Jm˼B=J)<JJJ $E&KSy> YtW~?y& EAE-#E7777 8)BSE[[k@[6X~?[ [[[[BZYY i) IiEe@= /))/迩O@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032190.383165 s, next control iter: 1743032190.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5689&, header.stamp.nsec: 0&0 temperature: 13.388275&* salinity: 33.391708&, density: 1025.000000&* values[0]: 0.692020&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032190.783165 s.\H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032190.783296F (some fields omitted in printout)AQ9@A9@AY~? AmAJ#&"AAmNA"AZAbAjArAzAAA;/@A~k"brAog@AXAy9=A+A`\_A̿AԼ*AS9?2A>A׽:A=BAS9?JA>A׽RA=٘i)I9g@Y G JмC=JJJJ$E&K Y߁W~?yDA#Eb77'8CB)BPE[[tl@[H#X~?[[[[[ZZ¸BZYY i¸ >=) vּIig@K= <))<濩@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032190.803165 s, next control iter: 1743032191.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032191.203165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ H~,#AAףp=9@Au(%p9@AfY~? AA##&"AAcmNA"AZAbAjArAzAAA@Aʍ-3drA g@A=;A=A5*A 68AsοA)ܼ*A,9?2Aֽ:A=BA,9?JAֽRA=٘i)I9 g@Y G J5ؼJJJJ$E&K YIhW~?yħDA#ESI787.8) BME[[m@[LX~?[U[[[[ZZBZYY i) QnʼIij@_= w))w㿩}@0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032191.223165 s, next control iter: 1743032191.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032191.623165 s.XH~,a#AA)\9@A9@AgNY~? AAS#&"AA.>mNA"AZAbAjArAzAAAu%Q@A4#;GerA=f@A]W<A$=An)A@ A$-пAP*Av9?2Amsֽ:A«=BAv9?JAmsֽRA«=٘i)I9=f@Y G JeJJJJ$E&K YNW~?y?ȧCA#E777768)BJE[[)o@[W~?[.[[[[ZZBZYY i) eIim@&= +))+Ῡ@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032191.643165 s, next control iter: 1743032192.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5690 , header.stamp.nsec: 0 0 temperature: 13.388570 * salinity: 33.391712 , density: 1025.000000 * values[0]: 0.690733 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032192.043165 s.H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083126< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032192.043296F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga:@AKu/G:@A6Y~? A A#&"AA#mNA"AZAbAjArAzAAAt@AA0kgrAXe@A$<A=A$(A .AѿAN*Av:?2A~ֽ:AH<BAv:?JA~ֽRAH<٘i)I9Xe@Y G J"JJJJ"$E&K Y5W~?y˧(CA#Eb773=8)B[[#p@[HW~?[[[[[ZZBZYY i) *\IiNq@o= ;p߿));p߿3@y=ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743032192.063165 s, next control iter: 1743032192.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032192.463165 s.[H~,#AA:@Ag:@AY~? A A"&"AAalNA"AZAbAjArAzAAAcs<@A!(}cnirA|d@A/<A:u=A&AAѿA*A :?2ALֽ:A&q<BA :?JALֽRA&q YW~?yrЧBA&#E77{7^D8BB)BHE[['Gq@[W~?[.![[[[ZZBZYY i) wIis@= /)ݿ))/)ݿő@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032192.483165 s, next control iter: 1743032192.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5691, header.stamp.nsec: 00 temperature: 13.388965* salinity: 33.391685, density: 1025.000000* values[0]: 0.689140F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032192.883165 s.y H~,@8#AJ"J*J2J:Jk0?BJk0?nJ85vJAQ8;@AF;;@AY~? AA"&"AAlNA"AZAbAjArAzAAAdk@Ay(\krAc@A.oAɧ0=A-z%AAҿA elevatorAngleAction: 0.083126< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743032193.303280F (some fields omitted in printout)Aq= ף;@A;@A7X~? AAi"&"AA«lNA"AZAbAjArAzAAA>K@AQ6amrAc@A JAp<A($A@JRAӿA*A: :?2A7ֽ:Au 2BA: :?JA7ֽRAu 2٘i)I9c@Y6 G JqJJJJ2$E&K Y4V~?yq٧0BA#Eŧ7b7R80B)BBE[["s@[>W~?[)[[[[ZZBZYY i) Iiw@= ;ؿ));ؿ@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032193.343165 s, next control iter: 1743032193.703181 s, wait time: 0.360016 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5692., header.stamp.nsec: 0.0 temperature: 13.389304.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.687736.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032193.723165 s.H~,Hn#AJ"J*J2J:JBJnJvJA(\<@A@I;@AX~? AyA'"&"AAlNA"AZAbAjArAzAAAŎ|.@AaS\~orAb@A[A<A'"AA@ԿAw*A:?2Aֽ:A(BA:?JAֽRA(٘i)I9b@Y G J^B=JJJJ8$E&K YV~?yݧAA#Eb77Y8)B[[Ht@[ۣW~?[-[[[[ZZBZYY i) PIiz@R| = `ֿ))`ֿw@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032193.743165 s, next control iter: 1743032194.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032194.143165 s.S/"H~,)#AAGz<@A`<@AfX~? AA!&"AAmdlNA"AZAbAjArAzAAA$:@A[qrAAb@A$XdAHѻA!A`,AnտAS+*A9?2A,ֽ:AӻBA9?JA,ֽRAӻ٘i)I9Ab@Y G JWC=JJJJ=$E&K YV~?ypAA#EZ7Z7 a8)B?E[[u@[ΒW~?[I2[[[[ZZBZYY i) "tIi~@"= #Կ))#Կ@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032194.163165 s, next control iter: 1743032194.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032194.563165 s.(H~,c #AJ"J*J2J:J/?BJ/?nJ}85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083126< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032194.563319F (some fields omitted in printout)Affff<@AdT<@AXX~? AA!&"AAJAlNA"AZAbAjArAzAAA @A$dsrAb@A^PAA@ AA`uIֿA";˻*Ap9?2Aֽ:A԰BAp9?JAֽRA԰Yc@? yjiPٓH@ ?? Q?5? j`3?)c@ I٘i)I9b@Y G J JDJJJC$E&K|x> Y٤V~?yAA? #Eb774h8)B#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069395< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743032195.823326F (some fields omitted in printout)A\(>@AR>@AdX~? A)Ag &"AA2kNA"AZAbAjArAzAAA^@Af{rAb@Ajo<A?\A MA`bAؿA;*AH9?2A(׽:ANBAH9?JA(׽RAN٘i)I9b@Y G J ;B=JJJJS$E&K Y`V~?yuAA#E)7b7}8/B)B7E[[qIz@[PW~?[D[[[[BZYY i) 5+Ii*@'= $˿))$˿F@yܹ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032195.843165 s, next control iter: 1743032196.223183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032196.243165 s.CH~,m#AJ"J*J2J:J/?BJ/?nJ[85vJAGz>@A~4bz>@ANX~? AO.AZ_ &"AAkNA"AZAbAjArAzAAASqTA|@Ai ~rABb@Ač;APl{AAIAٿA1<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Bb@Y G J <C=JJJJX$E&K YIV~?yBA#E{7{7ބ8)B4E[[Uf{@[1AW~?[I[[[[BZYY i) \Ii@)= ȿ))ȿ&Ֆ@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032196.263165 s, next control iter: 1743032196.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032196.663165 s.JH~,q*#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5695, header.stamp.nsec: 00 temperature: 13.389552* salinity: 33.391659, density: 1025.000000* values[0]: 0.687000F (some fields omitted in printout)A?@A6v>@A9X~? A2A &"AAkNA"AZAbAjArAzAAAE+9m@ATĀrAEb@AAىAAkqA b]ڿAZBm<*A9?2ARWֽ:A6BA9?JARWֽRA6YXj@yىcyٓH9?߫?rd@?7?i|??)Xj@ I٘i)I9b@Y G JdM<J)JJJ]$E&Kqw> Y4V~?yvBA#Eb7b7 8)B[[|@[1W~?[N[[[[BZYY i2?g=) 9 IiD@*= ƿ))ƿSd@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032196.683165 s, next control iter: 1743032197.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032197.083165 s.EQH~J"J*J,&SE#A2J:J/?BJ/?nJj85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743032197.083331F (some fields omitted in printout)ARk?@AooQ?@A#X~? A_7AE&"AAvkNA"AZAbAjArAzAAATN<Ƽf@A5nrA|c@AedAYASA^,A#ۿAnR<*A9?2Azֽ:ABA9?JAzֽRA٘i)I9c@Y+ G J<JJJJc$E&K Y V~?yBA#Eŧ7748)B0E[[S}@["W~?[S[[[[BZYY i) mIi@ϗ+= rĿ))rĿ%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032197.103165 s, next control iter: 1743032197.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032197.503165 s.WH~,P4`#AAp= ?@A9B?@AX~? A<ALV&"AAVkNA"AZAbAjArAzAAA$Q ?A(vrANc@A`AØAd8A`A`uۿAk<*A9?2A=ֽ:A)3BA9?JA=ֽRA)3٘i)I9c@Yy G J/<JJJJh$E&K Y> V~?y/CA#E77{7_8.B)B-E[[~@[W~?[X[[[[BZYY i) iֻIi@,= C9¿))C9¿@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032197.523165 s, next control iter: 1743032197.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5696, header.stamp.nsec: 00 temperature: 13.389414* salinity: 33.391617, density: 1025.000000* values[0]: 0.687798F (some fields omitted in printout)&> V~?)& rAdjusting time to match Gazebo time: 1743032197.923165 s.7^H~,{#AJ"J*J2J:J0?BJ0?nJ85vJA(\B@@A4}v(@@AW~? A@A&"AA6kNA"AZAbAjArAzAAAtl?A#nrADd@A5>A <AAҚA@ܿA <*A9?2Aֽ:A BA9?JAֽRA ٘i)I9d@Y G J<JJJJn$E&K Y^U~?yrCA#E{78/B)B.E[[@[BW~?[][[[[BZYY i) dIi0@R.= ))v@yg=Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032197.943165 s, next control iter: 1743032198.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032198.343165 s. elevatorAngleAction: 0.056457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032198.343304F (some fields omitted in printout)AHz@@A5(@@AMW~? AEA&"AAkNA"AZAbAjArAzAAAt"?AC{rAd@A;AeA_ALNA`rݿAg<*A9?2A׽:A BA9?JA׽RA ٘i)I9d@Y& G J<B=JJJJs$E&K Y{U~?ybCA#Eb7b78.B) B+E[[z@[V~?[b[[[[BZYY i˼=) [Ii@] 0= ˽))˽ݜ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032198.363165 s, next control iter: 1743032198.743180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5697*, header.stamp.nsec: 0*0 temperature: 13.389192** salinity: 33.391621*, density: 1025.000000** values[0]: 0.688897*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032198.763165 s.9kH~,'ذ#AJ"J*J2J:J[0?BJ[0?nJ85vJAA@A`@@A,W~? AKA5&"AAjNA"AZAbAjArAzAAAz!,?AIrAp3e@A9h<AA)AA@b3޿A<*A9?2A5g׽:ABA9?JA5g׽RAYp@:y뙽`h<ٓHqE?13?$@M?8?? ?)p@ I٘i)I93e@Y~ G JC<C=JJJJx$E&Kx> YU~?y ODA:#E)78)B(E[[@[,V~?[-h[[[[BZYY i) ftIi@0= ˓))˓*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032198.803165 s, next control iter: 1743032199.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032199.183165 s.rH~,s#AAQA@AVkA@AdW~? AXPAx&"AAjNA"AZAbAjArAzAAAKfI?A+:ҒrAe@A<A=˗A,AA`޿AU<*AH9?2A^׽:A9BAH9?JA^׽RA9٘i)I9e@Y G J<JJJJ~$E&K YػU~?y'DA#ESI7SI7 8)B[[@[V~?[m[[[[BZYY i) 8Ii@g1= \))\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032199.203165 s, next control iter: 1743032199.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032199.603165 s.64yH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065790< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032199.603287F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףA@A!A@AW~? AUAh&"AAǼjNA"AZAbAjArAzAAAg Bd|?AjrANf@A8/<AߟA!Af^A߿A.<*A9?2A׽:ASBA9?JA׽RAS٘i)I9Nf@Y+ G J<JJJJ$E&K YU~?y.EA#E777758-B)B%E[[4$@[GV~?[r[[[[BZYY i) Iih@p2= &))&/F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032199.623165 s, next control iter: 1743032200.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5698 , header.stamp.nsec: 0 0 temperature: 13.388970 * salinity: 33.391590 , density: 1025.000000 * values[0]: 0.689993 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032200.023165 s.ZH~,|#AA(\B@ABB@AW~? A:[A&"AAjNA"AZAbAjArAzAAA$ZYA?A#chvrAf@AiAfBA~RA A6+A<*Ap9?2A?ֽ:ABAp9?JA?ֽRA٘i)I9f@Y G J@<JJJJ$E&K Y4U~?y4EA$Ej7_8.B)B&E[[I@[UV~?[`x[[[[BZYY i) ;}Iif@^3= [))[򴿩Dӛ@yM=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032200.043165 s, next control iter: 1743032200.423184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743032200.443165 s.:ÆH~,J]#AJ"J*J2J:JBJnJvJAzB@AWB@A(W~? A`A)&"AAjNA"AZAbAjArAzAAA,)^R?A!^rA=jg@AsHAqAA A A8i<*A=9?2Aqaֽ:A+BA=9?JAqaֽRA+٘i)I9jg@Y G J]<JJJJ$E&K YbU~?y0;EA $EZ7SI78)B#E[[=@[V~?[}[[[[BZYY i) JIi@85= ))_@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032200.463165 s, next control iter: 1743032200.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5699, header.stamp.nsec: 00 temperature: 13.388734* salinity: 33.391579, density: 1025.000000* values[0]: 0.691115F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032200.863165 s.+H~,>7#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065790< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743032200.863338F (some fields omitted in printout)A33333C@A5($C@AqW~? AfAl#&"AAfjNA"AZAbAjArAzAAA¨W?AfqdrAg@AΊAՍA A bA@Ah<*A9?2A]ֽ:A>BA9?JA]ֽRA>Ycw@ yЍ>$ٓH@j? ׫?# &?v?Y`0?)cw@ I٘i)I9g@Y. G JL<B=Jvf<JJJ$E&K:x> YrU~?yRBLFA $Eb7b78)B[[<˃@[`V~?[|[[[[BZYY i) i:Iiٍ@5= ))7@X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032200.883165 s, next control iter: 1743032201.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032201.283165 s.7RH~,R#AJ"J*J2J:J1?BJ1?nJ95vJAQC@A9ߡC@A_W~? AmlAl&"AA8KjNA"AZAbAjArAzAAAD)Ul¿A-ӓnrA!h@AWPA'Au A`o A,Az<*AE9?2Aֽ:ABAE9?JAֽRA٘i)I9h@Y G J<C=JJJJ$E&K Y4bU~?yqIFA$EZ7SI78-B)B E[[EX@[[V~?[$[[[[BZYY i) W :IiN@&6= kV))kV@z@u*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743032201.303165 s, next control iter: 1743032201.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 57002, header.stamp.nsec: 020 temperature: 13.3884902* salinity: 33.3915562, density: 1025.0000002* values[0]: 0.6922462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032201.703165 s.պH~, m#AAףp= D@A;r3C@A>NW~? AdrA/?&"AA?0jNA"AZAbAjArAzAAA={ֿA #"rAi@AAkA A\߿AAX<*AQ9?2A1 ׽:AKBAQ9?JA1 ׽RAK٘i)I9i@Y G J[<B=JJJJ$E&K YQU~?yP GA$E)7ŧ7 8.B)B!E[[>@[V~?[ێ[[[[BZYY i) m5;Ii@6= "))"9@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032201.723165 s, next control iter: 1743032202.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032202.123165 s.J "J *J 2J :J Z1?BJ Z1?nJ 95vJ CH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065790< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032202.123298F (some fields omitted in printout)A)\uD@AZ![D@A=W~? AwxA&"AAjNA"AZAbAjArAzAAA/"A;$FOrAR~i@Aj%<AgAA޿A`A<*A9?2A7_׽:ABA9?JA7_׽RA𼙘٘i)I9~i@YG J<C=JJJJ$E&K YAU~?yWjGA $EZ7SI758-B)BE[[q@[PV~?[[[[[BZYY i) Os;Iiŏ@8= ))𩿩@!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032202.163165 s, next control iter: 1743032202.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032202.543165 s.IH~,â#AA{GD@AL3D@AF,W~? A~A#R&"AAiNA"AZAbAjArAzAAAy78$A'qrAUi@Aι<ANA,lAݿA@d"A4<*AC9?2Au׽:AB*BAC9?JAu׽RAB*٘i)I9i@YbG J<JJJJ$E&K Yn0U~?y^GA 'D%$E77j7`8)ޯB[[@[OzV~?[k[[[[BZYY i˘=) u;Iiǐ@P9= #))#@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032202.563165 s, next control iter: 1743032202.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5701, header.stamp.nsec: 00 temperature: 13.388310* salinity: 33.391541, density: 1025.000000* values[0]: 0.693277F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032202.963165 s.J "J *J 2J :J z1?BJ z1?xH~nJ:5vJ,#AALE@A2E@AW~? AAs&"AAiNA"AZAbAjArAzAAA>XAvrAbj@Aݒm<A.A!A@%ݿAloAką<*AR9?2AE׽:AK BAR9?JAE׽RAK Y)}@k0yY+n<ٓH@?@G?@N $?{?`??))}@ IӗI٘i)I9bj@YG J<J7<JJJ$E&Kcx> Y?"U~?yrf"HA0*$E{78)گBE[[@[oV~?[N[[[[BZYY i) ɷ;Ii@q9= w))w}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032202.983165 s, next control iter: 1743032203.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032203.383165 s.صH~,Y#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743032203.383331F (some fields omitted in printout)AQE@A;E@A W~? ASA\&"AAriNA"AZAbAjArAzAAA^e22A[ҶrAj@A㪙;AAA %eܿA|AЅ<*A^9?2Aֽ:AWBA^9?JAֽRAW٘i)I9j@YG J1<JJJJ$E&K YU~?ynzHA0$E7778)֯B[[@[4eV~?[>[[[[BZYY i) ;Ii)@9= [))[9@ӳ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032203.403165 s, next control iter: 1743032203.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5702&, header.stamp.nsec: 0&0 temperature: 13.388087&* salinity: 33.391541&, density: 1025.000000&* values[0]: 0.694181&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032203.803165 s.yAH~,g#AJ"J*J2J:J1?BJ1?nJW:5vJAq= #F@AR< F@AkV~? AБA&"AAiNA"AZAbAjArAzAAAP֋#AE~ȺrA.Dk@AA΄A|AۿA5A0<*A9?2AЇֽ:AMjBA9?JAЇֽRAMj٘i)I9Dk@Y0G J<JJJJ$E&K  8YU~? 8yuHA5$E)7ŧ78)ӯBE[[@['[V~?[:[[[[BZYY i) Mr;Ii@th:= w)))w)}Š@y=˴*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032203.843165 s, next control iter: 1743032204.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032204.223165 s.gH~,H#AA(\F@AEuF@ANV~? AeA_&"AAMiNA"AZAbAjArAzAAAçA5;rA`k@A AAXAڿA(GA <*A9?2AZֽ:AvBA9?JAZֽRAv٘i)I9k@YvG JU<JJJJ$E&K YT~?yM},IA:$E777 8)ЯB[[/@[tQV~?[@[[[[BZYY i) L ;= ))Q@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032204.243165 s, next control iter: 1743032204.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032204.643165 s.{H~,*)#AJ"J*J2J:J1?BJ1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743032204.643331F (some fields omitted in printout)AGF@ACTF@AV~? AA3&"AAiNA"AZAbAjArAzAAAY\q,A YT~?yIAVE$E777a8)ȯB[[G@[?V~?[q[[[[BZYY i) *;AAzAqؿA AL<*AX9?2A>׽:ABAX9?JA>׽RA٘i)I9m@YLG J<B=JJJJ$E&K YAT~?y elevatorAngleAction: 0.074608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032205.903292F (some fields omitted in printout)A ףp=H@AyY#H@AHV~? AA^O&"AADiNA"AZAbAjArAzAAAeV,OAkπnrA[m@A m<A AAU׿AOA"<*A9?2Aw׽:A BA9?JAw׽RA ٘i)I9m@YG JQ<C=JJJJ$E&K YT~?yJAP$E7)8-B)BE[[_@[.V~?[ʨ[[[[BZYY i) ])I= ڑ))ڑT@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032206.783165 s, next control iter: 1743032207.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032207.163165 s.x}H~,q#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032207.163280F (some fields omitted in printout)J"J*J2J:JBJnJvJAI@Ay>eI@AV~? AȩA&"AAm iNA"AZAbAjArAzAAAeh+AQ2;qrAn@AxAєATA@տA@RAU<*AP9?2Aֽ:A BAP9?JAֽRA Yx@OyєٓHV7Կ`Y?@,?EJGԿKw??@q``]?)x@ I٘i)I9n@YkG J2<JdJJJ$E&Kx> YsT~?yiKAO`$E7776?8)BE[[@[V~?[ݨ[[[[BZYY i) tw elevatorAngleAction: 0.083788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032208.423301F (some fields omitted in printout)A(\J@A/wJ@A"oV~? AީA&"AAKhNA"AZAbAjArAzAAAKl3yAYrAp@A}GAAA ҿA^AA<*Aa9?2Aֽ:ABAa9?JAֽRA٘i)I9p@YcG J<JJJJ$E&K YT~?ywΨLAp$E7{7T8(B)BE[[k@[CV~?[[[[[BZYY i) <= ))fȦ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032208.443165 s, next control iter: 1743032208.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5707, header.stamp.nsec: 00 temperature: 13.387083* salinity: 33.391441, density: 1025.000000* values[0]: 0.699126F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032208.843165 s. H~,5#AJ"J*J2J:JBJnJvJAHz.K@AK@AeV~? A`Av&"AAhNA"AZAbAjArAzAAAhAGfrAq@AMArAMAϚѿAA!<*A9?2Aֽ:A.BA9?JAֽRA.٘i)I9q@YG J <JJJJ$E&K YT~?y֨DMAu$E77[8)BE[[1@[^U~?[W[[[[BZYY i) )= ))S@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032208.883165 s, next control iter: 1743032209.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032209.263165 s.H~,P#AAK@A,jK@A[V~? AA&"AAhNA"AZAbAjArAzAAA v; Als%$rAעq@AZ.<AedAI(A˲пAA,ө<*A%9?2AiU׽:ABA%9?JAiU׽RAY»@Dyb.<ٓH 4˿`;?h|? j˿Ӏ?f?`…?@{?)»@ I٘i)I9q@YG Jl<JJJJ$E&Kx> Y|T~?ygߨMAD{$E7777 c8)B[[t@[U~?[[[[[BZYY i) Z= ))oߧ@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032209.283165 s, next control iter: 1743032209.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 57082, header.stamp.nsec: 020 temperature: 13.3868352* salinity: 33.3914302, density: 1025.0000002* values[0]: 0.7002852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032209.683165 s.lH~,Zk#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743032209.683310F (some fields omitted in printout)J"J*J2J:JBJnJvJAQL@Ar K@ARV~? AwAP&"AAЫhNA"AZAbAjArAzAAAqר A\;frA2r@AD<ArA}AaϿA AiJ<*A9?2Ah׽:A BA9?JAh׽RA ٘i)I92r@YhG J(<JJJJ%E&K YVvT~?yNA$E777j8)B[[I@[U~?[X[[[[BZYY i)  = ))k@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032209.683165 s, next control iter: 1743032210.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743032210.103165 s.!H~,#AA= ףpL@AJCVL@AJV~? AA<&"AAhNA"AZAbAjArAzAAA*CAw A~i3ErAr@AlUd<AoA߿A@6ͿA` BAx<*A:9?2A#׽:ABA:9?JA#׽RA٘i)I9r@YG J=<JJJJ %E&K Y+pT~?yNA$Eŧ7b7bq8)BE[[ԏ@[U~?[ [[[[BZYY i) ze=  k|)) k|y@g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032210.543165 s, next control iter: 1743032210.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5709, header.stamp.nsec: 00 temperature: 13.386590* salinity: 33.391407, density: 1025.000000* values[0]: 0.701504F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032210.943165 s.Wd.H~,>]#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032210.943318F (some fields omitted in printout)AzGM@A_ -M@A:V~? A Ac&"AA&hNA"AZAbAjArAzAAA!y A}/sAtt@AۚAUAAnڿA`x+ʿAA94<*A9?2A:1ֽ:A>mBA9?JA:1ֽRA>m٘i)I9t@YG J<JJJJ%E&K YcT~?yhOA$Eŧ7b78)B[[@[8U~?[[[[[BZYY i) Y8= 5x))5x@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032210.963165 s, next control iter: 1743032211.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032211.363165 s.5H~,d>#AJ"J*J2J:JBJnJvJA3333M@A3k) M@A3V~? AGA&"AA{hNA"AZAbAjArAzAAA?gʙ AYBk sAt@AbAtAJmؿASZȿAAW<*A9?2Aս:AZVBA9?JAսRAZVY@?ؿyٓH@1?Ț? y`J?`N?t ?)@ I٘i)I9t@YG J<JkJJJ%E&Kw> Y}`T~?y| OA?ؿ$E778)B[[w@[yU~?[[[[[BZYY i) w@== s))s|@l*}`T~?)| YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032211.383165 s, next control iter: 1743032211.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5710&, header.stamp.nsec: 0&0 temperature: 13.386297&* salinity: 33.391396&, density: 1025.000000&* values[0]: 0.702797&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032211.783165 s.Y;H~,#AAQN@Ab֋N@A-V~? AA`&"AAphNA"AZAbAjArAzAAAꎧ7A0sA7`u@A|A7AտA@ƿAA<*A9?2Ag)ֽ:AoBA9?JAg)ֽRAo٘i)I9`u@YWG J<JJJJ%E&K Y&]T~?y8TPA$E7 8)|BE[[@[U~?[L%[[[[BZYY i) t elevatorAngleAction: 0.083788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743032212.203318F (some fields omitted in printout)Aףp=N@ASk%pN@A 'V~? A#A &"AARghNA"AZAbAjArAzAAAlfAf(;sAv@ABۻA)A<ӿAtĿA A<*AP9?2Aϙֽ:ABAP9?JAϙֽRA٘i)I9v@YG J<JJJJ$%E&K YYT~?yPA$E)7b778)wB[[@[ U~?[+[[[[BZYY i) nA8ͿAAA:C<*A 9?2AL׽:A%BA 9?JAL׽RA%٘i)I9kw@YG J'<JJJJ/%E&K Y"ST~?yk-QA$Eb778)lB[[@[U~?[Q9[[[[BZYY i) s elevatorAngleAction: 0.092696< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032213.463296F (some fields omitted in printout)AO@ALƼO@A9V~? A;A &"AAOhNA"AZAbAjArAzAAA'<AQ#~"sAvx@A/<AtjAo˿A@ܽA'A<*A9?2A0׽:AjBA9?JA0׽RAjY>@7˿yKd9<ٓH`",?@no쇏u?2e?տ? ~?)>@ I٘i)I9x@YG J<JJJJ4%E&K2x> YRT~?y76.RA7˿$Eŧ7b78)gBE[[2@['U~?[@[[[[ZZZZ¸>BZYY i¸>%) n,sAy@A0AA ƿA/bACEA+`=*A9?2AOֽ:ABA9?JAOֽRA٘i)I9y@YG JH<JJJJ?%E&K YQT~?yGSA$Eb77 8)[B[[I@[bU~?[pM[[[[ZZZZBZYY i) chNA"AZAbAjArAzAAAI AmÞ"1sA}fz@AVAVAÿA7AQA=*A9?2Aֽ:ABA9?JAֽRA٘i)I9fz@YgG Jd=B=JJJJE%E&K Y;QT~?yPSA$E98(B)TBE[[/֕@[U~?[.T[[[[ZZZZBZYY i) ^wA+AA\A9<*A9?2A'(ֽ:A|BA9?JA'(ֽRA|٘i)I9@{@YG J!=C=JJJJJ%E&K YPT~?ybYTA$E77b8)MB[[\b@[U~?[Z[[[[ZZZZBZYY i) [ Y$ST~?y+bLTAB$E7778)GB[[ȿ[U~?[a[[[[ZZZZBZYY iB$) JJJj%E&Kw> YaT~?yUA=$E77c8)[[_[ U~?[[[[[BZYY i8@l) +QBE[[߶[U~?[З[[[[BZYY i) F?AGA_a_*Az9?2Axֽ:A? =BAz9?JAxֽRA? =٘i)I9&}@YG J~?JJJJ%E&K YvT~?ybTA$E77{78*B)ABE[[ [U~?[[[[[BZYY i) > ));> ;> ùYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032219.363165 s, next control iter: 1743032219.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5718*, header.stamp.nsec: 0*0 temperature: 13.567664** salinity: 33.374981*, density: 1025.000000** values[0]: 0.580795*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032219.763165 s.4H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032219.763271F (some fields omitted in printout)J"J*J2J:JBJnJvJAV@AHU@AV~? AEA7&"AADhNA"AZAbAjArAzAAA|҂S@A9XlsA|@An;A=AQA ?A7A*A[9?2AL ֽ:A3=BA[9?JAL ֽRA3=Yt@SAy =Io;ٓH?@?K ??)ޱ >|?@M?)t@ I٘i)I9|@YG JwJ6=JJJ%E&KXw> Y~T~?yTAA%Eb7798-B)GB[[r[U~?[C[[[[BZYY ikj) ;Ii@ *0= s))ssǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032219.783165 s, next control iter: 1743032220.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032220.183165 s.H~, #AAQV@A$kV@AV~? A>A4+&"AAIhNA"AZAbAjArAzAAAAYTpsAB|@AG<A[=A̡A`鯾?A`?%A|*AW9?2A ս:A.=BAW9?JA սRA.=٘i)I9B|@YG JMJJJJ%E&K YT~?ySA%E7777c8)KB[[-<[U~?[[[[[BZYY i) ?1;Ii@g.= h))hhЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032220.223165 s, next control iter: 1743032220.583185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743032220.603165 s.84H~,&#AJ"J*J2J:JBJnJvJA= ףV@AEV@AcV~? A2ĪA&"AA PhNA"AZAbAjArAzAAA5cAw6usA{@Ac<A#=A2A8?AAV*A9?2Aս:At=BA9?JAսRAt=٘i)I9{@Y4G J\JJJEJ%E&K YT~?yʩ?SA %Eb7b7$8)PB[[[U~?[[[[[BZYY i) ď;Ii@O-= ))֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032220.623165 s, next control iter: 1743032221.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5719 , header.stamp.nsec: 0 0 temperature: 13.567842 * salinity: 33.374992 , density: 1025.000000 * values[0]: 0.580296 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032221.023165 s.ZH~,{A#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057348< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743032221.023335F (some fields omitted in printout)A(\W@AsBW@Ah"V~? A̪A&"AA9WhNA"AZAbAjArAzAAA] 8A@"JzsAQ${@A@z<A=ArA?A@TAΏ*A9?2A;iֽ:AZ=BA9?JA;iֽRAZ=٘i)I9${@YG J篼JJJJ%E&K YT~?ytҩRA%E77{7+8/B)VBE[[ɫ[U~?[X[[[[BZYY i) ;Ii@,= ߃))߃߃ykתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032221.043165 s, next control iter: 1743032221.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032221.443165 s.?H~,_]\#AJ"J*J2J:Jx?BJx?nJ5vJAzW@AؖW@A'V~? AԪAKZ&"AA2_hNA"AZAbAjArAzAAAɁp+OA<rsAz@A󈈻A=ABəA?AAͰ*A9?2Aֽ:A3=BA9?JAֽRA3=٘i)I9z@YG J)JJJJ%E&K YT~?yک|RA%Eŧ7b728)ZB[[͎[U~?[[[[[BZYY i) ez;Ii\@+=  ))  k֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032221.483165 s, next control iter: 1743032221.843182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5720, header.stamp.nsec: 00 temperature: 13.568080* salinity: 33.375008, density: 1025.000000* values[0]: 0.579634F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032221.863165 s.+H~,>w#AA33333X@A-X@A.V~? A۪A%"AAghNA"AZAbAjArAzAAAN A[=sAy@AH=jA z=AAA`?A 0A*AH9?2A~)׽:A=BAH9?JA~)׽RA=Y>@m8yv= jٓHB:?? W?W[?U(*gG@,?)>@ I٘i)I9y@Y%G JܯJ4#<JJJ%E&K YT~?y RA8%EZ7SI7:8)_B[[WW[U~?[Ʃ[[[[BZYY i) .>;Ii@X$*= Ӟ))ӞӞpӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032221.883165 s, next control iter: 1743032222.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032222.283165 s.?RH~,#AJ"J*J2J:JM?BJM?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057348< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032222.283293F (some fields omitted in printout)AQX@AÚʢX@A4V~? AA'%"AAqhNA"AZAbAjArAzAAAS AUfsAiy@AAm=A_tA?AAM骼*A9?2A#׽:A"c<BA9?JA#׽RA"c<٘i)I9iy@YG JJJJJ%E&K YYT~?y0QA (D!%E779A80B)dBE[[[V~?[:ͩ[[[[BZYY iL) ";Ii@\(= #+))#+#+JϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032222.303165 s, next control iter: 1743032222.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5721., header.stamp.nsec: 0.0 temperature: 13.568354.* salinity: 33.375000., density: 1025.000000.* values[0]: 0.578972.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032222.703165 s.ֺH~,#AAףp= Y@AJGX@A;V~? AoAm%"AA{hNA"AZAbAjArAzAAAU, AnsAx@AL/A=A葿AT?A@A̩*A9?2Aֽ:AG<BA9?JAֽRAG<٘i)I9x@YvG JHB=JJJJ%E&K YT~?yWGQA&%Eŧ7b7fH8)iB E[[ࢿ[V~?[ө[[[[BZYY i) Ɗ:Ii@*'= c))ccQʪYFFF]: Waiting for Gazebo time sync: latest Gz time: 1743032222.723165 s, next control iter: 1743032223.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032223.123165 s.:H~,i#AJ"J*J2J:J!?BJ!?nJT5vJA)\uY@A[Y@AOCV~? A)A%"AAhNA"AZAbAjArAzAAA2 AX,XwsA`Mx@A(:A=AqiA e?A`A*A9?2Azֽ:Aģ<BA9?JAzֽRAģ<٘i)I9Mx@Y G J}C=JJJJ%E&K YT~?yzPA,%E7ŧ7O8)nB[[[}V~?[fک[[[[BZYY i) z9Ii@= &= n))nn;ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032223.163165 s, next control iter: 1743032223.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032223.543165 s.IH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066553< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743032223.543298F (some fields omitted in printout)A{GY@AX0Y@AiKV~? AAa%"AAגhNA"AZAbAjArAzAAAU5V Ar&sAw@AI<ANj=A\猿A 0?AE;AB*A9?2A6ֽ:A<BA9?JA6ֽRA<٘i)I9w@YG JJJJJ%E&K YT~?yyPA1%E{7j7V81B)sB#E[[Md[V~?[[[[[BZYY i) -MIi@&%= ~q))~q義~qyUYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032223.563165 s, next control iter: 1743032223.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5722, header.stamp.nsec: 00 temperature: 13.568586* salinity: 33.375011, density: 1025.000000* values[0]: 0.578312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032223.963165 s.|H~,#AJ"J*J2J:JBJnJvJALZ@A$'2Z@ATV~? AuAD%"AAuhNA"AZAbAjArAzAAAa ax A8"\͛sAN9w@A YT~?yc PA06%E)7ŧ7]8)wB[[([V~?[n[[[[BZYY i) Ii~@r#= .޾)).޾.޾wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032223.983165 s, next control iter: 1743032224.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032224.383165 s.H~,+#AAQZ@AW;Z@A]V~? A A7%"AAլhNA"AZAbAjArAzAAAFSը A#ǀlsAv@A/RP<A=ARA?AA *Aa9?2A/yֽ:A<BAa9?JA/yֽRA<٘i)I9v@Y'G JJJJJ%E&K Y'T~?y'OA<%EZ7Z7e82B)|B$E[[cꙿ[$V~?[[[[[BZYY i) ޘ/Ii |@O!= ։վ))։վ։վYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032224.403165 s, next control iter: 1743032224.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5723", header.stamp.nsec: 0"0 temperature: 13.568804"* salinity: 33.374996", density: 1025.000000"* values[0]: 0.577728"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032224.803165 s.yA H~,g3#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066553< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200832 time: 1743032224.803355F (some fields omitted in printout)Aq= #[@A [@AfV~? AA%"AAhNA"AZAbAjArAzAAAJ AjsA9v@An:A"=AA?A`AQ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I99v@YG JB=JJJJ%E&K Y|T~?yeOAA%E)7ŧ7;l8)B'E[[%[,V~?[Z[[[[BZYY i)  mIiy@Ǿ= ބ̾))ބ̾ބ̾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032224.823165 s, next control iter: 1743032225.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032225.223165 s.gH~,HN#AA(\[@A2=Bu[@ApV~? AA%"AAhNA"AZAbAjArAzAAAJ]ATsAu@A>&AE=AHA?A`ʋA^*A9?2A 3׽:A2<BA9?JA 3׽RA2<٘i)I9u@YG JIC=JJJJ%E&K Y U~?y" OAG%E777ds8)B[[}f[5V~?[[[[[BZYY i) Iiw@l= >zþ))>zþ>zþYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743032225.243165 s, next control iter: 1743032225.623177 s, wait time: 0.380012 s U~?) " rAdjusting time to match Gazebo time: 1743032225.643165 s.~H~,(*i#AJ"J*J2J:J?BJ?nJ5vJAG[@A-[@A`{V~? A] A%"AAhNA"AZAbAjArAzAAAۊ6AqsAWu@A<'Aq=A@A?AYAA*A?9?2AI׽:A<BA?9?JAI׽RA<٘i)I9Wu@YRG JJJJJ%E&K Y!U~?yt*NAL%E77z83B)B*E[[![>V~?[-[[[[BZYY iݛ) s Iiu@X= f))ffYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5724, header.stamp.nsec: 00 temperature: 13.568999* salinity: 33.375011, density: 1025.000000* values[0]: 0.577174F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743032225.663165 s, next control iter: 1743032226.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032226.063165 s. H~,_ #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032226.063279F (some fields omitted in printout)Afffff\@AYvQL\@AqV~? A'A/%"AAhNA"AZAbAjArAzAAA'*A;ysAt@AfmAv=AEzA m?A`z%Ak*A9?2A׽:A<BA9?JA׽RA Y&U~?y1WNAQzQ%E{7{784B)B+E[[=ᐿ[GV~?[z[[[[BZYY i) ԻIi^r@= >e))>e>ebYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032226.083165 s, next control iter: 1743032226.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032226.483165 s.~_'H~,#AJ"J*J2J:JBJnJvJA\@AZd;߷\@AV~? A.Ad%"AAhNA"AZAbAjArAzAAAIAD)AsAt@Av0A%=A uAF?A@UA*A9?2Aֽ:A;~<BA9?JAֽRA;~<٘i)I9t@YG J~B=JJJJ%E&K Y6U~?y9NAW%Ej7j785B)B.E[[[zQV~?[ [[[[BZYY i) IiCo@ = vV))vVvV9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032226.503165 s, next control iter: 1743032226.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5725, header.stamp.nsec: 00 temperature: 13.569155* salinity: 33.375015, density: 1025.000000* values[0]: 0.576704F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032226.903165 s.-H~,͹#AA ףp=]@Ab#]@AV~? A6AH%"AA iNA"AZAbAjArAzAAA.6ڂA PsA(t@A%;A=ApAR?ATAZ1*A9?2Au^ֽ:A)=BA9?JAu^ֽRA)=٘i)I9t@YG J9C=JJJJ%E&K YFU~?y_@MA\%E778)B[[KW[[V~?[[[[[BZYY i) ҽ Iil@a= v=))v=v=yIƛaYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032226.923165 s, next control iter: 1743032227.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032227.323165 s.v4H~,%#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032227.323293F (some fields omitted in printout)J"J*J2J:JBJnJvJA\]@A=b܎]@AwV~? A,=AL%"AAMiNA"AZAbAjArAzAAAaTA=ܢsAݢs@A΂<A==AjA9?A}AkN*A[9?2A1ֽ:Arj=BA[9?JA1ֽRArj=٘i)I9s@YHG JꆼJJJJ%E&K YKVU~?yGRMAa%E{7j7:86B)B1E[[[ fV~?[>[[[[BZYY i) xIi/j@= >))>>YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743032227.343165 s, next control iter: 1743032227.723178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5726&, header.stamp.nsec: 0&0 temperature: 13.569304&* salinity: 33.375031&, density: 1025.000000&* values[0]: 0.576220&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032227.743165 s.W;H~,m#AAGz^@AQ0c]@AeV~? A/DAA%"AA2iNA"AZAbAjArAzAAA?bCAy)sA.s@A<A އ=AeA?A`J@A*A9?2ALRֽ:AH=BA9?JALRֽRAH=٘i)I9.s@YG J%JJJJ%E&K YfU~?yNLAg%E77{7e8)B[[Ç[pV~?[o [[[[BZYY i) h5)Ii7h@= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032227.763165 s, next control iter: 1743032228.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032228.163165 s.}BH~,q #AJ"J*J2J:JBJnJvJA^@A.=e^@AV~? AKA:%"AAlFiNA"AZAbAjArAzAAA[GA&&sA;r@A ;A,=Aa`A`̖?A@A>*A9?2Axֽ:A =BA9?JAxֽRA =Y@3@`y+=U+;ٓHp?@Q?*?y? Bs~?"?)@ I٘i)I9r@YG JŊJ&<JJJ%E&K6x> Y-xU~?yULA@`l%E{7Z787B)B5E[[3~[ |V~?[&[[[[BZYY i) 8Iivd@7= ك))كك'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032228.183165 s, next control iter: 1743032228.563190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743032228.583165 s.HH~,S%#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743032228.583328F (some fields omitted in printout)AR^@Aw^@AV~? AQA%"AA[iNA"AZAbAjArAzAAA\ ATSsAFr@AA¾=AZA h?AtAֈ*A9?2A׽:A=BA9?JA׽RA=٘i)I9Fr@YtG JB=JJJJ%E&K YDU~?y\BLAr%E)7)78)B[[5[V~?[,[[[[BZYY i) 8HIia@P= hu))huhuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032228.603165 s, next control iter: 1743032228.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5727, header.stamp.nsec: 00 temperature: 13.569465* salinity: 33.375034, density: 1025.000000* values[0]: 0.575717F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032229.003165 s.y PH~,P4@#AJ"J*J2J:JBJnJvJAp= W_@A<_@AV~? AXA.%"AASpiNA"AZAbAjArAzAAA]uWA}qsAq@A nAh=AUA@7?AzA.g*A9?2AU׽:A=BA9?JAU׽RA=٘i)I9q@Y.G JC=JJJJ%E&K YXU~?yGcKAw%Eb7788B)B8E[[逿[V~?[2[[[[BZYY i) ηWIi^@#=  c)) c cŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032229.023165 s, next control iter: 1743032229.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032229.423165 s.uVH~,[#AA(\_@Aݵ|_@AV~? A[_A%"AALiNA"AZAbAjArAzAAAMA ܨ sA^q@A~݇AA=APPA?A3A̾*A9?2AA׽:AG=BA9?JAA׽RAG=٘i)I9^q@YG JB=JJJJ&E&K YpU~?y jKA|%E7778)B[[3}[V~?[8[[[[BZYY i) 8gIiz[@Jw = @P))@P@PɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032229.443165 s, next control iter: 1743032229.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5728, header.stamp.nsec: 00 temperature: 13.569608* salinity: 33.375023, density: 1025.000000* values[0]: 0.575231F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032229.843165 s.\H~,u#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743032229.843306F (some fields omitted in printout)AHz.`@A;`@AV~? AeA*%"AAiNA"AZAbAjArAzAAAkJAC߷HsAp@AR!A#=A3[[[[BZYY i) vIi@Y@G = >))>>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032229.863165 s, next control iter: 1743032230.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032230.263165 s.dH~,ؐ#AA`@ALM`@AhW~? AblA%"AA5iNA"AZAbAjArAzAAAEZAcmusAcp@A ;A]=AmAFA?AAu*Aȶ9?2Aqֽ:A2=BAȶ9?JAqֽRA2=YE@:7FyG=m ;ٓH@?@`?@i?P?`U@o!a?d?)E@ I٘i)I9cp@YNG JJ<JJJ &E&Kw> YU~?yvJA7F%E7777e8;B)B?E[[s[V~?[CD[[[[BZYY i) g삼Ii?U@z= +))++?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032230.283165 s, next control iter: 1743032230.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 57292, header.stamp.nsec: 020 temperature: 13.5697962* salinity: 33.3750422, density: 1025.0000002* values[0]: 0.5747122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032230.683165 s.ljH~,x#AJ"J*J2J:JBJnJvJAQa@AA`@AiW~? ArA&.%"AAiNA"AZAbAjArAzAAAw=x`Aj$XsAXo@AT<Aj=AAAAkD?AYA䥼*A9?2Aֽ:AN=BA9?JAֽRAN=٘i)I9o@YG JVJJJJ&E&K YU~?y}_JA%EZ7Z78)B[[O\o[V~?[J[[[[BZYY i) C|IiQ@ )= 1))11ԪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032230.683165 s, next control iter: 1743032231.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743032231.103165 s.qH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743032231.103300F (some fields omitted in printout)A= ףpa@AJCVa@A.W~? AyA%"AAiNA"AZAbAjArAzAAAt,r'A*sANo@Ag<A1=A<A?A@ A窼*A9?2Amֽ:A=BA9?JAmֽRA=٘i)I9No@YG J4JJJJ&E&K YU~?yGIA%E778)BBE[[j[V~?[O[[[[BZYY i)  IibN@4= К))ККy讽تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032231.123165 s, next control iter: 1743032231.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032231.523165 s.wH~,|#AJ"J*J2J:J ?BJ ?nJ05vJA(a@Adt@a@A?W~? A,AY9%"AAiNA"AZAbAjArAzAAA|A_sAn@AagG<A՟=A6A?AA̬*A9?2Acֽ:A=BA9?JAcֽRA=٘i)I9n@YMG JJJJJ&E&K YDV~?yoIA%E77{78#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743032232.363331F (some fields omitted in printout)A3333b@Ab@AwbW~? A)AL%"AA1jNA"AZAbAjArAzAAAy{AXء>sAm@A/A=A +A?AAX*A9?2A,:׽:A=BA9?JA,:׽RA=Yj@",y*='0ٓH`??i?` ? *qw?)j@ I٘i)I9m@YG JJ<JJJ&&E&Kkx> Y;V~?yHA",%E7ŧ7;8>B)ѯBIE[[\[NW~?[{`[[[[BZYY i) IiD@< .))2..YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032232.383165 s, next control iter: 1743032232.763179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5731*, header.stamp.nsec: 0*0 temperature: 13.570173** salinity: 33.375076*, density: 1025.000000** values[0]: 0.573511*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032232.783165 s.VH~,2#AAQc@A c@AxtW~? AA%"AALjNA"AZAbAjArAzAAA eg?AasAEm@AAU=A&AVm?AǿAҰ*A&9?2A M׽:A7=BA&9?JA M׽RA7=٘i)I9m@YCG JJJJJ,&E&K YQV~?yNHA%E7777f8)֯BLE[[ X[|W~?[e[[[[BZYY i) Ii@@3< o)) ooYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032232.803165 s, next control iter: 1743032233.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032233.203165 s.H~,&M#AJ"J*J2J:JBJnJvJAףp=c@A*pc@A܆W~? AA`i%"AAthjNA"AZAbAjArAzAAA)v߿A̼*AH9?2A=6ս:A M=BAH9?JA=6սRA M=٘i)I9+k@Y!G JƼJJJJ<&E&K YٓV~?yGA%Ej7j7 8@B)BRE[[I[w?W~?[u[[[[BZYY i) ZƼIi7@!9< H))HHKYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032234.063165 s, next control iter: 1743032234.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032234.463165 s.UH~,㤝#AAd@A#d@A,W~? AA$%"AAkjNA"AZAbAjArAzAAAa?AڱMtA|j@AR<AƲ=A*Aص?A`޿A%Լ*AW9?2A(ս:AdX =BAW9?JA(սRAdX =Y@ay=[Ԅ<ٓH`?@;Z?q?3@?J!P-?@?)@ IїI٘i)I9|j@YG JLмJ{<JJJA&E&KTu> YV~?yFAa%E8)B[[%E[OW~?[z[[[[BZYY i) LͼIi[3@D< z<))y{z<z<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032234.503165 s, next control iter: 1743032234.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5733, header.stamp.nsec: 00 temperature: 13.570572* salinity: 33.375088, density: 1025.000000* values[0]: 0.572160F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032234.883165 s.yH~,M#AJ"J*J2J:Jy?BJy?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245970@ elevatorAngleAction: -0.085459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743032234.883305F (some fields omitted in printout)AQ8e@AԻx?e@AW~? AWAn%"AAjNA"AZAbAjArAzAAA苆w?A֤gtAi@A}<A=A A@?A`q ޿A:׼*A9?2Ayxս:A  =BA9?JAyxսRA  =٘i)I9i@YIG JռJJJJG&E&K YIV~?yFA%E77<8BB)BVE[[h@[`W~?[[[[[BZYY i) ԼIiT/@k< p =)) p =p =9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032234.923165 s, next control iter: 1743032235.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032235.303165 s.VH~,wg#AAq= ףe@AZI+e@AW~? ArAdX%"AA[jNA"AZAbAjArAzAAA<~ׇ?A#1tAi@Aӧ;A=Ao7A%U?A`HݿAּ*Az9?2AoԽ:A=BAz9?JAoԽRA=٘i)I9i@Y G Jr׼JJJJL&E&K YV~?yEEA%E7f8)BZE[[;[CrW~?[ㄪ[[[[BZYY i) ۼIi+@< V=))V=V=}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032235.323165 s, next control iter: 1743032235.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5734., header.stamp.nsec: 0.0 temperature: 13.570794.* salinity: 33.375092., density: 1025.000000.* values[0]: 0.571380.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032235.723165 s.J "J *J 2J :J E?BJ E?H~nJ`5vJ,H#AA(\f@AMGe@AW~? AlA%"AAkNA"AZAbAjArAzAAAUkh?A tAc`h@AƸAZ=A[A Y#W~?yƪ.DAS%Eŧ7b748) B`E[[@-[_W~?[=[[[[ZZBZYY i) ʼIi !@$< x=))yx=x=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032236.603165 s, next control iter: 1743032236.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5735, header.stamp.nsec: 00 temperature: 13.571071* salinity: 33.375092, density: 1025.000000* values[0]: 0.570598F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032236.983165 s.H~,>#AAQg@A7g@A;X~? AīAT%"AA)) u>u>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032237.003165 s, next control iter: 1743032237.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032237.403165 s.&H~,Y#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J8 propOmegaAction: 25.132812*J2J< rudderAngleAction: -0.261799:J> elevatorAngleAction: 0.082853BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4199802 time: 1743032237.403304F (some fields omitted in printout)A ףpg@Al\g@AQX~? AɫA%"AAژkNA"AZAbAjArAzAAAQ91%@AIctAWe@AC*;A}=AAܾA?A`=mٿAK*A9?2Ar#Խ:A<BA9?JAr#ԽRA<٘i)I9We@Y G JEJJJJg&E&K YUW~?yΪ9CA%E{777))@>@>y=%ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032237.423165 s, next control iter: 1743032237.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5736", header.stamp.nsec: 0"0 temperature: 13.571330"* salinity: 33.375111", density: 1025.000000"* values[0]: 0.569788"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032237.823165 s.H~,:t#AA\(h@Ah@A~gX~? ATͫAi/%"AAkNA"AZAbAjArAzAAAe@A ] tAT}d@AQ<Av=AxӾA@?A@KؿA*A9?2A~IԽ:Ar<BA9?JA~IԽRAr<٘i)I9}d@Y G J$JJJJl&E&K YnW~?yҪBA%E77gJ8EB)!BgE[[[W~?[[[[[ZZBZYY i) SIi@*< O)>))O)>O)>ܫYiYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032237.843165 s, next control iter: 1743032238.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032238.243165 s.H~,u#AJ"J*J2J:J?BJ?nJ5vJAGzh@AO$jzh@A}X~? AѫAZ%"AAbkNA"AZAbAjArAzAAA d @Ai.tAZc@A <A1=AȾA 1?Al׿AA ؼ*A9?2AԽ:ADx;BA9?JAԽRADx;٘i)I9c@Y G JJJJJr&E&K YW~?y֪CBA%E777Q8FB)(BjE[[c[TW~?[[[[[ZZBZYY i) dIi@ػ< <>))<><>dyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032238.263165 s, next control iter: 1743032238.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032238.663165 s.H~,q#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032238.663292F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5737, header.stamp.nsec: 00 temperature: 13.571615* salinity: 33.375122, density: 1025.000000* values[0]: 0.568860F (some fields omitted in printout)Ai@AO!Wh@A=X~? AիA%"AAFkNA"AZAbAjArAzAAAOtL @A tApc@AC*<A<AWA@o?A׿A<*A9?2AN ս:AAwBA9?JAN սRAAwY)@z4y<߾*<ٓH?@P??Kʔ? 9׿?YxU?@?))@ I٘i)I9c@Y0 G JǼJJJJw&E&Kxs> YrW~?y٪BA4%E77{7X8).BmE[[[B X~?[;[[[[ZZBZYY i g=) >Ii@ ص< \P>))w\P>\P>\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032238.683165 s, next control iter: 1743032239.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032239.083165 s.DH~,S#AJ"J*J2J:JBJnJvJARki@Aw)uQi@AX~? As٫A@>%"AAlNA"AZAbAjArAzAAA%J3;@A;|tAb@AA͖<A㳾A@"?A ?ֿAO*A 9?2AXHս:AUBA 9?JAXHսRAU٘i)I9b@Y G JJJJJ|&E&K YӼW~?y(ݪAA%E{7_8)2BpE[[_[X~?[R[[[[ZZBZYY iFz=) 셼Ii @vZ< c>))َc>c>^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032239.103165 s, next control iter: 1743032239.483177 s, wait time: 0.380012 sӼW~?)(ݪ rAdjusting time to match Gazebo time: 1743032239.503165 s.H~,D4#AAp= i@A\i@A X~? A4ݫAX%"AACBlNA"AZAbAjArAzAAA(5@ACزR!tA1b@A-GAܻAaͩA?A`fտA*A9?2Aӽ:AցBA9?JAӽRAց٘i)I91b@Y G JVJJJJ&E&K Y1W~?y\AA%Eb77g8GB)5BsE[[#! [\2X~?[P[[[[ZZBZYY i) $6wIi@Fb< w>)) w>w>(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032239.543165 s, next control iter: 1743032239.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5738, header.stamp.nsec: 00 temperature: 13.571805* salinity: 33.375126, density: 1025.000000* values[0]: 0.568235F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032239.923165 s.AH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743032239.923334F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Bj@AH2w(j@APX~? AA1%"AAWelNA"AZAbAjArAzAAA`^O@AB#tA\a@A7AͧA֟A?AoԿA*A9?2A ӽ:A(BA9?JA ӽRA(٘i)I9a@Y G JlJJJJ&E&K YW~?yAA&E777))hυ>hυ>y{=)Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032239.943165 s, next control iter: 1743032240.323185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743032240.343165 s.<H~,#AAHzj@A%̴j@AX~? AKAe%"AAňlNA"AZAbAjArAzAAA&jl@Aoi%tAa@A\A@AA`P?A&ӿA*A9?2ANԽ:AҼBA9?JANԽRAҼ٘i)I9a@Y} G JaAJJJJ&E&K Y X~?yAA&E77gu8)8B[['[]X~?[[[[[BZYY i) +MIi?< Џ>))Џ>Џ>2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032240.363165 s, next control iter: 1743032240.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5739&, header.stamp.nsec: 0&0 temperature: 13.571783&* salinity: 33.375134&, density: 1025.000000&* values[0]: 0.568051&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032240.763165 s.5 H~J"J,0#A*J2J:Jk?BJk?nJ|5vJAk@Aj@AY~? AA9#%"AAlNA"AZAbAjArAzAAAS(!@AI['tAMa@Am]9A2A= AS?AҿAAH;*A}9?2A6ս:ABA}9?JA6սRAY&]@y^2N9ٓH?*? K $ѿ?)s?@`@?+g :?)&]@ I٘i)I9a@Y G J:J)JJJ&E&Ks> Y1'X~?y!AA &E7{7|8)yE[[-l[zrX~?[[[[[BZYY ig=) =Ii3?< >))u>>'o*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743032240.783165 s, next control iter: 1743032241.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032241.183165 s.H~,xK#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239967> elevatorAngleAction: 0.056602< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032241.183285F (some fields omitted in printout)AQk@Akk@Az Y~? AA%"AAlNA"AZAbAjArAzAAA>j@A)tAb@Am<AXARAE?A `ҿA);*Ar9?2Aս:AvBAr9?JAսRAv٘i)I9b@Y G J);JJJJ&E&K YpBX~?y BA&E778)7B|E[[t[\X~?[[[[[BZYY iH=) rJ,Ii?[< >))>>!*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743032241.203165 s, next control iter: 1743032241.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032241.603165 s.64H~,f#AJ"J*J2J:Ju?BJu?nJ5vJA= ףk@A k@A8Y~? AA%"AAlNA"AZAbAjArAzAAA䧔K@Aw+tAHb@ARj<A($xAkA?A ѿAP(<*A^9?2A\GԽ:AhBA^9?JA\GԽRAh٘i)I9Hb@Y G J5<B=JJJJ&E&K Y]X~?yDBA&Eŧ778HB)5BE[[f[X~?[ê[[[[BZYY i) uIi?O< 1>)) 1>1>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032241.643165 s, next control iter: 1743032242.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5740 , header.stamp.nsec: 0 0 temperature: 13.571668 * salinity: 33.375160 , density: 1025.000000 * values[0]: 0.568195 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032242.023165 s.Z H~, |#AA(\l@A-ͭBl@APY~? AA@m%"AAmNA"AZAbAjArAzAAA,@AVӉ7-tAb@Al<A^A\WA` ?A`-=пAZ<*A>9?2AJQԽ:ABA>9?JAJQԽRA٘i)I9b@Y G J@<C=JJJJ&E&K YxX~?y9BA )D&E77{78JB)E[[%Jھ[DX~?[ƪ[[[[BZYY i)  Ii?V͍< շ>))շ>շ>y]=r*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032242.043165 s, next control iter: 1743032242.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032242.443165 s.3&H~,-]#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065882< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743032242.443261F (some fields omitted in printout)Azl@Aal@AiY~? AkAm6%"AA>mNA"AZAbAjArAzAAAt#@Au}6.tACb@A{;AIAY$DAI5?ABοA<<*A`9?2A8aԽ:Aa BA`9?JA8aԽRAa ٘i)I9b@Y& G Jq<JJJJ&E&K Y3X~?yBA"&E7=8)2BE[[}о[AX~?[ɪ[[[[BZYY i) Ii[?ԉ< 9>))9>9>T*YbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032242.483165 s, next control iter: 1743032242.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5741, header.stamp.nsec: 00 temperature: 13.571417* salinity: 33.375168, density: 1025.000000* values[0]: 0.568602F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032242.863165 s.+-H~,>#AA33333m@AQg!m@A0Y~? AA%"AAdmNA"AZAbAjArAzAAATzheO@A5~s0tA~wc@AίA חAd0A`Z?A0ͿAFn<*A9?2AmԽ:A BA9?JAmԽRA Yۍ@/y֗]PٓH Oq??`ſ ?? P?u|`L?)ۍ@ I٘i)I9wc@Yp G JQ<JJJJ&E&K s> YX~?y"CA/(&Eb77h8).BE[[-ƾ[#X~?[̪[[[[BZYY i) [ջIi?´< >))Cu>>u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032242.883165 s, next control iter: 1743032243.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032243.283165 s.7R4H~,#AJ"J*J2J:J?BJ?nJ5vJAQm@A<ןm@A Y~? AjA%"AAmNA"AZAbAjArAzAAAt|@A1hL,1tAd@AL}Ao꛽A@A,~?AD>˿Aת<*A;9?2AԽ:AkBA;9?JAԽRAk٘i)I9d@Y G J6<JJJJ&E&K YX~?yCA-&E{7j78)*B[[[dX~?[Ϫ[[[[BZYY i) SIi ?:|< !2>))ń!2>!2>+*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032243.303165 s, next control iter: 1743032243.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 57422, header.stamp.nsec: 020 temperature: 13.5710772* salinity: 33.3751792, density: 1025.0000002* values[0]: 0.5692562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032243.703165 s.غ:H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259319> elevatorAngleAction: 0.065882< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743032243.703281F (some fields omitted in printout)Aףp= n@AfO7m@A Y~? AA%"AAgmNA"AZAbAjArAzAAAV@A~ד7P3tAd@A{A❽AA?A@c^ɿA2,<*Ag:?2A/ӽ:AkBAg:?JA/ӽRAk٘i)I9d@Y G Jd<B=JJJJ&E&K YX~?yCA3&Eb778)%BE[[[ Y~?[Ҫ[[[[BZYY i) n͘Ii$?r< k>)) k>k>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032243.723165 s, next control iter: 1743032244.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032244.123165 s.6AH~,X#AJ"J*J2J:JBJnJvJA)\un@ARH2[n@A2Y~? AAx%"AAimNA"AZAbAjArAzAAAa/]@A4tA+e@AyAAA VA@=?A%ǿA<*A.:?2A0ӽ:ABBA.:?JA0ӽRAB٘i)I9+e@Yz G Jڴ<C=JJJJ&E&K Y{Y~?yTDA8&E77{78)!BE[[l[)Y~?[6ժ[[[[BZYY i) /uIi?i< Ѳ>))Ѳ>Ѳ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032244.143165 s, next control iter: 1743032244.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032244.543165 s.IHH~,"#AA{Gn@A7n1n@A|Y~? AAP%"AAmNA"AZAbAjArAzAAA ׾@Ae5tA,e@A݈;A锝ArA?A@!ſA,<*A:?2AԽ:Akr BA:?JAԽRAkr ٘i)I9e@Y G J/<JJJJ&E&K YMY~?yDA=&Ej7j78)BE[[[FBY~?[ת[[[[BZYY i) 8Ii?"a<  >)) > >*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032244.583165 s, next control iter: 1743032244.943183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5743, header.stamp.nsec: 00 temperature: 13.570676* salinity: 33.375191, density: 1025.000000* values[0]: 0.570033F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032244.963165 s.zNH~,=#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065882< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032244.963320F (some fields omitted in printout)ALo@A̛õ2o@AY~? AA,%"AA"nNA"AZAbAjArAzAAAbC@A I06tAWf@Ae<APAH|A?A@FÿAaî<*A9:?2Aս:ABA9:?JAսRAY¿@KyLUf<ٓH6?@? ?aD?J@?`?X?)¿@ I٘i)I9Wf@Y0 G J<JJJJ&E&Kt> Yv;Y~?y#EAC&E{7=8)BE[[֒[oZY~?[ڪ[[[[BZYY i) hIiO?*T< I>))8uI>I>*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032245.003165 s, next control iter: 1743032245.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032245.383165 s.UH~,8X#AAQo@A;o@AkZ~? A.AY %"AAHnNA"AZAbAjArAzAAAy< @A<>7tAf@A<A\A9LAt?A'¿A+<*A :?2Aս:A~BA :?JAսRA~٘i)I9f@Y G J<JJJJ&E&K YWY~?y_EAH&Eb77h8)BE[[][rY~?[,ܪ[[[[BZYY i) 瀺Ii?I< ,?))ڄ,?,?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032245.403165 s, next control iter: 1743032245.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5744", header.stamp.nsec: 0"0 temperature: 13.570270"* salinity: 33.375221", density: 1025.000000"* values[0]: 0.570833"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032245.803165 s.yA\H~,gs#AJ"J*J2J:JBJnJvJAq= #p@A p@A 3Z~? AA%"AAbonNA"AZAbAjArAzAAAe$ @A8178tA{g@A )<AØAUA-?A !A7<*A>:?2ARԽ:ABA>:?JARԽRA٘i)I9{g@Y G J~<JJJJ&E&K YsY~?yEAM&E7{78)BE[[{6|[΋Y~?[4ު[[[[BZYY i) HIi??< < ?)) < ?< ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032245.823165 s, next control iter: 1743032246.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032246.223165 s.gcH~,H#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065882< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032246.223298F (some fields omitted in printout)A(\p@AbiGup@ALZ~? AAw%"AANnNA"AZAbAjArAzAAAg't!@AE9tAh@AsAA_CA 0A?A DAFگ<*AC:?2Aӽ:ABAC:?JAӽRA٘i)I9h@Y; G J֮<JJJJ&E&K YY~?y]FAS&E78) B[[=g[Y~?[[[[[BZYY i) ^:Ii?6< d@?))d@?d@?8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032246.243165 s, next control iter: 1743032246.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032246.643165 s.siH~,)#AJ"J*J2J:JT?BJT?nJo5vJAGp@A p@AfZ~? A!A%"AAYnNA"AZAbAjArAzAAAy"@A&L:tAh@AscFAA듽A;AR?AAN<*A5D:?2AԽ:AbBA5D:?JAԽRAb٘i)I9h@Y G J<<JJJJ&E&K YY~?yCFAX&E77778RB) BE[[$R[jY~?[[[[[BZYY i) q:Ii?.< ?))??*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032246.663165 s, next control iter: 1743032247.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5745, header.stamp.nsec: 00 temperature: 13.569860* salinity: 33.375221, density: 1025.000000* values[0]: 0.571598F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032247.063165 s.pH~,R #AAfffffq@AŐLLq@AvZ~? A"A%"AAnNA"AZAbAjArAzAAATR5"@AH:tA5i@A_^A8Ap<A`?A hA>Y<*AC:?2A>Խ:ABAC:?JA>ԽRAY @B??` U?) @ I٘i)I95i@Y G JR<JW<JJJ&E&Ks> YTY~?y(GAB<]&Eb778QB)BE[[C=[Y~?[b[[[[BZYY i) 1;Ii ~?m"< ?))vv??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032247.103165 s, next control iter: 1743032247.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032247.483165 s.u_wH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240335> elevatorAngleAction: 0.065882< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743032247.483296F (some fields omitted in printout)J"J*J2J:JBJnJvJAq@A!ַq@AfZ~? AA%"AA oNA"AZAbAjArAzAAAdIJ#@A]m;tA#i@AK^KA AC=A m?A䦱Ae<*AB:?2A^Fս:A-BAB:?JA^FսRA-٘i)I9i@YFG J<JJJJ&E&K YY~?yGAc&Ej7Z7>8)BE[[2([NY~?[[[[[BZYY i) bJn;Iil?< ?))^??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032247.523165 s, next control iter: 1743032247.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5746, header.stamp.nsec: 00 temperature: 13.569460* salinity: 33.375244, density: 1025.000000* values[0]: 0.572378F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032247.903165 s.}H~,#AA ףp=r@A1Z#r@AdZ~? AA%"AA3oNA"AZAbAjArAzAAA83o#@A Ҋ;tAMj@AyѺAWRA,F=A{?A_A<*A?^:?2AF'Խ:A 8BA?^:?JAF'ԽRA 8٘i)I9Mj@YG Jr<JJJJ&E&K YZ~?yGAh&Eb77i8)BE[[[6 Z~?[ [[[[BZYY i) sƕ;Ii3]? < 6R$?)) 6R$?6R$?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032247.923165 s, next control iter: 1743032248.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032248.323165 s.tH~,#AJ"J*J2J:JBJnJvJA\r@A{eގr@AnZ~? A+ Au%"AAZoNA"AZAbAjArAzAAA+gT$@A' elevatorAngleAction: 0.075070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200842 time: 1743032248.743363F (some fields omitted in printout)AGzs@A/dr@AZ~? A A m%"AA oNA"AZAbAjArAzAAABB4f$%@A^A@?A۽A<*AV:?2Aս:Ax!BAV:?JAսRAx!Y7*@>y톽Ϙh<ٓH ? >? a?`?@ڰ? ?@g?)7*@ I٘i)I9k@YyG Jg<J@<JJJ&E&Ket> YGUZ~?yIA>x&Ej7j7 8OB)BE[[|[YZ~?[[[[[BZYY i) 19;Ii0?&; X`4?))wX`4?X`4?ѷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032249.183165 s, next control iter: 1743032249.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032249.583165 s.H~, Se#AARs@Al;ms@A[~? A AQe%"AAoNA"AZAbAjArAzAAAry`&@A8Ai?A*xt?A-<*AO:?2Aս:A%BAO:?JAսRA%٘i)I90l@YG J<JJJJ'E&K YKqZ~?ybIA~&Eb778)BE[[Lt[ptZ~?[d[[[[BZYY i)   elevatorAngleAction: 0.075070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032250.003301F (some fields omitted in printout)Ap= Wt@AKA@?Aઔ?AG<*Ajc:?2A=ӽ:A?BAjc:?JA=ӽRA?٘i)I9l@YG JK<JJJJ'E&K YQZ~?yIA&E777?8)B[[O[(Z~?[[[[[BZYY i) @JA`X?Av?A<*Af]:?2A1Խ:A=BAf]:?JA1ԽRA=ЗI٘i)I9!m@YSG J<JJJJ'E&K YVZ~?yJA&E7i!8)BE[[[Z~?[ [[[[BZYY i) 'A7~?A`+?A<*AtV:?2A Խ:Aa}BAtV:?JA ԽRAa}٘i)I9m@YG J1<JJJJ'E&K YZZ~?y^rJA&E7b7(8NB)BE[[;[1Z~?[[[[[BZYY i) w7; J?))J?J?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032250.883165 s, next control iter: 1743032251.243182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743032251.263165 s.H~,,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743032251.263288F (some fields omitted in printout)Au@A@@u@A[~? A>A{%"AA!opNA"AZAbAjArAzAAA(@Am+ʖ;tAn@AAA"j>A t?A`I?Aj<*AbO:?2AYս:AhBAbO:?JAYսRAhYP)$<j>ywٓH?` Ϳ֓ r?*?`?J}\?)P)$< I٘i)I9n@YG J<JJJJ'E&K"u> YZ~?y]JAj>&Ej7Z7/8MB)ݯBE[[)<[Z~?[[[[[BZYY i) Fg; 4O?))y4O?4O?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032251.283165 s, next control iter: 1743032251.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 57502, header.stamp.nsec: 020 temperature: 13.5680272* salinity: 33.3753092, density: 1025.0000002* values[0]: 0.5751092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032251.683165 s.lH~,Z#AJ"J*J2J:J:?BJ:?nJa5vJAQv@Au@A[~? AwA%"AApNA"AZAbAjArAzAAAvLv)@A6C%!;tAn@A쥞;A鎽AO>A $h?A`?A!<*AvH:?2A\ֽ:AyBAvH:?JA\ֽRAy٘i)I9n@Y5G Jؑ<JJJJ'E&K Y_Z~?y]0KA&Eŧ7b768)دBE[[z?=[Z~?[[[[[BZYY i) DQV7Y; U?)) U?U?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032251.703165 s, next control iter: 1743032252.083175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032252.103165 s.H~,#AA= ףpv@A2;Vv@A˸[~? AAϙ%"AAؽpNA"AZAbAjArAzAAAnL n*@A'c:tAAo@Aj<AAR>AZ?A8?AY<<*AZ:?2AKս:ABAZ:?JAKսRA٘i)I9o@Y~G J6<JJJJ#'E&K Y[~?y]KA&Eb77>8LB)ԯB¹E[[Z=[N[~?[-[[[[BZYY i,=) Zeu3; Z?))Z?Z?A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032252.123165 s, next control iter: 1743032252.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032252.523165 s.H~,{!#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032252.523289F (some fields omitted in printout)J"J*J2J:JBJnJvJA(v@Av@A[~? AiAĭ%"AApNA"AZAbAjArAzAAAA'j**@AɃ9tAJo@ABa<AnA”>AI?A&û?AY<*AT:?2Aս:A(#BAT:?JAսRA(#٘i)I9o@YG J<B=JJJEJ('E&K Ym3[~?y\KA&E7{7BE8IB)ͯBĹE[[ʄ=[1[~?[[[[[BZYY i) 0u ; t `?)) t `? t `? *Y lYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743032252.563165 s, next control iter: 1743032252.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5751, header.stamp.nsec: 00 temperature: 13.567682* salinity: 33.375313, density: 1025.000000* values[0]: 0.575760F (some fields omitted in printout)6m3[~?)6\ rAdjusting time to match Gazebo time: 1743032252.943165 s.odH~,]<#AAzGw@AA$6?An?A<*AJJJ.'E&K> YN[~?y]LLA&Ej7j7jL8)ɯB[[==[1M[~?[[[[[BZYY i) OKi: e?))e?e?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032252.963165 s, next control iter: 1743032253.343195 s, wait time: 0.380030 s rAdjusting time to match Gazebo time: 1743032253.363165 s.J "J *J 2J :J z?BJ z?nJ 5vJ H~,>W#AA3333w@At"w@A\~? AA%"AA/3qNA"AZAbAjArAzAAA}!+@A˳E68tAp@A\ AAо>A` ?A ?Aנ<*A?:?2AUս:AO.BA?:?JAUսRAO.Yb=Ө>yyJ@ ٓH0?@Կ`OS 2?G?/Ŗs.?j{a ?)b= I٘i)I9p@YdG J<B=JnQ>JJJ3'E&K4u>> Yi[~?yLAӨ>&E)777S8)įBǹE[[e>[[h[~?[[[[[BZYY i) ׉ elevatorAngleAction: 0.084069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200722 time: 1743032253.783360F (some fields omitted in printout)AQx@AYex@A\~? A!A%%"AAZqNA"AZAbAjArAzAAA<,@A=>7tAOq@AGQAvꜽA²>A?A^?AzΩ<*A5:?2Aս:A BA5:?JAսRA ٘i)I9q@YG J<C=JJJJ9'E&K YT[~?yMA&Ej7Z7Z8HB)BʹE[[U'>[[~?[Y[[[[BZYY i) bA?AJD?Ag<*A?:?2AwԽ:ABA?:?JAwԽRA٘i)I9q@YG J<JJJJ>'E&K Y[~?yMA&E7777a8GB)B͹E[[5>[[~?[[[[[BZYY i) A?A b?Ah<*AJ7:?2Atս:AFqBAJ7:?JAtսRAFq٘i)I99r@YlG J <JJJJC'E&K Y[~?yMA&E77i8FB)BйE[[%_L>[[~?[F[[[[BZYY i) x elevatorAngleAction: 0.084069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032255.043292F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gay@A 0Gy@Ak\~? AmAvf%"AAqNA"AZAbAjArAzAAA~SP.@Az 3tAKr@AbA{A>A ?A`F?A <*A.:?2Aս:AIBA.:?JAսRAI٘i)I9r@YG J<JJJJI'E&K Yv[~?yުONA&E{7j7?p8)BӹE[[e0c>[%[~?[p[[[[BZYY i) ,b.@A{)ch2tAgs@Af-<Af3AB>A\?AL?AǴ<*A/&:?2Aֽ:A?BA/&:?JAֽRA?YX>>y0-<ٓH@k?ڿ `?@?z ???)X> I٘i)I9gs@Y$G JX<B=JJJJN'E&KTv> Y[~?ypڪNA>&EZ7SI7kw8)B[[y>[L[~?[nު[[[[BZYY i) \ͺ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032255.483165 s, next control iter: 1743032255.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5754, header.stamp.nsec: 00 temperature: 13.566514* salinity: 33.375366, density: 1025.000000* values[0]: 0.577982F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032255.883165 s.zH~J,]#A"J*J2J:J?BJ?nJ&5vJAQ8z@A&:z@A\~? AAռ%"AArNA"AZAbAjArAzAAAD/@A0tAt@A͡<AzA>ADi?A?A<*A:?2Aֽ:AnBA:?JAֽRAn٘i)I9t@YG J<C=JJJJS'E&K Y\~?y֪1OA&E~8EB)BֹE[[kJ>[ \~?[7ܪ[[[[BZYY i)  elevatorAngleAction: 0.084069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032256.303303F (some fields omitted in printout)Aq= ףz@Aۼz@Ax\~? AKA%"AA??rNA"AZAbAjArAzAAA؞ 0@Aah/tAΝt@AΑ_<A$Ao>A`B?A ar?AZ<*AM&:?2Avս:A5`BAM&:?JAvսRA5`٘i)I9t@YG J<JJJJY'E&K Ya!\~?yӪOA&E77{78DB)BٹE[[#œ>['\~?[٪[[[[BZYY i)  AJ?A@f?A?<*A:?2A}ս:A fBA:?JA}սRA f٘i)I9Au@YEG J<JJJJ^'E&K Y;\~?yjϪPA&E778@B)B۹E[[S>[C\~?[+ת[[[[BZYY i) dg[9^\~?[VԪ[[[[BZYY i)  elevatorAngleAction: 0.084069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032257.563276F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff{@A4HS{@A\~? AA%"AArNA"AZAbAjArAzAAAȏ0@A"5*tAv@AAnA?A?A@?A<*A0:?2A[yս:A$BA0:?JA[yսRA$Y>&?y貽ٓHy?`/P|*?\?=@U?@?)> I٘i)I9v@YG J<B=JLJJJi'E&KFv> Yl\~?yHǪPA&?&Eŧ7b7@8)B[[kv>[x\~?[VѪ[[[[BZYY i) B)BE[[{>[\~?[Ϊ[[[[BZYY i) ([j\~?[ʪ[[[[ZZZZ¸>BZYY i¸>) h%?))>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032258.423165 s, next control iter: 1743032258.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5757", header.stamp.nsec: 0"0 temperature: 13.565210"* salinity: 33.375404", density: 1025.000000"* values[0]: 0.580620"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032258.823165 s.,H~,:#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083820< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032258.823297F (some fields omitted in printout)A\(}@AɊ}@AG]~? AAI%"AAesNA"AZAbAjArAzAAA|E1@A;60$tA}x@A%;AE A?A`*?A s?AZ<*A9?2AM׽:ASBA9?JAM׽RAS٘i)I9x@YgG J,<JJJJy'E&K Y\~?y繪dRA&E)7b78[\~?[Ǫ[[[[ZZZZBZYY i) K"sNA"AZAbAjArAzAAA2@AHč"tAy@At!q<A=9A`i?A@?A M?AW<*A,:?2Af׽:A^BA,:?JAf׽RA^٘i)I9y@YG J<JJJJ~'E&K Y7\~?yqRA&Eŧ7)78)pB[[V>[r\~?[8ê[[[[ZZZZBZYY i) Z"?y <ٓHX?Am:@?\?``%? ??),> I٘i)I9\z@YaG J<Jq =JJJ'E&Ky> Y\~?y:ASAZ"?&ES778;B)hBE[[G>[n\~?[6[[[[ZZZZBZYY i) #[M]~?[[[[[ZZZZBZYY i) ߟJJJ'E&K)x> YT]~?yoTAiBE[[P"?[]~?[T[[[[BZYY i) LA#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743032263.863298F (some fields omitted in printout)A33333@APO@A1M^~? AA6%"AAgtNA"AZAbAjArAzAAAQjJ4@A $;tAS<}@AH;A9{=AnV?Ay?A?A:*A9?2A@ֽ:A =BA9?JA@ֽRA =٘i)I9<}@Y G J!C=JJJJ'E&K  8Y޽]~? 8ywTA4'Eŧ7b78*B)@BE[[*4?[]~?[Ƌ[[[[BZYY i) [ H?ifY$ i?))i?i?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032264.723165 s, next control iter: 1743032265.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743032265.123165 s.6H~,XG#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743032265.123308F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@AӁ[@A^~? A~A`l%"AAuNA"AZAbAjArAzAAA(7+5@A$lsA |@AhAA=Abf?A?A@?Ao*A59?2A=׽:A=BA59?JA=׽RA=٘i)I9 |@YhG JC=JJJJ'E&K Y]~?yfpTAD'E777B8$B)DBE[[HG?[7^~?[x[[[[BZYY i) ;I0H?i-~" Nw?))Nw?Nw?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032265.143165 s, next control iter: 1743032265.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032265.543165 s.IH~,b#AA{Gჶ@Aiq0ǃ@Ao^~? A嗫As%"AA!uNA"AZAbAjArAzAAAUn5@A$+sA8{@AAڅ=A+lk?AJJJ'E&K$> Yt"^~?yXSAp?O'E77{7*8)KB[[?|S?[pa^~?[k[[[[BZYY iFZc)  >;IYH?ip& {?)){?{?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032265.983165 s, next control iter: 1743032266.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032266.383165 s.إH~,'#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.055506< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743032266.383279F (some fields omitted in printout)AQ@Aףp=@Aܾ^~? AZA`%"AAsYuNA"AZAbAjArAzAAA˅46@A0ćsAZz@AFo<Aa!=Anu?A ?A?A%p*A9?2A-ֽ:A2=BA9?JA-ֽRA2=٘i)I9Zz@Y_G J⺼JJJJ'E&K Y3^~?yQSAT'Eŧ7b718"B)OB E[[Y?[u^~?[d[[[[BZYY i{A) ;IH?is, w?))w?w?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032266.403165 s, next control iter: 1743032266.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5765", header.stamp.nsec: 0"0 temperature: 13.563738"* salinity: 33.375515", density: 1025.000000"* values[0]: 0.582776"F (some fields omitted in printout)23^~?)2Q rAdjusting time to match Gazebo time: 1743032266.803165 s.yAH~,g#AJ"J*J2J:JBJnJvJAq= #@Ad @A^~? AjA'*%"AAtuNA"AZAbAjArAzAAAPlj6@A,pUsAy@A|<A>Ũ=Az?Ax?An?Aʼ*A9?2AJֽ:Aj=BA9?JAJֽRAj=ϗI٘i)I9y@YG JżJJJJ'E&K YC^~?yJSAZ'Eb7788B)QBE[[_?[R^~?[\[[[[BZYY i) Ώ:IG?iƉY0 Nx?))Nx?Nx?y]\IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032266.823165 s, next control iter: 1743032267.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032267.223165 s.gH~,H#AA(\@AR`Lu@A^~? A]A%"AAuNA"AZAbAjArAzAAA+N6@A{^%sAk y@A<A=Aa?A?A?A$ȼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9 y@YG JʼJJJJ'E&K YlT^~?yCRA_'E@8B)UB E[[`e?[^~?[U[[[[BZYY i) 0M9IG?iJ3 ~?))~?~?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032267.243165 s, next control iter: 1743032267.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032267.643165 s.wйH~, *#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065066< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743032267.643293F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A!@A^~? A4zA@%"AAרuNA"AZAbAjArAzAAADb6@AFްsA'bx@AhA-=A?A?A '?AIoü*A9?2A׽:AU =BA9?JA׽RAU =٘i)I9bx@Y,G J'ǼJJJJ'E&K Ye^~?y<9RAd'E77{7BG8)ZB[[` l?[9^~?[N[[[[BZYY i) 8IG?iVk4 ƈ?))ƈ?ƈ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032267.663165 s, next control iter: 1743032268.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5766, header.stamp.nsec: 00 temperature: 13.563953* salinity: 33.375534, density: 1025.000000* values[0]: 0.582086F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032268.063165 s.H~,A #AAfffff@AXL@A _~? AsA%"AAuNA"AZAbAjArAzAAAi57@A5sAEw@AYA3=Ap?AC?A@_?A*A9?2Ajb׽:A^=BA9?JAjb׽RA^=YnR?N?y=FZٓH?d͜?@ ? ??@:?)nR? I٘i)I9w@YG JJ<JJJ'E&Kpx> YUs^~?y4QAN?j'Ej7j7mN8B)^BE[[U0r?[B^~?[F[[[[BZYY i) ӺI G?i: ?))??ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032268.083165 s, next control iter: 1743032268.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032268.483165 s.|_H~,#AJ"J*J2J:JBJnJvJAц@A{Է@A_~? AmA %"AAuNA"AZAbAjArAzAAA\`37@A\v+sA#w@A|A=A?AS?A ?Aȷ*A9?2A,Z׽:A*=BA9?JA,Z׽RA*=٘i)I9#w@YjG JJJJJ'E&K Y^~?yd-aQAo'E77U8B)`B E[[[x?[^~?[>[[[[BZYY i) \%I G?it]? I1G?iD ʤ?))ʤ?ʤ?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032269.343165 s, next control iter: 1743032269.723179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5768., header.stamp.nsec: 0.0 temperature: 13.564391.* salinity: 33.375534., density: 1025.000000.* values[0]: 0.580694.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032269.743165 s.WH~,io#AAGz@Ak@A@_~? AYAj%"AA vNA"AZAbAjArAzAAA@k!T7@A1$sAU[u@A!:<A^=A?A!2?A`v?A*A9?2A~gֽ:A&=BA9?JA~gֽRA&=٘i)I9[u@YTG JJJJJ(E&K YX^~?yPA'E77k8)mB[[|?[_~?[&[[[[BZYY i) IG?iBE ?))??ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032269.763165 s, next control iter: 1743032270.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032270.163165 s.x}H~,q#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065066< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743032270.163329F (some fields omitted in printout)A@A)e@AN_~? ASAL %"AA6vNA"AZAbAjArAzAAA7@AsAt@AL<AS6=A`3?Acg?Aw?A*A9?2Aaֽ:A:.=BA9?JAaֽRA:.=Yڗl?>X?y1=<ٓH w?` PT? ?S?` ?@wⱿ r??)ڗl? I٘i)I9t@YG JJJJJ (E&Kfx> Y ^~?yOAX?'E)7ŧ7Br8B)E[[w?[_~?[8[[[[BZYY i) $ʻIwG?iɝ^I ^?))^?^?jŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032270.183165 s, next control iter: 1743032270.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032270.583165 s.'H~,CS#AAR눶@Ahoш@A\_~? AFLA%"AA&LvNA"AZAbAjArAzAAA$8@AsA7t@A>I<A=Atؔ?A+?A ?AX*A9?2AȠֽ:A3 <BA9?JAȠֽRA3 <٘i)I97t@YG JBJJJJ(E&K Y^~?y]OA'Eb7my8)qB[[G?[!_~?[[[[[BZYY i) }IhfG?i{M ?))??yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032270.603165 s, next control iter: 1743032270.983182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5769, header.stamp.nsec: 00 temperature: 13.564611* salinity: 33.375546, density: 1025.000000* values[0]: 0.580035F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032271.003165 s.| H~,]4#AJ"J*J2J:J}?BJ}?nJ5vJAp= W@At<@A&j_~? AYEAU%"AA`vNA"AZAbAjArAzAAAߓ;8@AnߝsA3s@A;A=Aa?A 4?AD?A#*A59?2A׽:A <BA59?JA׽RA <٘i)I9s@YRG J+JJJJ(E&K Yy^~?yNA'E8)vB[[Ҏ?[j/_~?[1 [[[[BZYY i) ITG?i<O B?))B?B?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032271.043165 s, next control iter: 1743032271.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032271.423165 s.uH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743032271.423288F (some fields omitted in printout)A(\‰@AKy@Aw_~? AU>Ad%"AAtvNA"AZAbAjArAzAAA c8@AVsA6s@AWA_=A??A@?A/?A *A\9?2AR׽:Al<BA\9?JAR׽RAl<٘i)I96s@YG JJJJJ(E&K Y.^~?yNA'E777Ç8B)xBE[[?[<_~?[[[[[BZYY i) |zIrCG?i墿iP ?))??yșyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032271.443165 s, next control iter: 1743032271.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5770, header.stamp.nsec: 00 temperature: 13.564770* salinity: 33.375542, density: 1025.000000* values[0]: 0.579462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032271.843165 s.H~J"J*J,#A2J:JW?BJW?nJ5vJAHz.@Aŧ@A_~? A=7A(%"AA$vNA"AZAbAjArAzAAAbÆr8@A6{֘sAr@AA=A?A@?A#?Ai*A9?2A Y^~?y/MAa?'E778)|B[[0?[U_~?[[[[[BZYY i) X2I. G?io%S x?))x?x?IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032272.283165 s, next control iter: 1743032272.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 57712, header.stamp.nsec: 020 temperature: 13.5649382* salinity: 33.3755612, density: 1025.0000002* values[0]: 0.5789552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032272.683165 s.l H~,c+#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743032272.683297F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A;s 늶@A_~? A(A?%"AAvNA"AZAbAjArAzAAACغD8@Aj4sAq@A噻AE=A?A@^?A@~*?AC*A9?2A%ֽ:AF=BA9?JA%ֽRAF=٘i)I9q@Y2G JJJJJ+(E&K Y^~?yݩMA'Eŧ7b7C8 B)BE[[Q?[)`_~?[[[[[BZYY i) AI1G?iR+V ,?)),?,?ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032272.683165 s, next control iter: 1743032273.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743032273.103165 s.H~,F#AA= ףp@A@ŊV@A/_~? A!A %"AA½vNA"AZAbAjArAzAAA 8@AsAb_q@A;A=A:?A?AL]?AJ*A9?2ADvֽ:A?=BA9?JADvֽRA?=٘i)I9_q@YG JJJJJ0(E&K Y_~?yթ&MA'E)7ŧ7n8)B[[t?[j_~?[[[[[BZYY i) XQIF?i(=W !@))!@!@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032273.143165 s, next control iter: 1743032273.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032273.523165 s.H~,{a#AJ"J*J2J:J%?BJ%?nJX5vJA(܋@A4‹@AŰ_~? A!Ax]%"AA3vNA"AZAbAjArAzAAA*9@A3w#AJ"J*J2J:JBJnJvJA3333@A@A}_~? A- A"%"AAvNA"AZAbAjArAzAAA?KM9@A6sAo@AY;Axa=AX?A?A\?Aq*A'9?2Aֽ:Auu =BA'9?JAֽRAuu =Y]?Lj?yn`=;ٓH'U?2F?`u?|y?+ű?ѧ+~? ?)]? I٘i)I9o@YG JJS<JJJ@(E&KCx> YX_~?y9LAj?'Eŧ778)B[[٧?[_~?[ũ[[[[BZYY i) IF?iTW v@))v@v@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032274.383165 s, next control iter: 1743032274.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5773&, header.stamp.nsec: 0&0 temperature: 13.565286&* salinity: 33.375553&, density: 1025.000000&* values[0]: 0.577864&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032274.783165 s.Y+H~,#AAQ@A@A_~? AAI%"AAvNA"AZAbAjArAzAAA6rxMi9@AGY1}sAaNo@AAX=A?A?A`?A!*A'9?2A&׽:A =BA'9?JA&׽RA =٘i)I9No@YG JJJJJE(E&K Y _~?yKA'Eb78)B[[?[I_~?[[[[[BZYY i) `IF?i^BY Q@))Q@Q@1ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032274.823165 s, next control iter: 1743032275.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032275.203165 s.3H~,#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032275.203323F (some fields omitted in printout)Aףp=@Av()p@A5_~? AA%"AAwNA"AZAbAjArAzAAAaKd9@A]*՗sAn@Ab_Ap=A±?A@?A :>?A^)*AU9?2Aa׽:A{ =BAU9?JAa׽RA{ =٘i)I9n@YUG JJJJJK(E&K Y&_~?y ?KA'Eŧ7D8B)BE[[?[!_~?[T[[[[BZYY i) I~F?i3Y @))@@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032275.243165 s, next control iter: 1743032275.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032275.623165 s.S9H~,L#AA)\@A(+ۍ@AN_~? ANA<%"AA>wNA"AZAbAjArAzAAA 9@A@7&sACn@AzAP=ARc?A` E?Ad?Ag*A9?2AP׽:Ay =BA9?JAP׽RAy =٘i)I9Cn@YG JbJJJJP(E&K Y%-_~?yxJA'E7777n8)B[[A?[9_~?[ި[[[[BZYY i) I^F?iW m @))m @m @ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032275.643165 s, next control iter: 1743032276.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5774 , header.stamp.nsec: 0 0 temperature: 13.565493 * salinity: 33.375584 , density: 1025.000000 * values[0]: 0.577250 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032276.043165 s.@H~,#AJ"J*J2J:J?BJ?nJ5vJA{Ga@Ag~5G@A_~? AAF%"AA*!wNA"AZAbAjArAzAAAx9@AensAm@A%A-=Aq?ARr?AІ?A*A9?2Acֽ:Am=BA9?JAcֽRAm=٘i)I9m@YG JТJJJJV(E&K Yj3_~?y♩wJA'Eŧ778B)BE[[c?[_~?[a[[[[BZYY i) ,Iy}F?iq U  @)) @ @K٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032276.063165 s, next control iter: 1743032276.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032276.463165 s.XGH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743032276.463280F (some fields omitted in printout)A̎@AE(@A_~? AAj%"AAT,wNA"AZAbAjArAzAAA]r9@A1EsA,m@A1:A=Al?A &?A ֦?A *A89?2Aֽ:A5=BA89?JAֽRA5=Yc?Ap?y=:ٓH`?݆?`?3?~? 5FZ??)c? I٘i)I9,m@YYG JJ-_<JJJ[(E&Kx> Y6_~?y& JAp?'E7778)B[[1?[)_~?[ڕ[[[[BZYY i) ϝItkF?iŊV k @))k @k @y jݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032276.503165 s, next control iter: 1743032276.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5775, header.stamp.nsec: 00 temperature: 13.565702* salinity: 33.375587, density: 1025.000000* values[0]: 0.576636F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032276.883165 s.yMH~,88#AJ"J*J2J:JBJnJvJAQ8@AVdt@@A_~? AܪA%"AA6wNA"AZAbAjArAzAAAE=Sh9@AIwsAl@A/E<AO=A?AP?A?A*A9?2A1+ֽ:A+=BA9?JA1+ֽRA+=٘i)I9l@YG JJJJJ`(E&K YJ:_~?yjIA'E78B)BE[[?[_~?[H[[[[BZYY i) IjYF?iױV @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032276.903165 s, next control iter: 1743032277.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032277.303165 s.UTH~,sgS#AAq= ף@A `@A_~? A%ժA%"AA\@wNA"AZAbAjArAzAAA99@Ak!sAk@Ar<A0=A{?A/?A"?A*A&9?2AF ֽ:A =BA&9?JAF ֽRA =٘i)I9k@YG JJJJJf(E&K Y=_~?y2IA'Eb78)B[[_ǽ?[_~?[[[[[BZYY i) I|GF?iͦJU  @)) @ @\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032277.323165 s, next control iter: 1743032277.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5776., header.stamp.nsec: 0.0 temperature: 13.565953.* salinity: 33.375561., density: 1025.000000.* values[0]: 0.575957.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032277.723165 s.[H~,Hn#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032277.723285F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A~E@A6_~? ABͪA#5&"AA6IwNA"AZAbAjArAzAAA9@A xP{sA[k@A}A<A>t=AI#?A?A?A*Aȥ9?2Ahֽ:A/N=BAȥ9?JAhֽRA/N=٘i)I9[k@Y>G JQJJJJk(E&K Y)A_~?yvHA'ED8)B[[p?[t_~?[y[[[[BZYY i) I5F?iҤR /.@))/.@/.@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032277.743165 s, next control iter: 1743032278.123185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743032278.143165 s.W/bH~, *#AAGz@AmR`@A@`~? AWŪAp&"AAGQwNA"AZAbAjArAzAAAG:@A~-3{vsAj@A(:A,=A?A@0?A@2?A*Aà9?2Aֽ:A?=BAà9?JAֽRA?=٘i)I9j@YG JJJJJp(E&K YD_~?y5nZHA'E77{7o8B)BE[[b?[ _~?[o[[[[BZYY i) cüI\$F?i͡O @))@@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032278.163165 s, next control iter: 1743032278.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032278.563165 s.hH~, #AJ"J*J2J:JX?BJX?nJ5vJAffff搶@A&P̐@A`~? AdA[j&"AAXwNA"AZAbAjArAzAAAq :@AqsA&j@AԦ!Ak=A~?A`?A)&?A*A 9?2A9׽:AH=BA 9?JA9׽RAH=Yn?z?yi=[="ٓH'? À?@Nʓ?'ҵ?yƵ4 ?)n? I٘i)I9j@YzG JMJ}<JJJv(E&Kqx>  8Y+E_~? 8yjeGAz?'E778)B[[#?[_~?[e[[[[BZYY i) ʼIF?iG~O Դ(:@AlsAwvi@A=A=APB?A .?Ai8?APrü*A9?2AFN׽:Ah[=BA9?JAFN׽RAh[=٘i)I9vi@YG JJJJJ{(E&K YE_~?y\pGA'Eŧ778)B[[dB?[_~?[P\[[[[BZYY i) ѼIF?i\ɊN  @)) @ @.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032279.003165 s, next control iter: 1743032279.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032279.403165 s.&vH~,#AJ"J*J2J:JBJnJvJA ףp@A 1^@A2`~? AjAȡ&"AAdwNA"AZAbAjArAzAAAr,3:@AE~gsAh@Ah\A =A?A .?AG?Azɼ*A9?2AK ׽:A=BA9?JAK ׽RA=٘i)I9h@Y G JżB=JJJJ(E&K YNF_~?ySFA'E78)B[[_?[M_~?[R[[[[BZYY i) .ټIlE?iEAL _@))_@_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032279.423165 s, next control iter: 1743032279.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5778", header.stamp.nsec: 0"0 temperature: 13.566489"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.574495"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032279.823165 s.|H~,2#AA\(@AJ@A `~? AfA%>&"AAiwNA"AZAbAjArAzAAA,8ڔ <:@A-gbsAZ#h@AÂAǵ=AT?A@*/?A`T?AkҼ*Aُ9?2Aֽ:A=BAُ9?JAֽRA=٘i)I9#h@YH G JͼC=JJJJ(E&K YF_~?yKFA(E)7ŧ78B)BE[[X{?[_~?[*I[[[[BZYY i) >rIE?iH @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032279.843165 s, next control iter: 1743032280.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032280.243165 s.H~,d#AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743032280.243278F (some fields omitted in printout)AGz@A(]z@A`~? A]A&"AAmwNA"AZAbAjArAzAAA\C:@A)p^sAng@Al;A[=A4?A w?A!_?Ajۼ*A9?2A ֽ:A'=BA9?JA ֽRA'=٘i)I9ng@Y G JּJJJJ(E&K YqG_~?y=BFA(Eb77D8)įB[[=?[«_~?[?[[[[ZZ¸BZYY i¸@3=) ԼI"E?i㘿UC y@))y@y@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032280.263165 s, next control iter: 1743032280.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032280.663165 s.H~,q*#AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5779, header.stamp.nsec: 00 temperature: 13.566814* salinity: 33.375584, density: 1025.000000* values[0]: 0.573649F (some fields omitted in printout)A@A咶@An`~? AQAw&"AApwNA"AZAbAjArAzAAAX2I:@A61+YsAf@Ax<A=AQ?A@_?AQg?AB6*A9?2Aս:Ah!=BA9?JAսRAh!=YYr?~?y =ky<ٓH´@"?? f}@K? ??)Yr? I٘i)I9f@Yh G J޼B=JC<JJJ(E&Kw> Y%E_~?yy9EA~? (E77{7p%8)ʯB[[ԭ?[ߨ_~?['6[[[[ZZBZYY i) gȼIE?iW7B @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032280.683165 s, next control iter: 1743032281.063177 s, wait time: 0.380012 s %E_~?) y9 rAdjusting time to match Gazebo time: 1743032281.083165 s.DH~,RE#AJ"J*J2J:JBJnJvJARk@AtQ@A`~? ACA&"AAqswNA"AZAbAjArAzAAA[ܞ>M:@AmȜ@TsAe@Adr<AL=A ?A@?Auj?A*A9?2Aֽ:A=E=BA9?JAֽRA=E=٘i)I9e@Y G JC=JJJJ(E&K YB_~?y0EA(E777,8)ѯB[[?[B_~?[,[[[[ZZBZYY i) PIE?i–u@  @)) @ @mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032281.103165 s, next control iter: 1743032281.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032281.503165 s.H~,@4`#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743032281.503315F (some fields omitted in printout)Ap= ד@A\򼓶@A`~? A5AH&"AA&uwNA"AZAbAjArAzAAA\ O:@AUqUOsAd@A9;ALa=A?A4?A@m?A*A9?2Aeֽ:A(<BA9?JAeֽRA(<٘i)I9d@Y] G JJJJJ(E&K Y@_~?y'DA +D(E)7)738B)֯BE[[?[_~?[D#[[[[ZZBZYY i) ^:IE?i$= @))@@y=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032281.523165 s, next control iter: 1743032281.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5780, header.stamp.nsec: 00 temperature: 13.567149* salinity: 33.375572, density: 1025.000000* values[0]: 0.572729F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032281.923165 s.9H~J,{#A"J*J2J:J?BJ?nJ5vJA(\B@A¡x(@A`~? A%}AO&"AAvwNA"AZAbAjArAzAAAis+P:@AiJsAD%d@AA۵u=AP?A@AL?A@o?AB*AY9?2A>ֽ:A&`<BAY9?JA>ֽRA&`<٘i)I9%d@Y G JrJJJJ(E&K YB>_~?y0!DA(E7b7:8)ݯB[[Q?[ߛ_~?[[[[[ZZBZYY i) '#IE?i~8  @)) @ @3YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032281.943165 s, next control iter: 1743032282.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032282.343165 s. elevatorAngleAction: 0.082617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743032282.763322F (some fields omitted in printout)A@Aݙ @A`~? AmA&"AAtuwNA"AZAbAjArAzAAAwh|M:@Aw@sAb@A[A <A?AEA`m?A *AϷ9?2Aֽ:AG>BAϷ9?JAֽRAG>Ys?`?y<ٓHKǿ@Gu`ՕFt?`}[ǿh?@k@v3?)s? I٘i)I9b@Y G JټJJJJ(E&Kw> Y6_~?y CA?%(Ej7Z7EI8B)BE[[?[_~?[Z[[[[ZZBZYY i==) I'qE?iu2:1 #@))#@#@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032282.803165 s, next control iter: 1743032283.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032283.183165 s.˲H~,#AAQ@Aݖk@A`~? AdA(&"AAswNA"AZAbAjArAzAAA,GI:@A(ߦ;sAIb@A]&A!<AK!?AAh?Aq*A9?2Azֽ:A[]BA9?JAzֽRA[]٘i)I9Ib@Y G JAJJJJ(E&K Y1_~?y]CA+(Eŧ7b7oP8)B[[.?[m_~?[#[[[[ZZBZYY i`=) `IbE?iv(. A%@))A%@A%@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032283.203165 s, next control iter: 1743032283.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032283.603165 s.J "J *J 2J =4H~:J,?BJ,?nJF5,Ț#AvJA= ף@AD֕@A`~? A\AM&"AAqwNA"AZAbAjArAzAAA}0eD:@Aq 6sAoa@A:AQA?A/Aca?A5*Aɴ9?2Aֽ:AsBAɴ9?JAֽRAs٘i)I9a@Y~ G JWbJJJJ(E&K Y,_~?yd8CA0(Eb77W8B)BE[[dA?[_~?[[[[[ZZBZYY i) :rIETE?iR) &@))&@&@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032283.623165 s, next control iter: 1743032284.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5782 , header.stamp.nsec: 0 0 temperature: 13.567844 * salinity: 33.375599 , density: 1025.000000 * values[0]: 0.570996 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032284.023165 s.ZH~,{#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743032284.023292F (some fields omitted in printout)A(\@A\;QB@A`~? ATAeb &"AAnwNA"AZAbAjArAzAAA$J=:@Aa-1sA a@A2GF<AGFAZ?A첿AV?A*A9?2A#ֽ:A2OBA9?JA#ֽRA2O٘i)I9a@YW G J"JJJJ(E&K YZ'_~?yCA5(Eŧ7b7^8)B[[GP?[w_~?[[[[[ZZBZYY i) &k]I}FE?i-$ U(@))U(@U(@y\h=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032284.043165 s, next control iter: 1743032284.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032284.443165 s.6H~,:]#AJ"J*J2J:JBJnJvJAzǖ@Ad[@A`~? ALA6 &"AAjwNA"AZAbAjArAzAAAJ4:@A ,sAea@AV<A1A}?A`A I?Al"*AP9?2Aֽ:AļBAP9?JAֽRAļ٘i)I9a@YB G JYJJJJ(E&K Y2"_~?y BA;(E77e8)E[[ [?[n_~?[ [[[[ZZBZYY i) tHIK9E?igu )@)))@)@k.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032284.463165 s, next control iter: 1743032284.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5783, header.stamp.nsec: 00 temperature: 13.568015* salinity: 33.375580, density: 1025.000000* values[0]: 0.570652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032284.863165 s.+H~,>7#AA33333@A01"@AF `~? ADA &"AAewNA"AZAbAjArAzAAA)Y G*:@A8GX (sAa@A8<A1Ae?ABA`9?A ;*A9?2Aֽ:AZBA9?JAֽRAZYs?]?y.18<ٓHѿ@J?@?`mҿG`/? ??)s? I٘i)I9a@Y@ G J)J)JJEJ(E&Kw> YA_~?y+CA?@(E7)7m8)[[i?[d_~?[+ڨ[[[[BZYY ici=)  7IU,E?iqP Pe+@))Pe+@Pe+@?n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032284.883165 s, next control iter: 1743032285.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032285.283165 s.5RH~,R#AJ"J*J2J:J?BJ?nJ*5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056905< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032285.283318F (some fields omitted in printout)AQ@AsHj@A[ `~? A<A7 &"AAb`wNA"AZAbAjArAzAAA0Gf:@A.#sAРa@A$9AǿYA0?A8A'?A;*A9?2ADֽ:A.BA9?JADֽRA.٘i)I9a@YQ G J;JJJJ(E&K YO_~?yڨgCAE(E)7ŧ7Et8)[[t?[\Z_~?[dѨ[[[[BZYY ie=) 'IE?ijC ,@)),@,@Ӓ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032285.303165 s, next control iter: 1743032285.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5784., header.stamp.nsec: 0.0 temperature: 13.396069.* salinity: 33.394547., density: 1025.000000.* values[0]: 0.684693.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032285.703165 s.׺H~,m#AAףp= @AH,@A`~? A4AV &"AAZwNA"AZAbAjArAzAAAL}:@ABSsAa@A="2AyAG?A@A@?A8'=<*A9?2Aս:A_b BA9?JAսRA_b ٘i)I9a@Yw G J(<JJJJ(E&K Y] _~?yѨCAK(E7)7q{8B)BE[[F}?[0O_~?[Ȩ[[[[BZYY i) AIE?ilbe r.@))r.@r.@Ө*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032285.723165 s, next control iter: 1743032286.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032286.123165 s.7H~,]#AJ"J*J2J:JBJnJvJA)\u@Aϟ6[@A_~? A,Adn &"AA SwNA"AZAbAjArAzAAAZ:@A}sA8b@AqA@A3'?A`¿A?A.q<*A`9?2Aս:A~BA`9?JAսRA~٘i)I98b@Y G JXV<JJJJ(E&K Yl_~?y.ɨCAP(E778)B E[[u?[nC_~?[1[[[[BZYY i) nIE?i XE q/@))q/@q/@yk=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032286.163165 s, next control iter: 1743032286.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032286.543165 s.IH~,â#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032286.543280F (some fields omitted in printout)A{Gᘶ@Av2ǘ@A_~? A%A &"AA0KwNA"AZAbAjArAzAAA&m9@A]pssAեb@Aa^A<A?A,ĿAR?A5<*Aܘ9?2AYֽ:A9BAܘ9?JAYֽRA9٘i)I9b@Y G J<JJJJ(E&K Y{^~?yDAV(E7Ɖ8)B[[@[7_~?[˷[[[[BZYY i) 3ID?iKW |}1@))|}1@|}1@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032286.563165 s, next control iter: 1743032286.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5785, header.stamp.nsec: 00 temperature: 13.388324* salinity: 33.391659, density: 1025.000000* values[0]: 0.688687F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032286.963165 s.{H~J,#A"J*J2J:JM0?BJM0?nJ85vJAL@Av2@A_~? A?A &"AABwNA"AZAbAjArAzAAA=M9@AH"sAc@A8jA)Az?AƿA?Ax<*A9?2Aֽ:ABA9?JAֽRAYv?/?y鞖?kٓH ؿ??Uؿ`Vű ϲ?^m`?)v? I٘i)I9c@Y; G J,<J;JJJ(E&Kw> Y^~?yDA?[(E778B) E[[A@[*_~?[u[[[[BZYY i) ʻIUD?iEf 2@))2@2@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032287.003165 s, next control iter: 1743032287.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032287.383165 s.H~,@#AAQ@AnB<@A _~? AoA;&"AA!9wNA"AZAbAjArAzAAAř9@Axı sAqc@A1<AA2?ApȿA@3?A?<*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y G J]<JJJJ(E&K Y3^~?yhDA`(Ej7j78)B[[@[_~?[@[[[[BZYY i) ̈́ID?iE>] #4@))#4@#4@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032287.423165 s, next control iter: 1743032287.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5786", header.stamp.nsec: 0"0 temperature: 13.388159"* salinity: 33.391670", density: 1025.000000"* values[0]: 0.689481"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032287.803165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ AH~,g#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032287.803305F (some fields omitted in printout)Aq= #@A / @A _~? A A&"AA.wNA"AZAbAjArAzAAA{cbS9@A?{%]sAR(d@A{<A+A?ALʿA`?Al<*A9?2AA"׽:A BA9?JAA"׽RA ٘i)I9(d@Y G J<JJJJ(E&K Y^~?y@IEAf(E777F8)B E[[@@[g_~?[/[[[[BZYY i) <1IeD?i4#  6@)) 6@ 6@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032287.823165 s, next control iter: 1743032288.203183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032288.223165 s.gH~,H#AA(\@AY0Gu@A_~? AAFk&"AA#wNA"AZAbAjArAzAAAs^|9@AWΥsA?d@A*s<A9wA<@A !̿Ab?A0<*Ap9?2Aֽ:A BAp9?JAֽRA ٘i)I9d@Y1 G J<JJJJ(E&K Y^~?yEAk(E{7{7q8B)BE[[@[^~?[D[[[[BZYY i) 2_IQD?i(L2ػ )7@)))7@)7@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032288.243165 s, next control iter: 1743032288.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032288.643165 s.x H~,*)#AJ"J*J2J:JBJnJvJAG@A@Ay_~? AAA&"AA+wNA"AZAbAjArAzAAAhG$9@ArAEe@AF~;ANA~@A ͿA(=?Ax<<*A9?2A]ֽ:A, BA9?JA]ֽRA, ٘i)I9Ee@Y G Jo<JJJJ(E&K YH^~?yFAp(E7778)ۯB[[45@[^~?[[[[[BZYY i)  #ID?iEƻ 9@))9@9@*YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5787, header.stamp.nsec: 00 temperature: 13.387958* salinity: 33.391674, density: 1025.000000* values[0]: 0.690373F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743032288.663165 s, next control iter: 1743032289.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032289.063165 s.H~,c D#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032289.063288F (some fields omitted in printout)Afffff@AnnLOL@A_~? AA4&"AA wNA"AZAbAjArAzAAAB2Im9@AVx9pNrAVe@AJ7AѧA@AGϿA`?A8L<*A9?2A~8ֽ:A BA9?JA~8ֽRA Y{?@y*ĺٓHݿ%Eş?'.?` ݿ@ ꯳? Fw?){? I٘i)I9e@Y G J<<JJJJ(E&Kw> Y ^~?y*}FA@v(E77{7ƴ8)ׯB[[ @[^~?[ч[[[[BZYY i) CκID?iTܽ K:@))K:@K:@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032289.103165 s, next control iter: 1743032289.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032289.483165 s.y_H~,^#AJ"J*J2J:JBJnJvJAћ@Af"ݷ@A_~? AA+&"AAfvNA"AZAbAjArAzAAAiQ9@AJBrAxf@A"=oA1A\@AпA 1?A.ڹ<*A^9?2ADֽ:Aij BA^9?JADֽRAij ٘i)I9xf@YD G J<JJJJ)E&K Yͪ^~?ydFA{(Ej7j78B)ԯBE[['+ @[^~?[D[[[[BZYY i) ,ID?ij ;s M<@))M<@M<@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032289.503165 s, next control iter: 1743032289.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5788, header.stamp.nsec: 00 temperature: 13.387738* salinity: 33.391663, density: 1025.000000* values[0]: 0.691400F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032289.903165 s.H~,y#AA ףp=@A#g]#@Ak_~? AA&"AAevNA"AZAbAjArAzAAAC"+59@AXjrAYg@AKAlAK@A tѿA?Ak<*A9?2A#ֽ:A@ BA9?JA#ֽRA@ ٘i)I9g@Y G JK<JJJJ)E&K Y^~?yQGA(Eŧ7b78)ϯB[[T @[տ^~?[x[[[[BZYY i) J҅9ID?i ~=@))~=@~=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032289.943165 s, next control iter: 1743032290.303181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032290.323165 s.x$H~,-#AJ"J*J2J:J!1?BJ!1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032290.323288F (some fields omitted in printout)A\@A;⎜@Ak_~? AA9Q&"AAvNA"AZAbAjArAzAAAM99@A_brA1g@AAAV@AǃҿAJ?Aqe<*Aӻ9?2A{ֽ:A@BAӻ9?JA{ֽRA@٘i)I9g@Y G Jִ<JJJJ )E&K YU^~?yxGA(E77j7F8)˯B[[@[^~?[q[[[[BZYY i) :5:I]D?iq羉 >@))>@>@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032290.343165 s, next control iter: 1743032290.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5789., header.stamp.nsec: 0.0 temperature: 13.387516.* salinity: 33.391682., density: 1025.000000.* values[0]: 0.692432.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032290.743165 s.W+H~,y#AAGz@Ah8e@A_~? AةA3&"AA$vNA"AZAbAjArAzAAAS+C8@Afp rA=h@A9F;A㒽A@A`fӿA_?A<*A}9?2Aֽ:AyBA}9?JAֽRAy٘i)I9=h@YX G J{<JJJJ)E&K Y^~?yq%HA(Ej7q8 B)ȯBE[[ċ@[^~?[j[[[[BZYY i) ;ID?iɾA u@@))u@@u@@E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032290.763165 s, next control iter: 1743032291.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032291.163165 s.x}2H~,q#AJ"J*J2J:JBJnJvJA@Awe@A_~? AaѩAq&"AAvNA"AZAbAjArAzAAA,8@A[rA'h@AW<AD5A?W @A GԿA+?A<*A9?2A/׽:ABA9?JA/׽RAY?H @y2 gX<ٓH`e0?`?@`-+r???)? I٘i)I9h@Y G J0<J(<JJJ)E&K-x> Ybs^~?yiHAH @(E77{78 B)įBE[[@[^~?[c[[[[BZYY i) JE;ID?i蹾m A@))A@A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032291.183165 s, next control iter: 1743032291.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032291.583165 s.8H~, S#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032291.583300F (some fields omitted in printout)AR띶@A{mѝ@Az_~? A!ʩA2&"AAvNA"AZAbAjArAzAAAbE8@A{N5%rAIi@A<AWA) @A`D%տA`?AG<*A\9?2A,׽:A BA\9?JA,׽RA ٘i)I9Ii@Y G J<JJJJ)E&K Yc^~?yobHA(E778 B)¯BE[[u@[Ax^~?[\[[[[BZYY i) ^;IzD?iqT iC@))iC@iC@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032291.623165 s, next control iter: 1743032291.983181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5790, header.stamp.nsec: 00 temperature: 13.387301* salinity: 33.391705, density: 1025.000000* values[0]: 0.693416F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032292.003165 s.{ @H~,Y4#AJ"J*J2J:JBJnJvJAp= W@AR<@A_~? A©A&"AA3vNA"AZAbAjArAzAAA 8@A2rA i@A5<A A6 @A"տAѽ?A!<*A9?2Aֽ:ABA9?JAֽRA٘i)I9i@YIG JO<JJJJ")E&K YS^~?y[GIA(E)7ŧ78)B[[@[>e^~?[2V[[[[BZYY i) J;ID?i.!5 D@))D@D@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032292.023165 s, next control iter: 1743032292.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032292.423165 s.uFH~,#AA(\ž@Amlv@A!y_~? AۻA&"AAɌvNA"AZAbAjArAzAAA0}yi8@A/$nrAHj@AAtA0@AֿA@;?A<*A9?2AUֽ:A0YBA9?JAUֽRA0Y٘i)I9Hj@YG J<JJJJ')E&K YAD^~?ySIA(E778B)BE[[DW@[Q^~?[O[[[[BZYY iʛ=) ;ID?i$e ?YF@))?YF@?YF@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032292.443165 s, next control iter: 1743032292.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5791, header.stamp.nsec: 00 temperature: 13.387113* salinity: 33.391708, density: 1025.000000* values[0]: 0.694290F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032292.843165 s.LH~,5#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075492< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743032292.843299F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@AK@ADl_~? AִA&"AAyvNA"AZAbAjArAzAAAB8@A'҂%rAj@AUs7ÄAIq@A`׿AH?A י<*A9?2A$?ֽ:AK'BA9?JA$?ֽRAK'٘i)I9j@YG JM<JJJJ-)E&K Y4^~?y{L JA(Ej7j7G8B)BE[[@[;>^~?[wI[[[[BZYY i) 8;IXD?i[&Ժ eG@))eG@eG@b*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032292.863165 s, next control iter: 1743032293.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032293.263165 s.TH~,P#AA@AD@A^_~? A孩A*&"AAevNA"AZAbAjArAzAAA9M8@A5rASIk@A!AƌAm@AuؿA ?A<*A\9?2A4ֽ:ABA\9?JA4ֽRAY@5@yDmٓH8]{=?ٗ?a`n`? Đ?)@ I٘i)I9Ik@Y3G J<J$<JJJ2)E&Kx> Y"^~?yEdJA@(E77r8B)BE[[3@[)^~?[FC[[[[BZYY i) ;ID?i )H)))HDI@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032293.283165 s, next control iter: 1743032293.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 57922, header.stamp.nsec: 020 temperature: 13.3869132* salinity: 33.3917122, density: 1025.0000002* values[0]: 0.6951352F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032293.683165 s.lZH~,Vk#AJ"J*J2J:JBJnJvJAQ@A럶@A/Q_~? A A&"AA`QvNA"AZAbAjArAzAAAK¢7@AN/6rAmk@ASA.A @A DٿA@?A<*A9?2Apֽ:AZBA9?JApֽRAZ٘i)I9k@Y~G Jœ<JJJJ7)E&K  8Y^~? 8y>JA(E{7j78)B[[@[X^~?[C=[[[[BZYY i)  elevatorAngleAction: 0.075492< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032294.103282F (some fields omitted in printout)A= ףp@A<͌V@AB_~? AGA6&"AA3#AJ"J*J2J:J@2?BJ@2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075492< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743032295.363312F (some fields omitted in printout)A3333@AҦ@A_~? AA&"AAuNA"AZAbAjArAzAAA  ;7@A4rA'm@Ak<ASA:_@A{mܿA Ǯ?Ad5<*Az9?2A ׽:AiBAz9?JA ׽RAiYH @N@yOl<ٓHk@W?pd? >}d?x??)H @ I٘i)I9m@YG J<C=J7ܻJJJM)E&K/x> YQ]~?ya$/LAN@(Eŧ7ŧ7H 8B)BE[[E@[]~?[&[[[[BZYY i) L2: 0@))0@Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032295.803165 s, next control iter: 1743032296.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032296.203165 s.H~, #AJ"J*J2J:Jr2?BJr2?nJ;5vJAףp=@AޫV&p@A_^~? AAM&"AA\uNA"AZAbAjArAzAAAj6@AL%ԯrAn@AֻAWAS@A@cݿA?A@<*A9?2A-Oֽ:A BA9?JA-OֽRA ٘i)I9n@Y*G JX<JJJJX)E&K Y]~?yLA(E{7j7.8B)BE[["@[Y]~?[[[[[BZYY i.ì=) j; 9>))9>|]S@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032296.223165 s, next control iter: 1743032296.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032296.623165 s.YH~,e'#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743032296.623299F (some fields omitted in printout)A)\@Aۢ@A^~? AyA.&"AAKuNA"AZAbAjArAzAAA9 Ȧ6@A#,rAo@AAuAVA$@A`޿A`?Aa<*AP9?2A1ֽ:A BAP9?JA1ֽRA ٘i)I9o@YzG J|<JJJJ])E&K Y]~?yKMA(ESI7SI758B)BE[[t#@[|]~?[[[[[BZYY i) \z8; 1U=))1U=T@*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032296.643165 s, next control iter: 1743032297.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5795 , header.stamp.nsec: 0 0 temperature: 13.386426 * salinity: 33.391731 , density: 1025.000000 * values[0]: 0.697470 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032297.043165 s.H~,B#AJ"J*J2J:J2?BJ2?nJ9;5vJA{Ga@Ap:G@Au^~? AsA&"AAuNA"AZAbAjArAzAAAhgr6@AGcZrAo@AAOAq@AU߿Any?A'<*A9?2A5ֽ:A4WBA9?JA5ֽRA4W٘i)I9o@YG J<B=JJJJb)E&K Yu]~?y MA(E{7j7<8B)BE[[$@[f]~?[e[[[[BZYY i) Nbd; l;))l;I6V@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032297.063165 s, next control iter: 1743032297.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032297.463165 s.WH~,]#AẠ@A%@A^~? AmA2&"AAY{uNA"AZAbAjArAzAAAݹS=6@AۚCrA5p@AdAq˜A@AA &?A6ʠ<*A69?2AMֽ:A0BA69?JAMֽRA0YY@~@y/xٓH 2?`?`?`l?)Y@ I٘i)I9p@YG J<C=JYJJJh)E&K2x> Y_]~?y*NA@(Ej7Z7D8B)BE[[36&@[N]~?[[[[[BZYY i) r~; ~:))~:ĠW@y*=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032297.483165 s, next control iter: 1743032297.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5796, header.stamp.nsec: 00 temperature: 13.386250* salinity: 33.391739, density: 1025.000000* values[0]: 0.698397F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032297.883165 s. zH~,x#AJ"J*J2J:J2?BJ2?nJy;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032297.883300F (some fields omitted in printout)AQ8@A9@A^~? AgA&"AAz`uNA"AZAbAjArAzAAA#XJ;)6@AS&rAp@Au;A'A%@A`^A@?A<*A9?2AA׽:A[BA9?JAA׽RA[٘i)I9p@YpG Ja<JJJJm)E&K YI]~?ywNA(E77HK8 B)BݹE[['@[_7]~?[ [[[[BZYY i) R; '9))'9 Y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032297.903165 s, next control iter: 1743032298.283183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032298.303165 s.TH~,og#AAq= ף@A㾉@A^~? AbA&"AAEuNA"AZAbAjArAzAAAm\ۚ5@A[6rAx"q@A]<A>잽A~ @AAMx?A<*A9?2AC׽:APBA9?JAC׽RAP͗I٘i)I9"q@YG J9<JJJJr)E&K Y3]~?y(NA(E77rR8)B[[(@[]~?[t[[[[BZYY i) {"; D7))D7qsZ@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032298.323165 s, next control iter: 1743032298.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5797., header.stamp.nsec: 0.0 temperature: 13.386076.* salinity: 33.391735., density: 1025.000000.* values[0]: 0.699298.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032298.723165 s.H~,H#AJ"J*J2J:JBJnJvJA(\@A׃I@A^~? A\Afn&"AA(uNA"AZAbAjArAzAAA&5@Aoޘ:rA]q@A<AAyA!@A AY?A<*A+9?2A4׽:A{BA+9?JA4׽RA{٘i)I9q@YG J<B=JJJJx)E&K Y]~?yDOA(Eŧ7b7Y8"B)BڹE[[P*@[(]~?[[[[[BZYY i) " elevatorAngleAction: 0.084357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032299.143324F (some fields omitted in printout)AGz@Ag`@Aw^~? AWA&"AAg uNA"AZAbAjArAzAAAد]5@AzrA9r@A'<AA#@A ]Au?A<*AЗ9?2Aֽ:AhBAЗ9?JAֽRAh٘i)I99r@YlG J<C=JJJJ})E&K Y]~?y%OA(E77`8$B)B׹E[[}+@[r\~?[[[[[BZYY i) ۪ Y\~?y^PAT$@(E{7j7g8'B)BӹE[[-@[A\~?[ [[[[BZYY i) i elevatorAngleAction: 0.084357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743032300.403296F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AD5%Y@A<^~? AFGA&"AAxtNA"AZAbAjArAzAAAS.04@A-ErAt@Ax3A׭Ad&@AeGAc?A7<*A9?2A4ս:A)BA9?JA4սRA)٘i)I9t@YG J<JJJJ)E&K Y\~?yQA)E77Hv8)BйE[[6/@[\~?[g[[[[BZYY i) # elevatorAngleAction: 0.084357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743032301.663274F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5800, header.stamp.nsec: 00 temperature: 13.385397* salinity: 33.391747, density: 1025.000000* values[0]: 0.702542F (some fields omitted in printout)A@A>x姶@Ao]~? A8A3&"AAUtNA"AZAbAjArAzAAAT։3@A.9w^rA2v@A"<AA *@A%A?A!<*A9?2A׽:A`fBA9?JA׽RA`fYX@}*@y<ٓH jdݿ۴?2?@ *?0??)X@ I٘i)I9v@YG J <JJJJ)E&K>x> Yx\~?yBԧZRA*@)Eɋ8*B)yBʹE[[Z3@[^\~?[[[[[BZYY i)  elevatorAngleAction: 0.093549"J*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000500:JBJ dt: 0.419878nJvJ2 time: 1743032302.923300F (some fields omitted in printout)A(\B@AYw(@Av]~? AR+At< &"AAAsNA"AZAbAjArAzAAA3'3@AfY6|rAx@A;AഽA;.@AAݮ?AL<*A9?2Aֽ:AkBA9?JAֽRAk٘i)I9x@YG J<JJJJ)E&K Y,\~?yCȧSA')E{7j7I80B)oBE[[m7@[\~?[b[[[[ZZZZ¸>BZYY i¸>ڨ) ]~? A$'A &"AAsNA"AZAbAjArAzAAA#2@AyrAx@AA0A,0@A@,A ?AZ<*AY{9?2AQ ֽ:AXBAY{9?JAQ ֽRAX٘i)I9x@YqG J7<JJJJ)E&K Y\~?yCħ7TA,)Et8)iB[[8@[[~?[P[[[[ZZZZBZYY i) =5vJA@A#J{@AĐ]~? A#A &"AAsNA"AZAbAjArAzAAAoTc2@A̪1wrAy@AxAAC1@A)fA` ?A ?׿?@?X@"׵?N/?)S#@ I٘i)I9y@YG J?<J>F;JJJ)E&Kw> Y=[~?yTAY1@1)E)7b781B)dBE[[aD:@[[~?[b[[[[ZZZZBZYY i)  rrA&Y{@A޻ARuA3@A`A/`?A:=<*A9?2AAֽ:A̵pBA9?JAAֽRA̵p٘i)I9Y{@YG J=JJJJ)E&K Y[~?yUA<)E)7)784B)YBE[[<@[i[~?[ ݧ[[[[ZZZZBZYY i) s#@[l[~?[ۧ[[[[ZZZZBZYY i) I-w#AA33333@A*:@A]~? AAG"&"AAsNA"AZAbAjArAzAAAp}@1@A@/lrAY2}@AU<A A#7@AzA`R?A!7w<*A٨9?2Ad@ֽ:A!<BA٨9?JAd@ֽRA!JJJ)E&K;w> Yt[~?yVA7@L)E7t86B)MBE[[@@[Cd[~?[>٧[[[[ZZZZBZYY iZ\) !X5vJAQ@A@A]~? A A7"&"AArNA"AZAbAjArAzAAA)0@AcAjrAL}@A+<Ayž;A#9@A@ͪA@?A-<*AV9?2ASֽ:A?<BAV9?JASֽRA?<٘i)I9}@YRG JX<JJJJ)E&K YxY[~?yVAR)ESI7SI789B)LBE[[B@[ K[~?[Kا[[[[ZZZZBZYY i>O) lz[~?yKVAW)Eb778:B)E[[IIC@[1[~?[ק[[[[ZZZZBZYY i) .gH~,#AJ"J*J2J:J5?BJ5?nJT>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032307.963305F (some fields omitted in printout)AL@Ai2@A9\~? AAf#&"AAJrNA"AZAbAjArAzAAA[(`/@AXxcrA_}@Aê@A/V=A_>@AjUA?ALλ*A 9?2Aֽ:A2<BA 9?JAֽRA2@y4,V=D@ٓH)@:FſjcS?{ɰg gª4JJJ)E&Kw> YZ~?y |VAU>@g)Eb7b7K8=B)OBE[[G@[ Z~?[֧[[[[BZYY i;e) Aw=AK?@AxA`?A#+*A9?2A\9ֽ:A(=BA9?JA\9ֽRA(=٘i)I9}@YUG JC=JJJJ)E&K YZ~?y5VAl)E777u8>B)RBE[[YH@[Z~?[է[[[[BZYY i) ))>wZ~@ytReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5808, header.stamp.nsec: 00 temperature: 13.384339* salinity: 33.391731, density: 1025.000000* values[0]: 0.708138F (some fields omitted in printout)̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032309.663165 s, next control iter: 1743032310.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032310.063165 s.`H~,k #AAfffff@AR OL@A%\~? AbAZ:$&"AAqNA"AZAbAjArAzAAA-7,@A Ob]rA{@A|;A =AD@AAo?Aj*Ar9?2AQֽ:A =BAr9?JAQֽRA =YT6@wD@y =]};ٓH'J䲿Ұ?[?[o?`Y?)T6@ I٘i)I9{@Y@G J JwV=JJJ *E&Kw> Y`Z~?yTAD@)E78BB)cBE[[/VM@[kZ~?[֧[[[[BZYY i) )½;IӰF?i@< ))&@OѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032310.083165 s, next control iter: 1743032310.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032310.483165 s.s_gH~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743032310.483280F (some fields omitted in printout)J"J*J2J:JBJnJvJAѰ@Aַ̔@A7 \~? AAS[$&"AAfqNA"AZAbAjArAzAAA5ٴ ,@A4?%\rAB{@AA5=A,/F@A A@v?A*A9?2Aֽ:A  =BA9?JAֽRA  =٘i)I9B{@YG J碼JJJJ*E&K YCZ~?yTA)Eŧ7b7J"8)hBE[[>N@[+SZ~?[]ק[[[[BZYY i) ;IF?i(@< G))Gl@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032310.503165 s, next control iter: 1743032310.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5809, header.stamp.nsec: 00 temperature: 13.384587* salinity: 33.391727, density: 1025.000000* values[0]: 0.707146F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032310.903165 s.mH~,͹#AA ףp=@A?a#@A[~? AYAy$&"AA?qNA"AZAbAjArAzAAAy.q+@APD[rAзz@A炼Aꤚ=A%G@A3!A m?A=+*Aġ9?2A׽:AU=BAġ9?JA׽RAU=٘i)I9z@YG J}JJJJ*E&K Y'Z~?y*TA)E7777v)8CB)nBE[[oO@[:Z~?[ا[[[[BZYY i) <;IF?i @l< O ))O 3 @ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032310.923165 s, next control iter: 1743032311.303182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032311.323165 s.|tH~,>#AJ"J*J2J:J4?BJ4?nJ=5vJA\@Aqߎ@A[~? AA$&"AAqNA"AZAbAjArAzAAAj*@AV}ZrA+z@AzzA=AH@A@4Ah?AdQ*A 9?2Aֽ:A^=BA 9?JAֽRA^=٘i)I9+z@YCG JJJJJ*E&K Y~ Z~?y힧SA)E)7)708DB)sBE[[n Q@["Z~?[ا[[[[BZYY i) E;IX G?iy@ ^< Q))Q2@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032311.343165 s, next control iter: 1743032311.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5810*, header.stamp.nsec: 0*0 temperature: 13.384832** salinity: 33.391685*, density: 1025.000000** values[0]: 0.706110*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032311.743165 s.W{H~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743032311.743285F (some fields omitted in printout)AGz@AYd@A4[~? AA($&"AApNA"AZAbAjArAzAAA܁V9*@ArYrAy@AЂػAə=A HA@EA%?Ag଼*Aa9?2A*ֽ:A9=BAa9?JA*ֽRA9=٘i)I9y@YG JiJJJJ*E&K YSY~?yX^SA)E77778EB)xBE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #26q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) \{ ;)ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032311.763165 s, next control iter: 1743032312.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032312.163165 s.v}H~,q #AJ"J*J2J:JBJnJvJA@Ase@Aa[~? AAw$&"AApNA"AZAbAjArAzAAA)()@A0+;YrA y@AE;A:=AnFA TA`<)?A*A®9?2A7ֽ:A=BA®9?JA7ֽRA=YS=@Fy~9=Ƶ;ٓH`'\? sCg?@v?A?)S=@ I٘i)I9 y@YG J׮B=Jw8JJJ$*E&Kw> YY~?yRAF)E7>8)}B[[+}S@[Y~?[ۧ[[[[BZYY i) :It*G?i@@< < ^ )) ^ @ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032312.183165 s, next control iter: 1743032312.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032312.583165 s.H~,S%#AAR벶@ADkѲ@Au[~? ACA$&"AApNA"AZAbAjArAzAAA+R:(@AtXrAsx@A ѺIَG?i:@j<  )) Գ@ǪYcbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032313.463165 s, next control iter: 1743032313.823176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5812", header.stamp.nsec: 0"0 temperature: 13.385405"* salinity: 33.391720", density: 1025.000000"* values[0]: 0.703894"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032313.843165 s.ݜH~,u#AJ"J*J2J:JBJnJvJAHz.@A`E @AU=[~? AA$&"AAm-pNA"AZAbAjArAzAAA>&'@A$F2WrAEv@AU)A[Q=A;BA*A3?Aɠ*A<:?2Aǽ:A<BA<:?JAǽRA<٘i)I9v@Y.G JB=JJJJ9*E&K Y8bY~?y럧_QA)E)7ŧ7[8DB)B|E[[`WX@[Y~?[[[[[BZYY i)  %IG?i[#@< _))_M@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032313.863165 s, next control iter: 1743032314.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032314.263165 s.H~,ؐ#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743032314.263279F (some fields omitted in printout)A@A^@A<#[~? AA$&"AApNA"AZAbAjArAzAAAG&@A>^/WrA@=v@A*JA=ANAA@A܍?At옼*A:?2A˽:A<BA:?JA˽RA Y,FY~?yQAA)E{7j7b8)ByE[[Y@[}Y~?[[[[[BZYY i9) bIG?i6&@< N))Ns@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032314.303165 s, next control iter: 1743032314.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 58132, header.stamp.nsec: 020 temperature: 13.3856552* salinity: 33.3917122, density: 1025.0000002* values[0]: 0.7028352F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032314.683165 s.lH~,o#AJ"J*J2J:JBJnJvJAQ@AV봶@A [~? AwA$&"AAToNA"AZAbAjArAzAAA`z%@ACWrA۾u@AAog=A\@A`AP?A$#*A-:?2Aͽ:A<BA-:?JAͽRA<٘i)I9u@YG J{JJJJD*E&K Y*Y~?yPA)E77i8)BvE[[Z@[gY~?[[[[[BZYY i) TMI&G?iw)@< ))t@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032314.683165 s, next control iter: 1743032315.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743032315.103165 s.H~,#AA= ףp@AJV@AZ~? AA%$&"AAoNA"AZAbAjArAzAAAȂNK%@Ake-WrADu@A-A~=A~?AޏA zA*A:?2A;Ͻ:A`<BA:?JA;ϽRA`<٘i)I9Du@YFG JB=JJJJI*E&K Y Y~?yEPA)E{7{7!q8EB)BsE[[6[@[XPY~?[[[[[BZYY i) 5IcH?i-@< ))@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032315.123165 s, next control iter: 1743032315.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032315.523165 s.H~,{#AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074329< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743032315.523279F (some fields omitted in printout)A(ܵ@A<µ@AZ~? AA$&"AA-oNA"AZAbAjArAzAAA$@AWrA:t@AGA=A@=AA қA!*A:?2A_ѽ:A5<BA:?JA_ѽRA5<٘i)I9t@YG J"C=JJJJO*E&K YX~?yOA)Eb7b7Kx8)B[[A#]@[9Y~?[![[[[BZYY i) λI{EH?i)1@< }))}@y*RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032315.543165 s, next control iter: 1743032315.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5814, header.stamp.nsec: 00 temperature: 13.385890* salinity: 33.391712, density: 1025.000000* values[0]: 0.701909F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032315.943165 s.[dH~,O]#AAzG@Aɩ-@AкZ~? AA$&"AAgoNA"AZAbAjArAzAAA=#$@A̘XrAZNt@AR,<A#=A<A@ADAH*Å:?2Aҽ:A3=BÅ:?JAҽRA3=٘i)I9Nt@YG JoJJJJT*E&K YX~?yOA)E77{7v8)BpE[[+Q^@[#Y~?[o[[[[BZYY i) ?IlH?i5@9r< ))J@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032315.963165 s, next control iter: 1743032316.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032316.363165 s.J "J *J 2J :J 3?BJ 3?nJ K<5vJ H~,>#AA3333@A|%@A Z~? AAu$&"AA@oNA"AZAbAjArAzAAA Zp#@A_%XgXrAfs@Aۨ<Ay=A0;A j~A?AŖ*A3:?2AǬӽ:AƸ=BA3:?JAǬӽRAƸ=Y2H@a;y#݊=<ٓH,? H̱b˿[?D? YUX~?yݦ+OA;)ESI7SI78)BmE[[k_@[ Y~?[[[[[BZYY i) I*H?i>8@I< SY))SY1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032316.403165 s, next control iter: 1743032316.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5815&, header.stamp.nsec: 0&0 temperature: 13.386118&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.700985&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032316.783165 s.ZH~,2#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074329< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743032316.783296F (some fields omitted in printout)AQ@A@AZ~? AXA$&"AAoNA"AZAbAjArAzAAAH* "@A+XrA Rs@AzL<Aҋ=A9A}sA&A汕*Ax:?2AԽ:AK=BAx:?JAԽRAK=٘i)I9Rs@YG JxJJJEJ_*E&K YžX~?yĨNA)E77̍8)BjE[[`@[X~?[w[[[[BZYY i) xImH?iH;@s< oS))oSz@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032316.803165 s, next control iter: 1743032317.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032317.203165 s.H~,M#AJ"J*J2J:JBJnJvJAףp=@A@ٔ+p@AlZ~? A4A$&"AABnNA"AZAbAjArAzAAA)˦5"@A:ZYrAVr@AY5;A=Az8AeA`AÒ*AFo:?2Aս:A(W=BAFo:?JAսRA(W=٘i)I9r@YG JsJJJJd*E&K Y-X~?yqNA)E8)BgE[[a@[X~?['[[[[BZYY i) )$IoH?i>@b< o))o@ ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032317.223165 s, next control iter: 1743032317.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032317.623165 s.TH~,Pg#AA)\@AA%۷@ARZ~? A:A_$&"AAnNA"AZAbAjArAzAAAr[ם!@AaYrA[r@A,A=Ag7AUA`]ӹA))*Af:?2Aֽ:A=BAf:?JAֽRA=٘i)I9[r@YG JJJJJj*E&K YgX~?yNA)E)7ŧ7!8)BdE[[ c@[X~?[[[[[BZYY i) o4ICI?iB@< C))C @"ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032317.643165 s, next control iter: 1743032318.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5816 , header.stamp.nsec: 0 0 temperature: 13.386374 * salinity: 33.391693 , density: 1025.000000 * values[0]: 0.700066 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032318.043165 s.H~,Â#AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074329< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032318.043281F (some fields omitted in printout)A{Ga@AKu/G@A9Z~? AjA$&"AAĢnNA"AZAbAjArAzAAAZ @A<ܳZrA:q@AvAs=A+5ABAA7*A^:?2A|׽:A=BA^:?JA|׽RA=٘i)I9q@Y7G JJJJJo*E&K YLX~?yyMA)E777L8)BaE[[6d@[X~?[[[[[BZYY i) CII?iF@d< SK))SK=@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032318.063165 s, next control iter: 1743032318.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032318.463165 s.[H~,#AA̸@Af@ATZ~? AA4$&"AA{nNA"AZAbAjArAzAAA3e` @A}܁H[rAgq@AbA=Ar4A-AyA*AmW:?2A3׽:ARx=BAmW:?JA3׽RARx=YZO@94y$=CcٓHuI@A?@=z%Կ@Z@IeL UB?)ZO@ I٘i)I9gq@YG JJ<JJJt*E&K{> Y81X~?yATMA4)E77{7v8DB)BbE[[&ce@[X~?[[[[[BZYY i) 1SIi&I@/= 3))3Ӌ@ɪYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743032318.483165 s, next control iter: 1743032318.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5817, header.stamp.nsec: 00 temperature: 13.386586* salinity: 33.391705, density: 1025.000000* values[0]: 0.699176F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032318.883165 s.yH~,<#AJ"J*J2J:J2?BJ2?nJ;5vJAQ8@AV9@AZ~? AHAYt$&"AATnNA"AZAbAjArAzAAA6@AV s\rA-p@AA0=A-3AgA¿Av*A{P:?2A׽:Aߒ=BA{P:?JA׽RAߒ=٘i)I9p@YG J喼JJJJz*E&K YkX~?yLA)Eŧ7b78)B_E[[f@[؍X~?[[[[[BZYY i1g) ybIiK@= ))mi@N̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032318.903165 s, next control iter: 1743032319.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032319.303165 s.WH~,{g#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743032319.303304F (some fields omitted in printout)Aq= ף@A `@A)Y~? AA]U$&"AA-nNA"AZAbAjArAzAAAC"~S@AKy]rAdp@A;A!6=A&1AyAhpĿA踢*AJ:?2Aֽ:AV =BAJ:?JAֽRAV =٘i)I9dp@YNG JfJJJJ*E&K YW~?yжLA)Eb77̸8)B\E[[g@[UyX~?[E[[[[BZYY i) qIi O@t= SE))SE@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032319.323165 s, next control iter: 1743032319.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5818., header.stamp.nsec: 0.0 temperature: 13.386819.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.698240.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032319.723165 s.H~,H#AJ"J*J2J:J2?BJ2?nJn;5vJA(\@A;4,F@AY~? AAF3$&"AAanNA"AZAbAjArAzAAAƝtCQ@As1^rAo@Al{h<A[ܗ=A0A A`kHƿAe*A?:?2Aֽ:A, =BA?:?JAֽRA, =٘i)I9o@YG JUJJJJ*E&K YW~?y-LA)Eŧ7b78)ůBYE[[h@["eX~?[[[[[BZYY i)  IiR@= s))s@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032319.743165 s, next control iter: 1743032320.123181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032320.143165 s.U/I~,* $AAGz@A 2`@AwY~? AA$&"AAmNA"AZAbAjArAzAAAV G@Ak_rAeMo@Ast<A֙=A;W/AпA "ȿA韨*A6:?2Aֽ:AH=BA6:?JAֽRAH=٘i)I9Mo@YG J{JJJJ*E&K YW~?y_KA*Eb77!8)ɯBVE[[j@[BQX~?[ [[[[BZYY i) 'IiV@w^ = S))S뿩&@yKӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032320.163165 s, next control iter: 1743032320.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032320.563165 s.I~,R $$AJ"J*J2J:J2?BJ2?nJK;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032320.563289F (some fields omitted in printout)Affff溶@AHP̺@ARY~? AA#&"AAmNA"AZAbAjArAzAAAm0ɻ@ApQarAn@A]D<Av=A6-AAɿAr*A[-:?2A!׽:A/B=BA[-:?JA!׽RA/B=Y($V@l-y<=ۣ<ٓHC?󕲿@^9ڿ.-4{?`?)($V@ I٘i)I9n@YNG JJ4<JJJ*E&Ky> YIW~?ybKA-*Ej7Z7L8)ίBSE[[b1k@[g=X~?[ [[[[BZYY i) HIiX@ȿ = T))T鿩@|֪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032320.583165 s, next control iter: 1743032320.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5819, header.stamp.nsec: 00 temperature: 13.387084* salinity: 33.391701, density: 1025.000000* values[0]: 0.697210F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032320.983165 s.I~,>$AAQ@AG ^7@AUY~? A?AK#&"AAmNA"AZAbAjArAzAAAm^i@AxbrA2n@Av[Amu=A,AyA ˿Aɑ*A$:?2A^׽:Ai=BA$:?JA^׽RAi=٘i)I92n@YG JJJJJ*E&K YW~?yçJA -D *Eb77w8)үB[[~Yl@[)X~?[M[[[[BZYY i) x-IiV[@V` = ))翩N@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032321.003165 s, next control iter: 1743032321.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032321.403165 s.&I~,Y$AJ"J*J2J:J\2?BJ\2?nJ;5vJA ףp@AJ[\@AnY~? AA#&"AAnmNA"AZAbAjArAzAAA_@A9) drAm@AiPA:=AbG+AwRAͿAV*A:?2Ah׽:A=BA:?JAh׽RA=٘i)I9m@YG JJJJJ*E&K YxW~?y9ǧJA*EZ7SI78CB)֯BPE[[;m@[X~?[[[[[BZYY i) (IiC^@?= ))俩@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032321.423165 s, next control iter: 1743032321.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5820", header.stamp.nsec: 0"0 temperature: 13.387352"* salinity: 33.391678", density: 1025.000000"* values[0]: 0.696185"F (some fields omitted in printout):xW~?):9ǧ rAdjusting time to match Gazebo time: 1743032321.823165 s.I~,>t$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743032321.823291F (some fields omitted in printout)A\(@AlЗ@AUY~? AXAZ#&"AA|ImNA"AZAbAjArAzAAA~٪4@AerAm@A5|A2=A)A <)AϿA1*A:?2A׽:A=BA:?JA׽RA=٘i)I9m@YLG JJJJJ*E&K Y_W~?yʧ(JA*E)7ŧ78)گBME[[dn@[X~?[[[[[BZYY i) /3Iia@j]= l))l⿩t@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032321.863165 s, next control iter: 1743032322.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032322.243165 s.J "J *J 2J :J 2?BJ 2?nJ :5vJ #I~,$AAGz@Acz@A`=Y~? A! AH%#&"AA@$mNA"AZAbAjArAzAAAM = @A~[CYgrANl@Ai"A=AĮ(A`AпAJ*Am :?2Ak׽:A=BAm :?JAk׽RA=٘i)I9l@YG JJJJJ*E&K YVEW~?yuΧIA*E778)߯BJE[[o@[W~?[[[[[BZYY i) IiAe@= %))%࿩f@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032322.263165 s, next control iter: 1743032322.643185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743032322.663165 s.*I~,q$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5821, header.stamp.nsec: 00 temperature: 13.387598* salinity: 33.391682, density: 1025.000000* values[0]: 0.695162F (some fields omitted in printout)A@A)弶@A%Y~? A A"&"AALlNA"AZAbAjArAzAAAR"g@AKE$irAWk@A`G:A=AOo'A@ AѿAF뽼*Ae:?2Aoֽ:AL=BAe:?JAoֽRAL=YN\@Fn'y=H:ٓHg` ?n`߿줿1kH??)N\@ I٘i)I9k@YG JvJ<JJJ*E&Kx> Y,W~?yҧMIAn'#*E77"8BB)BHE[[p@[W~?[[[[[BZYY i)  Ii&g@j= ݿ))ݿV@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032322.683165 s, next control iter: 1743032323.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032323.083165 s.D1I~, S$AJ"J*J2J:J1?BJ1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032323.083303F (some fields omitted in printout)ARk@AlQ@A Y~? A'A"&"AAlNA"AZAbAjArAzAAA.\@AjkrAaEk@A5<A"۫=Aq/&AA~gҿAֹƼ*A9?2Aֽ:A\=BA9?JAֽRA\=٘i)I9Ek@Y0G J¼JJJJ*E&K YW~?yHקHA(*E7M8)B[[r@[FW~?[$[[[[BZYY i) ]Iili@Yd= ۿ))ۿ+@/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032323.123165 s, next control iter: 1743032323.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032323.503165 s.7I~,4$AAp= ׽@Aj򼽶@A$X~? AdAJu"&"AAHlNA"AZAbAjArAzAAA~؟@AmrA j@As<A^=Aq$A~pAEӿAP̼*A9?2AYֽ:A4=BA9?JAYֽRA4=٘i)I9j@YG JɼJJJJ*E&K  8YV~? 8yۧiHA-*Eŧ7b7w8)BEE[[7s@[\W~?[V([[[[BZYY i) İüIil@= ?Iٿ))?Iٿ@GYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032323.523165 s, next control iter: 1743032323.903215 s, wait time: 0.380050 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5822, header.stamp.nsec: 00 temperature: 13.387895* salinity: 33.391663, density: 1025.000000* values[0]: 0.694024F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032323.923165 s.L>I~,$AJ"J*J2J:JBJnJvJA(\B@A_|(@A}X~? AA4"&"AAAlNA"AZAbAjArAzAAAyV@AforAzi@A eC<Ad=A#A_<A@2$ԿAͼ*A9?2Aֽ:AX=BA9?JAֽRAX=٘i)I9i@Y`G JdͼJJJJ*E&K YV~?yGA3*Eb778)BBE[[jYt@[ŨW~?[,[[[[BZYY i) ˼Iio@= ׿))׿N@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032323.943165 s, next control iter: 1743032324.323187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743032324.343165 s. YrV~?yGA >*E)7ŧ78)B[[v@[gW~?[5[[[[BZYY i) ټIi"t@&?= }ҿ))}ҿ{p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032324.783165 s, next control iter: 1743032325.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032325.183165 s.RI~,ùK$AAQ@A k@AX~? A Aa!&"AAL(lNA"AZAbAjArAzAAA&k @AcurAg@AxAG=A#AeA`eֿAȼ*AP9?2A׽:A~=BAP9?JA׽RA~=٘i)I9g@Y( G JɼC=JJJJ*E&K YV~?yFAC*E77"8)BxrA-Fg@A\Ax=A7ARAЍ׿AO˼*AY9?2A>g׽:AC=BAY9?JA>g׽RAC=٘i)I9Fg@Y G J'ɼJJJJ*E&K YɆV~?y#FAH*E77j7M$8@B)B:E[[x@[eW~?[>[[[[ZZ¸BZYY i¸}=) ԼIi~x@. = Ϳ))Ϳ둕@yrѼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032325.623165 s, next control iter: 1743032326.003174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5824 , header.stamp.nsec: 0 0 temperature: 13.388495 * salinity: 33.391636 , density: 1025.000000 * values[0]: 0.691543 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032326.023165 s.Z`I~,{$AA(\@AB@AjX~? A(A &"AAkNA"AZAbAjArAzAAAu&@A|WYzrAϘf@AݖA =A8A@A"]ؿAyҼ*Al9?2Aֽ:A=BAl9?JAֽRA=٘i)I9f@YX G JIμB=JJJJ*E&K YoV~?y.EAN*ES77y+8) B7E[[y@[TW~?[C[[[[ZZBZYY i) ȼIi<{@ = ˿))˿!@yɼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032326.063165 s, next control iter: 1743032326.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032326.443165 s.=fI~J,W]$A"J*J2J:J0?BJ0?nJy95vJAz@Ac@ATX~? A.-At &"AAkNA"AZAbAjArAzAAALU@A@Z}rAe@A;A1=A۹AA%ٿA*Av9?2Aކֽ:A?0=BAv9?JAކֽRA?0=٘i)I9e@Y G JC=JJJJ*E&K YYV~?yW7EAS*E{7j728)B[[{@[$EW~?[jH[[[[ZZBZYY i) 鼼IiY~@"= s{ɿ))s{ɿ@y=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032326.463165 s, next control iter: 1743032326.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5825, header.stamp.nsec: 00 temperature: 13.388816* salinity: 33.391655, density: 1025.000000* values[0]: 0.690315F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032326.863165 s.+mI~,}>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743032326.863266F (some fields omitted in printout)A33333@A@A>X~? A1A &"AAkNA"AZAbAjArAzAAAy @A rAxd@Ai<A=AuAAٿA=*AR9?2Afֽ:A;<BAR9?JAfֽRA; YDV~?y5DAdX*E7798?B)B4E[[>|@[}5W~?[ZM[[[[ZZBZYY i) 9Ii@G#= K:ǿ))K:ǿHA@ygݧ=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032326.903165 s, next control iter: 1743032327.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032327.283165 s.J "J *J 2J :J 0?DRtI~BJ0?nJ95vJ, $AAQ@A@Al)X~? A6A&"AAkNA"AZAbAjArAzAAA?N@AN7>̂rAd@Ag<Az=A'A elevatorAngleAction: 0.082759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743032328.123304F (some fields omitted in printout)A)\u¶@A[¶@ACW~? A?A&"AA>?kNA"AZAbAjArAzAAAu~?A}䑈rAb@AQAf6<A(A`ܼAGܿA2c*A9?2Aֽ:AԺBA9?JAֽRAԺ٘i)I9b@Y G JüC=JJJJ*E&K YV~?yCAh*E7NO8)B.E[[m@[zW~?[\[[[[ZZBZYY i) w&Ii@'= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032328.163165 s, next control iter: 1743032328.523181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032328.543165 s.II~,"$AA{G¶@A42¶@AW~? AzDA'&"AAkNA"AZAbAjArAzAAAe8ej?ADǓrA,b@AmjA['<A3A@7sA ݿAr{*A9?2Aֽ:ABA9?JAֽRA٘i)I9,b@Y G JJJJJ*E&K YU~?y/CAn*E)7ŧ7yV8.B)B+E[[\@[)V~?[a[[[[ZZBZYY i) tIiZ@~i)= 'G))'G~@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032328.583165 s, next control iter: 1743032328.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5827, header.stamp.nsec: 00 temperature: 13.389493* salinity: 33.391628, density: 1025.000000* values[0]: 0.687422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032328.963165 s.xI~,=$AJ"J*J2J:J/?BJ/?nJ85vJALö@Aσ2ö@AZW~? AIAS&"AAkNA"AZAbAjArAzAAA<'?A1q쩎rA YU~?y/"6CAs*E77{7]8) B[[@[V~?[g[[[[ZZBZYY i{=) ;rIi݄@*= )) @G(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032328.983165 s, next control iter: 1743032329.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032329.383165 s.ؕI~,QX$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061466< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032329.383301F (some fields omitted in printout)AQö@A1=ö@AeW~? ANA&"AA0jNA"AZAbAjArAzAAAbU_?AK ԑrAa@Aw AAAA4޿A߰û*Aq9?2AAֽ:AbkBAq9?JAAֽRAbk٘i)I9a@YK G J JJJJ+E&K YU~?y(>CAx*Eŧ7b7d8)!B(E[[{@[2V~?[xl[[[[ZZBZYY i=) L_Ii@*= k˹))k˹@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032329.423165 s, next control iter: 1743032329.783179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5828", header.stamp.nsec: 0"0 temperature: 13.389688"* salinity: 33.391624", density: 1025.000000"* values[0]: 0.686732"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032329.803165 s.J "J *J 2J xAI~:J/?BJ/?,gs$AnJW85vJAq= #Ķ@A%r Ķ@AȮW~? ATA&"AA/jNA"AZAbAjArAzAAA6w8P?AJ?rA |a@AT6:A{AHA AA߿AJM*A9?2A<ֽ:ANɼBA9?JA<ֽRANɼ٘i)I9|a@Y; G JP}JJJJ+E&K YU~?y8/ECA~*E77k8)"B[[ @[V~?[q[[[[BZYY i) .LIiu@,= ))+@U0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032329.823165 s, next control iter: 1743032330.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032330.223165 s.gI~,H$AA(\Ķ@A6DuĶ@AW~? AwYA &"AAjNA"AZAbAjArAzAAA:Yq?A4R.crA~a@ATN@<A/A A[4A߿A;*A9?2Ax׽:ABA9?JAx׽RAἙ٘i)I9~a@Y= G J 9JJJJ +E&K YwU~?y5MCA*E{7j7#s8)&E[[y@[V~?[iw[[[[BZYY i) D9Ii@{-= U))Ut@y= l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032330.243165 s, next control iter: 1743032330.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032330.643165 s.ЩI~,E*$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743032330.643287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGĶ@Ae6Ķ@AW~? A_Av&"AAljjNA"AZAbAjArAzAAAf?ADۑxǛrAa@A׷<AUAТA`A@4UA;*AL9?2A&'׽:A:JBAL9?JA&'׽RA:J˗I٘i)I9a@YN G J;JJJJ+E&K Y_U~?yA<UCA*E77Nz8)!B[[k&@[ѶV~?[|[[[[BZYY i) [&Iiˈ@/= ))fH@*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032330.663165 s, next control iter: 1743032331.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5829, header.stamp.nsec: 00 temperature: 13.389723* salinity: 33.391602, density: 1025.000000* values[0]: 0.686642F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032331.063165 s.I~,k $AAfffffŶ@A2PLŶ@AvW~? AdAG&"AAfmjNA"AZAbAjArAzAAAh精?A:>rAa@A25<ASuAOY A AA4#<*A39?2A?ֽ:ABA39?JA?ֽRAYYv@;d yru 6<ٓH8 5? u?R ?u??@?)Yv@ I٘i)I9a@Yo G J<JJJJ+E&Kw> YU~?yUCCAd *Eŧ7b7y8)B#E[[ᴃ@[OV~?[[[[[BZYY ig=) pIi&@{/= 㰿))㰿֜@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032331.103165 s, next control iter: 1743032331.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032331.483165 s.x_I~,$AJ"J*J2J:J/?BJ/?nJZ85vJAŶ@AѷŶ@AcW~? A|jA&"AAQjNA"AZAbAjArAzAAANdTAQƢrA b@A':AA A3A A^<*AY9?2Aֽ:AB BAY9?JAֽRAB ٘i)I9 b@Y G JS><JJJJ+E&K YnU~?yhJCA*E7778-B)B E[[C@[$V~?[I[[[[BZYY i) Ii@4?0= 7))7 e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032331.503165 s, next control iter: 1743032331.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5830, header.stamp.nsec: 00 temperature: 13.389660* salinity: 33.391602, density: 1025.000000* values[0]: 0.687013F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032331.903165 s.ȽI~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032331.903291F (some fields omitted in printout)A ףp=ƶ@AͭV#ƶ@A/RW~? AcpAf&"AAU6jNA"AZAbAjArAzAAAz?|ӿApE`rA8b@Au(AA Aϵ߿AQA( <*A*9?2A'ֽ:A(BA*9?JA'ֽRA(٘i)I9b@Y G J'{<JJJJ!+E&K Y]U~?y|QLDA*Eŧ77Ώ8.B)B!E[[ф@[PV~?[[[[[BZYY i) AH޿A A<*A29?2ARֽ:AyBA29?JARֽRAy٘i)I9c@Y G J<JJJJ++E&K Y&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032332.763165 s, next control iter: 1743032333.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032333.163165 s.s}I~,qJ$AJ"J*J2J:J:0?BJ:0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743032333.163282F (some fields omitted in printout)AǶ@AGgeǶ@A8W~? AA&"AAiNA"AZAbAjArAzAAAgU۞-A1crAy%d@A4eADAAaݿAAA><*A9?2Avֽ:A BA9?JAvֽRA Y8}@yCZCfٓHP,?>?\l<^?C?l`?)8}@ I٘i)I9%d@Y G J<JRJJJ1+E&K%x> Y-U~?y4gYEA*EO8) BE[[1y@[pV~?[[[[[BZYY i) kIi@4= ҥ))ҥ,@yP}=!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032333.183165 s, next control iter: 1743032333.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032333.583165 s.I~,Se$AARǶ@A8GnǶ@A W~? AA&"AACiNA"AZAbAjArAzAAA*DAOrrAd@A'<AAA ܿAAVP<*A|9?2AK'׽:A-BA|9?JAK'׽RA-٘i)I9d@Y1 G J٪<JJJJ6+E&K YHU~?ynEA*Eb7b7y8)B[[@[hfV~?[[[[[BZYY i) bIi@{4= 3))3(@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032333.603165 s, next control iter: 1743032333.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5832, header.stamp.nsec: 00 temperature: 13.389256* salinity: 33.391563, density: 1025.000000* values[0]: 0.688989F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032334.003165 s.w I~,H4$AJ"J*J2J:JBJnJvJAp= Wȶ@A <ȶ@AMV~? AA &"AA iNA"AZAbAjArAzAAAȗA$_rABe@AkDy<AkCA2AܿA Azw<*A9?2AO׽:A`BA9?JAO׽RA`٘i)I9Be@Y G J<B=JJJJ;+E&K YU~?yVv(FA*E7778.B)BE[[˓@[C\V~?[[[[[BZYY i) NP&Ii@35= Sh))ShƵ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032334.023165 s, next control iter: 1743032334.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032334.423165 s.uI~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743032334.423277F (some fields omitted in printout)A(\ȶ@Aj1xȶ@AV~? A A~&"AA|iNA"AZAbAjArAzAAAT~A-`N\rAXe@Aym<A`AA<ۿAH"A<*A9?2Aa,׽:ABA9?JAa,׽RA٘i)I9e@Y G J<C=JJJJA+E&K YiU~?y}FA*E77Ϻ8-B)BE[[ @[{RV~?[[[[[BZYY i) ~ԺIiO@x(6= 4))4B@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032334.443165 s, next control iter: 1743032334.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5833, header.stamp.nsec: 00 temperature: 13.389038* salinity: 33.391525, density: 1025.000000* values[0]: 0.690121F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032334.843165 s.I~,$AJ"J*J2J:J0?BJ0?nJ@95vJAHz.ɶ@A~ɶ@AV~? AA &"AAiNA"AZAbAjArAzAAAgPAĝ>grA\f@Aj;A]AA`LuڿAgA<*A09?2Aaֽ:A2BA09?JAaֽRA2٘i)I9\f@Y3 G J<B=JJJJF+E&K YT~?ywFA*Eb778)B[[,@[ IV~?[[[[[BZYY i) _ 7Ii=@PY7= ))'ϡ@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032334.863165 s, next control iter: 1743032335.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032335.263165 s.I~,$AAɶ@AH0ɶ@AV~? AbAڊ&"AAMriNA"AZAbAjArAzAAA@$AjgrAf@AgUAcAbA@gٿAA:<*A9?2A0wֽ:A1BA9?JA0wֽRA1٘i)I9f@Y G J<C=JJJJL+E&K YT~?y_GA*E{7{7$8)BE[[*9@[?V~?[ν[[[[BZYY i) g9IiZ@8= Қ))Қ%[@*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743032335.283165 s, next control iter: 1743032335.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 58342, header.stamp.nsec: 020 temperature: 13.3888042* salinity: 33.3915372, density: 1025.0000002* values[0]: 0.6912512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032335.683165 s.lI~,^$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032335.683272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQʶ@A@-ɶ@AV~? A1A&"AA\iNA"AZAbAjArAzAAAV4A8۩rA}g@AdfAGLA>A`ؿA9AI<*A9?2AGֽ:AzBA9?JAGֽRAz٘i)I9}g@Y G J<JJJJQ+E&K YT~?yGA*Ej7j7O8.B)BE[[ĉ@[M7V~?[è[[[[BZYY i) 8:Ii@m:= ۤ))ۤ@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032335.683165 s, next control iter: 1743032336.083177 s, wait time: 0.400012 sT~?) rAdjusting time to match Gazebo time: 1743032336.103165 s. I~,Ԛ$AA= ףpʶ@AVʶ@A V~? AA!&"AAGiNA"AZAbAjArAzAAAҖa9$AmMrA$ h@Awr{AAJA`ؿA+Ax}<*A/9?2A`ֽ:ABA/9?JA`ֽRA٘i)I9 h@Y; G J<B=JJJJV+E&K YT~?y).HA*E{7{7z8-B)BE[[O@[.V~?[ʨ[[[[BZYY i) ;Ii@Q<= y))yq@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032336.123165 s, next control iter: 1743032336.503187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743032336.523165 s.I~,|!$AJ"J*J2J:J1?BJ1?nJ95vJA(ʶ@A ʶ@AV~? AA&"AA3iNA"AZAbAjArAzAAA"ebA"`!rA&h@A2 AAtA <׿AAjA <*A"9?2Aֽ:ASBA"9?JAֽRAS٘i)I9h@Y G Jx<C=JJJJ\+E&K Y;T~?yHA*Eb778)B[[ي@[ 'V~?[FШ[[[[BZYY i) ]C;Iiǔ@o>= GP))GP@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032336.543165 s, next control iter: 1743032336.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5835, header.stamp.nsec: 00 temperature: 13.388571* salinity: 33.391499, density: 1025.000000* values[0]: 0.692433F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032336.943165 s.YdI~,F]<$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743032336.943308F (some fields omitted in printout)AzG˶@An-˶@AGV~? A Ap&"AAiNA"AZAbAjArAzAAAQ*PAߓqrA"i@A67;A A:DA`dֿAA<*A9?2A׽:ATNBA9?JA׽RATN٘i)I9i@Y G J<JJJJa+E&K Y˫T~?yKHA*E78,B)BE[[=c@[xV~?[s֨[[[[BZYY i) ;Ii@<@= *))*8@ټ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032336.963165 s, next control iter: 1743032337.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032337.363165 s.I~,>W$AJ"J*J2J:JBJnJvJA3333˶@AW\˶@AV~? AEƩA &"AA iNA"AZAbAjArAzAAA0%ͼApTrAǘi@AO<AA+AJտAAw;<*A9?2A}U׽:A|BA9?JA}U׽RA|Y!@y멈H P<ٓHZԿ??g? ,`Կ1?? ??)!@ I٘i)I9i@Y+G Jo<J<JJJf+E&Kf> YT~?yYIA*E77j78.B)BE[[@[#V~?[ܨ[[[[BZYY i'=) ;Iis@`@= ?))?@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032337.383165 s, next control iter: 1743032337.763179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5836", header.stamp.nsec: 0"0 temperature: 13.388337"* salinity: 33.391483", density: 1025.000000"* values[0]: 0.693525"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032337.783165 s.XI~,r$AAQ̶@AI+̶@AcV~? A}ͩAY&"AAhNA"AZAbAjArAzAAAAO5rAj@A#<A TALA ԿAgA<*A9?2A(Q׽:ABA9?JA(Q׽RA9٘i)I9j@YtG J<JJJJl+E&K YTT~?yIA*E77%8)ݯB[[y@[%V~?[[[[[BZYY i) ;Iix@N@= ύ))ύ@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032337.803165 s, next control iter: 1743032338.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032338.203165 s.#I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J*J< rudderAngleAction: -0.2617992J> elevatorAngleAction: 0.076456:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4200022 time: 1743032338.203299F (some fields omitted in printout)Aףp=̶@AoG8-p̶@A(zV~? AԩA@&"AAhNA"AZAbAjArAzAAAAbAv rAj@A%0<A憽AaAUӿALA 3<*A9?2A׽:AyBA9?JA׽RAy٘i)I9j@YG J<JJJJq+E&K YT~?yDĨJA*Eb7b7P8)گB[[W@[ V~?[x[[[[BZYY i) ~;Ii@ @= #))#R'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032338.223165 s, next control iter: 1743032338.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032338.623165 s.U)I~,T$AA)\̶@A-X̶@AhoV~? A$ܩAC=&"AAhNA"AZAbAjArAzAAAeo A[T#'rAj@AiArA^A`mҿAX~A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9j@YG J<JJJJw+E&K  8Y܆T~? 8y̨lJA*E7z8-B)կBE[[@[8V~?[[[[[BZYY i) c%;Ii@[A= wu))wu}@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032338.643165 s, next control iter: 1743032339.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5837 , header.stamp.nsec: 0 0 temperature: 13.388122 * salinity: 33.391476 , density: 1025.000000 * values[0]: 0.694512 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032339.043165 s.0I~,$AJ"J*J2J:JBJnJvJA{GaͶ@A13GͶ@A"eV~? AA&"AAhNA"AZAbAjArAzAAA١A$frAnk@A1A戽AZA#ҿAA|<*A9?2A_ֽ:ABA9?JA_ֽRA٘i)I9nk@YIG J<JJJJ|+E&K Y}T~?yԨJA*Eŧ7b7 8.B)ӯBE[[@[JU~?[M[[[[BZYY i)  elevatorAngleAction: 0.076456< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743032339.463285F (some fields omitted in printout)AͶ@A~Ͷ@AX[V~? A Ao&"AAhNA"AZAbAjArAzAAAJ |xp AGaArAk@A5NA2yAA3ѿA`A$<*A.9?2AOֽ:ABA.9?JAOֽRAYb@TytٓHCͿ#??@ uͿ`ʯ?6K?I??)b@ I٘i)I9k@YG J<JJJJ+E&K4x> Y'wT~?y|ݨ%KA*E8)ϯB[[@[U~?[[[[[BZYY i)  elevatorAngleAction: 0.076456< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032340.723298F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\϶@A+MFζ@A@V~? AA_&"AAnhNA"AZAbAjArAzAAAS0gT Aί-rAUm@A <AjA{޿A̿A/WAd-<*A9?2AC׽:AӅBA9?JAC׽RAӅ٘i)I9Um@YrG JՏ<JJJJ+E&K YcT~?y4 YYT~?yLAٿ+E77j748)B[[I^@[U~?[x[[[[BZYY i)  elevatorAngleAction: 0.076456< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032341.983296F (some fields omitted in printout)AQж@Ac#7ж@A&+V~? A!A&"AA nhNA"AZAbAjArAzAAA DeAׄa sAn@Aݮ;A "A0ֿAoǿAAȼ<*A9?2Aֽ:AY BA9?JAֽRAY ٘i)I9n@YUG J<JJJJ+E&K YUT~?y=bMA+E7)7;8)BE[[k@[U~?[$[[[[BZYY i) |y elevatorAngleAction: 0.086086:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4200292 time: 1743032343.243318F (some fields omitted in printout)AGzѶ@AjezѶ@AV~? A0A &"AARhNA"AZAbAjArAzAAAP[AXsArp@AnZxA|ʜAXϿAA A<*A9?2A?Fֽ:A0BA9?JA?FֽRA0٘i)I9rp@YXG J<JJJJ+E&K Y KT~?yn+NA*+EZ7Z7QQ8)B[[*@[U~?[8[[[[BZYY i) % YFJT~?y;4NA̿/+E)7b7|X8)B E[[%@[U~?[>[[[[BZYY i)  elevatorAngleAction: 0.086086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032344.503308F (some fields omitted in printout)Ap= Ҷ@A@Ҷ@A` V~? AHA &"AAq>hNA"AZAbAjArAzAAAo#AFAe*sA?$r@AZZU<APA=ǿAVA`EA<*A 9?2ALO׽:AsCBA 9?JALO׽RAsC٘i)I9$r@Y_G J<JJJJ+E&K YHT~?yEOA:+E77f8)B[[,@[U~?[ L[[[[BZYY i) (^J/sAr@A_<AQAĿA KA@SA&<*Ax9?2AA׽:AjBAx9?JAA׽RAj٘i)I9r@YG JĪ<JJJJ+E&K YGT~?yN7PA?+Em8)B[[T@[U~?[R[[[[BZYY i) y}A¿A.A^AҴ<*A09?2ATֽ:ABA09?JATֽRA٘i)I9Gs@YG J0<JJJJ+E&K Y*GT~?ylWPAD+E77{7'u8)BE[[C@[(U~?[uY[[[[BZYY i) u elevatorAngleAction: 0.086086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743032345.763295F (some fields omitted in printout)AԶ@AUӶ@AV~? A`A& &"AAY1hNA"AZAbAjArAzAAA~-{Av9sA2s@AxcAA3AGAgAȾ<*AN9?2Anֽ:ABAN9?JAnֽRAYU(@БyyEdٓH??u?^?i?oLJ?)U(@ I٘i)I9s@YoG J<JJJJ+E&Kw> YAIT~?y2`QAJ+E77Q|8)B[[]ɿ[U~?[&`[[[[BZYY i) CsAt@A`:AAAqA1nA5<*A9?2Aֽ:AvyBA9?JAֽRAvy٘i)I9t@YG J<JJJJ+E&K YXKT~?yhQAO+EZ7Z7|8)B[[}ƿ[,U~?[f[[[[BZYY i) " elevatorAngleAction: 0.086086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743032347.023314F (some fields omitted in printout)A(\ն@A\;QBն@AV~? AxAN&"AA_+hNA"AZAbAjArAzAAA(YAGsAu@ArFADZA3ⷿARyA`BtAs<*A|9?2AHֽ:A5BA|9?JAHֽRA5٘i)I9u@YG J<JJJJ+E&K YOT~?yzmRAZ+E77ё8)|B[[v¿[U~?[Mt[[[[BZYY i) H,$AA33333ֶ@AUOֶ@AV~? AA&"AAg+hNA"AZAbAjArAzAAAx?AV6QsA'?w@A4<A}AnA1?ApAg<*A>9?2AT׽:A >BA>9?JAT׽RA >Yj@y{<ٓH=S?`? %bd?@ ŵ?@?@Ƃ? ?)j@ I٘i)I9?w@Y{G J <J*JJJ+E&KDx> YVT~?yZSAd+E77'8)rB[[[U~?[[[[[BZYY i) ˨ elevatorAngleAction: 0.086086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743032348.283285F (some fields omitted in printout)AQֶ@AHֶ@A5V~? A%Av&"AA,hNA"AZAbAjArAzAAA $J Ae#̣VsAw@A}<A쵽AA@?A@jAm<*Ad9?2A8׽:AnBAd9?JA8׽RAn٘i)I9w@YG J<JJJJ+E&K Y~[T~?ySAj+ER8)mBE[[黿[U~?[j[[[[ZZZZ¸>BZYY i¸>) UAz+E77Ҽ8)ZB[[S[U~?[[[[[ZZZZBZYY i) A` ?A@8AH<*A9?2Aq9ֽ:AKxBA9?JAq9ֽRAKxY @yH^xIiٓH?{?Zgݷ1|?@ԯ?`?t?) @ I٘i)I9 {@YG J=J =JJJ,E&Kw> Y rT~?y UA+E{7j78-B)TBE[["[{U~?[-[[[[ZZZZBZYY i) j>hNA"AZAbAjArAzAAA:ڛfhAZ2|osAP{@AdAD3AAϼ?A(A3s<*A9?2ANֽ:A*BA9?JANֽRA*⻙٘i)I9{@YQG J<JJJJ ,E&K YyT~?yUA+E7777'8)NB[[ﰿ[^U~?[ש[[[[ZZZZBZYY i) JJJ#,E&Kv> YT~?y%VA+Eb778)BB[[[U~?[cĩ[[[[ZZZZBZYY ikn) f6fB=J=JJJ=,E&Kw> YrT~?y UA+EZ7SI7 81B)IB#E[[[>V~?[[[[[BZYY i>Zg) cA0*AA9?2Aȓֽ:A֧=BAA9?JAȓֽRA֧=Y7j@}y=zV;ٓH`Ћ?x?ϳ?&Ȗ?J} 07j??)7j@ I٘i)I9oz@YlG JwJk<JJJX,E&Kw> Y4U~?yZ0TA}+Ej7j7~/84B)aB+E[[Ƒ[DV~?[[[[[BZYY i) 36;Iio|@V!= ))ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032356.283165 s, next control iter: 1743032356.663184 s, wait time: 0.380019 s:tReceived state from Gazebo (printed only once in a while)::0 header.stamp.sec: 5855:, header.stamp.nsec: 0:0 temperature: 13.568000:* salinity: 33.375004:, density: 1025.000000:* values[0]: 0.579590:F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032356.683165 s.lJI~,R+ $AJ"J*J2J:JBJnJvJAQ߶@A޶@AV~? A4,AǙ%"AAhNA"AZAbAjArAzAAA}AHsA%y@A0AW=AwA?A` A*A}9?2A6ֽ:A =BA}9?JA6ֽRA =٘i)I9y@YG JJJJJ^,E&K Y%U~?y7SA+E68)eB[[[MV~?[8 [[[[BZYY i) nH;Iiiy@ԟ= ))*ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032356.683165 s, next control iter: 1743032357.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032357.103165 s.QI~,F $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032357.103283F (some fields omitted in printout)A= ףp߶@A,gV߶@AiV~? Ag3A^ %"AA`hNA"AZAbAjArAzAAAYmA/sAnPy@A`yA=A_rA?AAU*A9?2Am׽:A(U<BA9?JAm׽RA(U<٘i)I9Py@YG JJJJJc,E&K Y@5U~?y?PSA+E=85B)jB.E[[UG[\WV~?[r[[[[BZYY i)  ;Iiv@i= ))̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032357.123165 s, next control iter: 1743032357.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032357.523165 s.WI~,|a $AJ"J*J2J:JH?BJH?nJ|5vJA(߶@AڒU߶@AV~? A:Ah%"AA iNA"AZAbAjArAzAAA,D!5sA2xsAx@AKVkAf=AJ/mA&?A+A5f*A-9?2Aֽ:Ab<BA-9?JAֽRAb<٘i)I9x@YjG JϢJJJJh,E&K YDU~?yiFRA+Eb7b7D8)oB[[[aV~?[[[[[BZYY i) Hɞ:Ii|t@x= ))yɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032357.543165 s, next control iter: 1743032357.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5856, header.stamp.nsec: 00 temperature: 13.568237* salinity: 33.375038, density: 1025.000000* values[0]: 0.578915F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032357.943165 s.Td^I~,1]| $AAzG@A#-@AVV~? AAA%"AAb iNA"AZAbAjArAzAAA6BX"C?AbTsAV@x@AfûA;.=A!hAAX?A]AXA*Ar9?2Aֽ:AX<BAr9?JAֽRAX<٘i)I9@x@YG JJJJJn,E&K YMTU~?yMRA+E77)L86B)tB1E[[C[;lV~?[[[[[BZYY i) s9Iir@A= Vِ))VِVِƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032357.983165 s, next control iter: 1743032358.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032358.363165 s.eI~,> $AJ"J*J2J:J!?BJ!?nJS5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032358.363297F (some fields omitted in printout)A3333@A ?@A}V~? AHAm%"AA3iNA"AZAbAjArAzAAAFAOm$sAw@A5;A=A cA (?A> A:*Az9?2ARֽ:A<BAz9?JARֽRA=^;ٓH+?P?K3? 05? Y&fU~?yT#RAc+E7)7TS87B)yB2E[[{}[wV~?[#[[[[BZYY i) :*Iin@= 6և))6և6ևêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032358.403165 s, next control iter: 1743032358.763179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5857*, header.stamp.nsec: 0*0 temperature: 13.568422** salinity: 33.375019*, density: 1025.000000** values[0]: 0.578343*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032358.783165 s.WkI~, $AAQ@A@ϝ@AV~? AnOA%"AA,HiNA"AZAbAjArAzAAAJlA(^sA0w@Ag<A=A^A0?A IA*AQ9?2AG'ֽ:A76=BAQ9?JAG'ֽRA76=٘i)I90w@YrG JJJJJy,E&K YwU~?yi[QA+E~Z8)~B5E[[w9[hV~?[)[[[[BZYY i) JкIik@8= L}))L}L}YYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032358.803165 s, next control iter: 1743032359.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032359.203165 s.sI~,  $AJ"J*J2J:JBJnJvJAףp=@A*%p@A"V~? A:VA`%"AA]iNA"AZAbAjArAzAAAPY}uAПsAv@Ay<A\=A5XA?AٟA*A9?2AAֽ:A<BA9?JAAֽRA<٘i)I9v@Y!G JVJJJJ~,E&K Y؉U~?y=bdQA+E77{7a8)B[[O[V~?[/[[[[BZYY i) 8%Iih@9=  Sk)) Sk SkYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743032359.223165 s, next control iter: 1743032359.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032359.623165 s.WyI~,] $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743032359.623275F (some fields omitted in printout)A)\@A@AV~? A\A %"AAriNA"AZAbAjArAzAAAdЗA=sA)v@AK<AY҆=AySA $?A[A,N*AH9?2Aֽ:AT{<BAH9?JAֽRAT{<٘i)I9)v@YG JJJJJ,E&K YU~?yiQA+E77h88B)B8E[[P[1V~?[5[[[[BZYY i) \cIif@bC= Y))YY߹YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032359.643165 s, next control iter: 1743032360.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5858 , header.stamp.nsec: 0 0 temperature: 13.568638 * salinity: 33.375031 , density: 1025.000000 * values[0]: 0.577738 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032360.043165 s.I~, $AJ"J*J2J:J?BJ?nJ5vJA{Ga@At/G@AV~? AcAY%"AAiNA"AZAbAjArAzAAA߅O0AZ3{sAu@AЖBAe=A!NA`:\?AA *AA9?2A ֽ:AD<BAA9?JA ֽRAD<٘i)I9u@YG JJJJJ,E&K YU~?yoPA,Eb7b7o8)B[[z[V~?[;[[[[BZYY i) M|Iic@1= F))FF@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032360.063165 s, next control iter: 1743032360.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032360.463165 s.I~,; $AA@AU@AW~? AjA%"AAiNA"AZAbAjArAzAAA0FA% sAj YU~?yvMPAH /D,E7)7*w8:B)BA`?A 5A*A>9?2Ajֽ:Aw<BA>9?JAjֽRAw<٘i)I9at@YG JJJJJ,E&K YU~?yOA,ESI7SI78)B[[Cl[V~?[L[[[[BZYY i) (Ii/Y@ = ))YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743032361.323165 s, next control iter: 1743032361.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5860., header.stamp.nsec: 0.0 temperature: 13.568918.* salinity: 33.375038., density: 1025.000000.* values[0]: 0.576761.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032361.723165 s.I~,Hn $AJ"J*J2J:J?BJ?nJ5vJA(\@A;4,F@A1W~? A}AAd%"AAiNA"AZAbAjArAzAAAOϑ0A+sAws@A }9A=AY9A`7`?AA*A9?2AKֽ:A5<BA9?JAKֽRA5<٘i)I9s@Y{G JJJJJ,E&K Y}U~?ÿDOA,E77{78)BBE[[SXh[V~?[R[[[[BZYY i) #Ii^V@n2 = C))CCyKkYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032361.743165 s, next control iter: 1743032362.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032362.143165 s.Y/I~,* $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743032362.143288F (some fields omitted in printout)AGz@AB`@ABW~? A!A%"AAjNA"AZAbAjArAzAAA Yd'V~?yNA. ,E78=B)BFE[[C_[V~?[][[[[BZYY i) -&IiO@= @3))@3@37YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032362.583165 s, next control iter: 1743032362.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5861, header.stamp.nsec: 00 temperature: 13.569036* salinity: 33.375057, density: 1025.000000* values[0]: 0.576297F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032362.983165 s.I~, $AAQ@AC7@AeW~? AAA%"AA6jNA"AZAbAjArAzAAA9_ɞArsALr@A`L<A`'=A)A">?AAmS*A9?2Alֽ:A=BA9?JAlֽRA=٘i)I9r@YG JΌC=JJJJ,E&K YK=V~?y&4NA&,E77{7*8>B)BIE[[sZ[W~?[c[[[[BZYY i) ?5IiK@y= @)) @@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032363.003165 s, next control iter: 1743032363.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032363.403165 s.&I~, $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743032363.403288F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AX@AwW~? A̔AD%"AAQjNA"AZAbAjArAzAAArC?A sA$r@AM';A =A$A`7?A`A]ӌ*A9?2Aս:A=BA9?JAսRA=٘i)I9$r@Y`G J.JJJJ,E&K Y3SV~?yMA+,ET8)BLE[[U[W~?[zh[[[[BZYY i) BEIizH@-N= @K))@K@KêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032363.423165 s, next control iter: 1743032363.803176 s, wait time: 0.380011 s3SV~?)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5862, header.stamp.nsec: 00 temperature: 13.569194* salinity: 33.375065, density: 1025.000000* values[0]: 0.575796F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032363.823165 s.I~,% $AA\(@Az@AW~? AuA%"AAmjNA"AZAbAjArAzAAA@5?A^sAq@A^A=AJA?ADAU*A&9?2A1ֽ:A0=BA&9?JA1ֽRA0=٘i)I9q@YG JJJJJ,E&K YiV~?yE|MA0,E7778)B[[{Q[&W~?[m[[[[BZYY i) TIimE@< ))ƪY-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032363.843165 s, next control iter: 1743032364.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032364.243165 s.I~,y $AJ"J*J2J:JBJnJvJAGz@Aʩaz@AyW~? AA%"AA7jNA"AZAbAjArAzAAAʹm?A3sA7q@A{Ap=AAzA?A`߿A`鎼*A9?2ANtֽ:Ag6=BA9?JANtֽRAg6=٘i)I97q@YG J]JJJJ,E&K YV~?yԪ MA6,ESI7SI78?B)BOE[[aL[6W~?[s[[[[BZYY i) UdIiB@*M< sT))sTsTʪYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743032364.263165 s, next control iter: 1743032364.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032364.663165 s.I~,q* $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743032364.663290F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5863, header.stamp.nsec: 00 temperature: 13.569337* salinity: 33.375092, density: 1025.000000* values[0]: 0.575317F (some fields omitted in printout)A@A@AðW~? AkAF%"AA(jNA"AZAbAjArAzAAAtCR?AZLEsAʽp@A cAh=AA?A\#߿A*A9?2Anֽ:An< =BA9?JAnֽRAn< =Yi@oy=cٓH ??ç?9@?h{ ̲a ?)i@ I٘i)I9p@YG JDJD<JJJ,E&Ku> YV~?yLA;,Eb77վ8@B)BRE[[G[FW~?[ x[[[[BZYY i) msIi\>@< ;))|;;ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032364.683165 s, next control iter: 1743032365.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032365.083165 s.DI~,RE $AJ"J*J2J:JBJnJvJARk@AuoQ@AfW~? AA/%"AAjNA"AZAbAjArAzAAA (E?AGtA=p@AkA]=AA@4?Al޿Aם*AJ9?2A.ֽ:A =BAJ9?JA.ֽRA =٘i)I9=p@Y7G JJJJJ,E&K Y/V~?yVLA@,E{7{78AB)BSE[[C[WW~?[*}[[[[BZYY i) VIiX:@+< D<)) D<D<ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032365.103165 s, next control iter: 1743032365.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032365.503165 s.I~,P4` $AAp= @A|^@AbW~? A䯫Aw%"AAjNA"AZAbAjArAzAAAע?AutARo@Av;A=Aq Ao1?A`ݿAg*AV9?2AԽ:A[@=BAV9?JAԽRA[@=٘i)I9o@YG J,JJJJ,E&K YV~?y\KAF,E777*8BB)įBVE[[K>[hW~?[#[[[[BZYY i) ,숼Ii6@< D,=))D,=D,=Z֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032365.523165 s, next control iter: 1743032365.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5864, header.stamp.nsec: 00 temperature: 13.569500* salinity: 33.375099, density: 1025.000000* values[0]: 0.574791F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032365.923165 s.J "J *J 2J ;I~:J%?BJ%?nJK5,{ $AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032365.923275F (some fields omitted in printout)A(\B@A'Nw(@AW~? AA%"AA$kNA"AZAbAjArAzAAAeig?A/j tA%o@Ac m<AOt=AJAqz?AWܿAT*A9?2A{Խ:Ag=BA9?JA{ԽRAg=٘i)I9%o@YG JتJJJJ,E&K YXV~?y4KAK,E7{7U8)ɯBZE[[9[zW~?[ [[[[BZYY i6) "Iiy3@{< _x=))_x=_x=تYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032365.943165 s, next control iter: 1743032366.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032366.343165 s.<I~, $AAHz@A@ARX~? AݹAS%"AA" kNA"AZAbAjArAzAAAF~O?Aht_ tAn@Aлu<Aɗ=AA?A!=ܿA;ű*Ay9?2AԽ:Ai=BAy9?JAԽRAi=٘i)I9n@Y2G J^B=JJJJ,E&K YV~?y ê'KAP,Eb778CB)ίB]E[[[4[֋W~?[ߋ[[[[BZYY i) Ii0@< t=))t=t="ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032366.383165 s, next control iter: 1743032366.743178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5865*, header.stamp.nsec: 0*0 temperature: 13.569690** salinity: 33.375088*, density: 1025.000000** values[0]: 0.574184*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032366.763165 s.7I~,ذ $AJ"J*J2J:JBJnJvJA@A @ACX~? AAHS%"AA?kNA"AZAbAjArAzAAA~#@A_/tA3m@A.M;Aɟ=ApA ?AhyۿA쮼*A59?2Acxս:A%=BA59?JAcxսRA%=Y@yjȟ=z;ٓH`{D?@dz?İ?1ݿ X?` i??)@ I٘i)I9m@YG JC=J0<JJJ,E&Kt> Y W~?y ǪJAV,E{7778)ӯB[['0[W~?[[[[[BZYY i) |Ii,@=< E=))xE=E=۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032366.783165 s, next control iter: 1743032367.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032367.183165 s.I~,^ $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243094@ elevatorAngleAction: -0.086530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743032367.183266F (some fields omitted in printout)AQ@AVk@A+X~? ARëA%"AA_kNA"AZAbAjArAzAAAZ!'@ApotA6km@AoA=A=A QQ?A<ڿA*A9?2A$ֽ:AY =BA9?JA$ֽRAY =٘i)I9km@YG JݭJJJJ,E&K Y&W~?y5˪PJA[,E7{78)دB`E[[D+[ W~?[%[[[[BZYY i) Ii'@u< @^=)) @^=@^=yLުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032367.203165 s, next control iter: 1743032367.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032367.603165 s.=4I~,Ț $AJ"J*J2J:J?BJ?nJ5vJA= ף@A}@AAX~? AǫA %"AAkNA"AZAbAjArAzAAAvn2@ADItAzl@A%,VA%8=AA`?AٿA*A9?2ANԽ:A=BA9?JANԽRA=٘i)I9l@Y'G JHJJJJ,E&K Y?W~?yIϪIAa,Eb778)ݯBcE[[w&[W~?[[[[[BZYY i)  zIi$@" < p` >))p` >p` >YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032367.623165 s, next control iter: 1743032368.003182 s, wait time: 0.380017 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5866 , header.stamp.nsec: 0 0 temperature: 13.569846 * salinity: 33.375122 , density: 1025.000000 * values[0]: 0.573583 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032368.023165 s.ZI~, | $AA(\@A<B@AVX~? A;̫AE%"AAݠkNA"AZAbAjArAzAAAT^.D@A3FtA{Hl@AiA,=Ar׾A ?AiٿA<7*A9?2A;6ս:A#=BA9?JA;6սRA#=٘i)I9Hl@YG JԭJJJJ,E&K YXW~?y]ӪzIAf,E)7ŧ7+8EB)BgE[[ۣ![W~?[[[[[BZYY i) Ii @I< >))>>Ye2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032368.063165 s, next control iter: 1743032368.423182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743032368.443165 s.J :I~"J*J,J] $A2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032368.443285F (some fields omitted in printout)Az@Ao@A mX~? A|ЫAm%"AA*kNA"AZAbAjArAzAAA\@A/stAޱk@A3!A;I=Akk;A?A`LؿAA鷼*Ay9?2A8ս:AB==BAy9?JA8սRAB==٘i)I9k@YrG JKJJJJ,E&K YqW~?yrתIAk,Eŧ77V8FB)BjE[[[\W~?[x[[[[BZYY i) eIi@< 1>))1>1>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032368.483165 s, next control iter: 1743032368.843181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5867, header.stamp.nsec: 00 temperature: 13.570018* salinity: 33.375107, density: 1025.000000* values[0]: 0.572953F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032368.863165 s.+ I~,>7 $AA33333@A}@AqX~? AԫA%"AAkNA"AZAbAjArAzAAAx5U{ @A.tAk@A8~:A;=AЉþAMS?A`@׿A~*A9?2Aս:A-6=BA9?JAսRA-6=YԵ@}þy;=1:ٓH?@8??@׿˱?񡠿۠ƯQ??)Ե@ I٘i)I9k@YG J B=J<JJJ,E&KDt>  8Y,W~? 8yڪHA}þq,E77{78)B[[[W~?[[[[[BZYY i) ͭļIi@x< OD>))7jvOD>OD>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032368.903165 s, next control iter: 1743032369.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032369.283165 s.1RI~,R $AJ"J*J2J:JBJnJvJAQ@Ae@AX~? AثAiP%"AAlNA"AZAbAjArAzAAA•7 @A1ѨitA^mj@A-<<Aï=A>A`??AcֿAu-˼*A9?2Aս:Ağ=BA9?JAսRAğ=٘i)I9mj@YG J3ƼC=JJJJ,E&K YXW~?yު&HAv,E777 8)BmE[[3&[X~?[Ī[[[[BZYY i) ˼Ii@EW< W>))1W>W>}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032369.303165 s, next control iter: 1743032369.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5868., header.stamp.nsec: 0.0 temperature: 13.570210.* salinity: 33.375137., density: 1025.000000.* values[0]: 0.572294.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032369.703165 s.ݺI~,.m $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260140@ elevatorAngleAction: -0.086530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743032369.703309F (some fields omitted in printout)Aףp= @A2@AX~? AiܫA %"AAz(lNA"AZAbAjArAzAAAMkw@AhG tAi@Aǹ<Anű=AA3?A տA΢Ѽ*A|9?2AXӽ:A= =BA|9?JAXӽRA= =٘i)I9i@YCG JKμB=JJJJ-E&K YW~?yHGA{,Eŧ7b78)BpE[[E[ %X~?[ɮ[[[[BZYY i) >ӼIi@sU< 0(k>)) 0(k>0(k>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032369.723165 s, next control iter: 1743032370.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032370.123165 s.=!I~,v $AJ"J*J2J:JBJnJvJA)\u@A<\[@A$X~? AAp%"AA\KlNA"AZAbAjArAzAAAߞ"@A|?#tAi@A}B<A!V=A?bA ?AտAӼ*AR9?2A2ӽ:Aج=BAR9?JA2ӽRAج=٘i)I9i@Y G JDӼC=JJJJ -E&K YW~?y>GA,E778GB)BsE[[^ [9X~?[[[[[BZYY i) ڼIiI @^ٴ< `~>))`~>`~>lY9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032370.163165 s, next control iter: 1743032370.523183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743032370.543165 s.I(I~,â $AA{G@Ar0@AX~? AAs%"AAnlNA"AZAbAjArAzAAAK@An%A%tA{\h@Aˢ:A=AbA+4?A &-ԿArӼ*A9?2AKԽ:A=BA9?JAKԽRA=٘i)I9\h@Yk G J ԼJJJJ-E&K YW~?yFA,Eb77+#8)BvE[[o[NX~?[[[[[BZYY i) Ii0 @< xA>))xA>xA>?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032370.583165 s, next control iter: 1743032370.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5869, header.stamp.nsec: 00 temperature: 13.570441* salinity: 33.375141, density: 1025.000000* values[0]: 0.571539F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032370.963165 s.w.I~,줽 $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032370.963307F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A_2@A X~? A A/%"AA/lNA"AZAbAjArAzAAA@AӳT'tA!g@ALA+=Au׏Af?APӿA|Ҽ*A9?2Ayս:Ap:=BA9?JAyսRAp:=Y@Dy&=ٓH?l?|?ѿ@~?` p R?)@ I٘i)I9g@Y G J ӼJ&<JJJ-E&Ks> YX~?yGOFAD,E{7{7V*8) B[[][cX~?[-[[[[ZZ¸BZYY i¸|ӫ=) ռIic@< Y>))tY>Y>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032370.983165 s, next control iter: 1743032371.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032371.383165 s.5I~,@ $AAQ@AemS<@AY~? ALA%"AAlNA"AZAbAjArAzAAA^3k@AdxP)tAf@AT|A)j=A(A`?A`WpҿAӼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9f@Y G JҼJJJJ-E&K Y+X~?yEA,Eb7718)ByE[[]G[[yX~?[[[[[ZZBZYY i) 7ɼIi@< Y؜>))$TY؜>Y؜>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032371.403165 s, next control iter: 1743032371.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5870", header.stamp.nsec: 0"0 temperature: 13.570646"* salinity: 33.375156", density: 1025.000000"* values[0]: 0.570796"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032371.803165 s.yA<I~,g $AJ"J*J2J:JBJnJvJAq= #@Af׽ @A&Y~? AeAw%"AAYlNA"AZAbAjArAzAAA5@A5:X4+tAu4f@Aż\A|=Ax9vA?AѿAO*A;9?2AMԽ:A<<BA;9?JAMԽRA<<٘i)I94f@Y G J/JJJJ-E&K Y(FX~?y+[EA,Eŧ7b788HB)B|E[[^[-X~?[/[[[[ZZBZYY i) >Ii?< >)) >>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032371.843165 s, next control iter: 1743032372.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032372.223165 s.gCI~,H $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083899< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743032372.223278F (some fields omitted in printout)A(\@AFu@A1?Y~? AWANu%"AAlNA"AZAbAjArAzAAAzz"@A-tAWe@AgA=A$bA?A >пAP*A9?2Aӽ:A<BA9?JAӽRA<٘i)I9We@Y G J\JJJJ%-E&K Y@aX~?yDA,Eb7?8IB)BE[[b[^X~?[Ī[[[[ZZBZYY i) Ii?f< 1>))1>1>y'=H֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032372.243165 s, next control iter: 1743032372.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032372.643165 s.wII~, *) $AJ"J*J2J:JBJnJvJAG@A@AWY~? A$A<%"AA#mNA"AZAbAjArAzAAAԻJ@A8Q.tA]~d@A3;AFy=ADOAn?A 4ϿA *A:?2A,Խ:Ap<BA:?JA,ԽRAp<٘i)I9~d@Y G JeJJJJ*-E&K YY|X~?ygDA,Ej7Z7G8JB)&BE[[qV׾[X~?[Ǫ[[[[ZZBZYY i) ㆥIiw?W< Eɺ>))Eɺ>Eɺ>xYtYFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5871, header.stamp.nsec: 00 temperature: 13.570919* salinity: 33.375149, density: 1025.000000F* values[0]: 0.569944F (some fields omitted in printout)F]:Waiting for Gazebo time sync: latest Gz time: 1743032372.663165 s, next control iter: 1743032373.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032373.063165 s.PI~,c D $AAfffff@ANPL@A*pY~? AA%"AAHmNA"AZAbAjArAzAAA.)t@A CT0tA/c@A_b<A4=A:A`JA?A ͿAeټ*A :?2A Խ:A];BA :?JA ԽRA];Y&:@T:y] 4=ub<ٓH@p? Y)X~?y*DAT:,E,N8),BE[[a;[qX~?[ʪ[[[[ZZBZYY ir=) [Ii?< >))s>>|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032373.083165 s, next control iter: 1743032373.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032373.483165 s.u_WI~,^ $AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237846> elevatorAngleAction: 0.074023< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743032373.483305F (some fields omitted in printout)A@Aط@AY~? AKA%"AA+nmNA"AZAbAjArAzAAA @A1tA c@A^<AJ<Ax&A}g?A̿Ag*A :?2A.ս:A8BA :?JA.սRA8٘i)I9 c@Y/ G JtʼJJJJ5-E&K YX~?y@CA,E7ŧ7WU8)1BE[[EVþ[^X~?[ͪ[[[[ZZBZYY i) j䏼Ii?b< q>))ヾq>q>kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032373.503165 s, next control iter: 1743032373.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5872, header.stamp.nsec: 00 temperature: 13.571187* salinity: 33.375172, density: 1025.000000* values[0]: 0.569070F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032373.903165 s. ]I~,y $AA ףp=@AX#@AҡY~? AA%"AA̓mNA"AZAbAjArAzAAA0ZN&@AONI3tA݇b@AI;A<AAJ?AkCʿA*A*:?2AFӽ:AM' BA*:?JAFӽRAM' ٘i)I9b@Y G JJJJJ:-E&K YX~?yCA,E77\8)6B[[6[Y~?[Ъ[[[[ZZBZYY i) Ii?3< 1>)) 1>1>nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032373.923165 s, next control iter: 1743032374.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032374.323165 s.tdI~, $AJ"J*J2J:JBJnJvJA\@A*n܎@AY~? AANy%"AAmNA"AZAbAjArAzAAA(@A64tA*b@AOmA[ȻAA?A ȿAQ(*At,:?2A%:ӽ:A;NzBAt,:?JA%:ӽRA;Nz٘i)I9*b@Y G J+^JJJJ@-E&K YX~?yquCA,E77{7c8)9BE[[[JY~?[LӪ[[[[ZZBZYY i=) VtIim?ލ< >))>>yyN=E(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032374.343165 s, next control iter: 1743032374.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5873*, header.stamp.nsec: 0*0 temperature: 13.571329** salinity: 33.375187*, density: 1025.000000** values[0]: 0.568505*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032374.743165 s.WkI~,~ $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083331< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743032374.743295F (some fields omitted in printout)AGz@A_vj@AY~? AAO%"AAmNA"AZAbAjArAzAAA50@AoX^5tAa@A dAS A0ӽA?AƿA^L*A;&:?2Aӽ:A(+BA;&:?JAӽRA(+٘i)I9a@Y G JB=JJJJE-E&K YrY~?y 8CA,E77j8):BE[[[B0Y~?[ժ[[[[ZZBZYY i) ^Ii? z< `>))`>`>yn=)Y"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032374.763165 s, next control iter: 1743032375.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032375.163165 s.s}rI~,q $AJ"J*J2J:J?BJ?nJ5vJA@A{e@AsY~? AAO)%"AAnNA"AZAbAjArAzAAAip8d@AM7tAa@A^h}AMAA x?A@JĿA]:*AR:?2Ar)Խ:Ab)ԼBAR:?JAr)ԽRAb)ԼYOf@ y<}}ٓH?M?`ş*`??h??)Of@ I٘i)I9a@Yw G J[MC=J8:JJJJ-E&Kq> Y#Y~?yeCA,E{7j7r8);BE[[񗚾[HY~?[Eت[[[[BZYY ifk=) 2qMIi@?fn< Ň>))sŇ>Ň>y=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032375.183165 s, next control iter: 1743032375.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032375.583165 s.xI~,S $AAR@Abm@AZ~? AyA%"AA,nNA"AZAbAjArAzAAAU@AG8tAa@A^/A|j2A.A?AÿA)K;*Ae :?2AԽ:ABAe :?JAԽRA񼙘٘i)I9a@Y{ G J:JJJJP-E&K Y?Y~?yCA,Eb7b7,y8)E[[Z[R`Y~?[ڪ[[[[BZYY i!=)  elevatorAngleAction: 0.067684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032376.003305F (some fields omitted in printout)Ap= W@AR<@Ay Z~? A A%"AA6SnNA"AZAbAjArAzAAA`G:6g @A#S9tApb@A:ALXA.AB ?A`+Ah;*A$:?2Arӽ:ABA$:?JArӽRA٘i)I9b@Y G Jm;JJJJU-E&K Y \Y~?y:CA,E77j7W8):BE[[[xY~?[ܪ[[[[BZYY i) 0*Ii@?ΤX< N ?)) N ?N ?y{d=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032376.043165 s, next control iter: 1743032376.403185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743032376.423165 s.uI~,$AA(\@AKy@A%:Z~? AqA%"AA znNA"AZAbAjArAzAAA\W,!@Al:p9tABb@A?<ASvA$A>5?A@TAIZ'<*A$:?2Aӽ:ACEBA$:?JAӽRACE٘i)I9Bb@Y G J <JJJJZ-E&K Y?xY~?yCA,E778)8BE[[c?w[Y~?[ު[[[[BZYY i) &Ii?fO< @ ?))@ ?@ ?y$=~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032376.443165 s, next control iter: 1743032376.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5875, header.stamp.nsec: 00 temperature: 13.571107* salinity: 33.375240, density: 1025.000000* values[0]: 0.568599F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032376.843165 s.݌I~,5$AJ"J*J2J:J?BJ?nJ5vJAHz.@A-@ASZ~? AAs%"AAnNA"AZAbAjArAzAAA\!@As:tAxb@AHSy<A*LATA_G?A@d AV<*A!:?2ALԽ:ABA!:?JALԽRA٘i)I9b@Y G JB=<JJJJ`-E&K YsY~?yDA,E)7ŧ78)5BE[[Nb[Y~?[[[[[BZYY i) Ii?SCG< 2|?))2|?2|?w*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032376.883165 s, next control iter: 1743032377.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032377.263165 s.I~,P$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032377.263287F (some fields omitted in printout)A@AMg'@AmZ~? AAz%"AAnNA"AZAbAjArAzAAA}Cy;"@A_M;tAb@A-<A@As<AW?A\AN<*A:?2APԽ:A? BA:?JAPԽRA? Y@I YY~?yyDAI<,E77ו8)2BE[[ãM[Y~?[-[[[[BZYY i:/l=) Ii?X:< ?))vCt??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032377.283165 s, next control iter: 1743032377.663177 s, wait time: 0.380012 sY~?)6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 58766, header.stamp.nsec: 060 temperature: 13.5708376* salinity: 33.3752336, density: 1025.0000006* values[0]: 0.5690636F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032377.683165 s.J "J *J 2J :J ?BJ ?nJ 5lI~vJ,gk$AAQ@A4 @AZ~? AA%"AAInNA"AZAbAjArAzAAAOEP"@A3-;tAWkc@Ads9AAU=A`>d?AAz<*A4:?2AHԽ:ApBA4:?JAHԽRAp٘i)I9kc@Yi G J<<JJJJk-E&K YY~?ydDA,E77{78).B[[8["Y~?[[[[[BZYY i) I)һIi%?/< j?))cj?j?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032377.683165 s, next control iter: 1743032378.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032378.103165 s.I~,$AA= ףp@A|OV@AZ~? Ax Ar%"AAoNA"AZAbAjArAzAAA,-dv#@AsV:?2Aҽ:AMdBA>:?JAҽRAMd٘i)I9c@Y G JW<JJJJp-E&K Y*Y~?y>;EA,E{7j7-8IB)*BE[[#[Y~?[[[[[BZYY i) Ii*?`U%<  ?))  ? ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032378.123165 s, next control iter: 1743032378.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032378.523165 s.I~,{$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057662< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743032378.523266F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A@AZ~? A ANe%"AA=oNA"AZAbAjArAzAAA_ $@A[敵$A"J*J2J:J?BJ?nJ 5vJA3333@AT@AZ~? A A^S%"AAoNA"AZAbAjArAzAAA6.P%@A&)=tAse@AuNHAc!A=A`ه?AAt<*AcO:?2AԽ:ABAcO:?JAԽRAYs@*=y4!HٓH ,? ĽQ5 Z?b?@iw?? i?)s@ I٘i)I9e@Y G Jи<JC/JJJ-E&Ks> Y=Z~?yeFA*=,E778)BE[[aȽ[DZ~?[6[[[[BZYY i) ,0IiT?r< 0?))Bu0?0?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032379.383165 s, next control iter: 1743032379.763182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5878&, header.stamp.nsec: 0&0 temperature: 13.570055&* salinity: 33.375267&, density: 1025.000000&* values[0]: 0.570546&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032379.783165 s.XI~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239789> elevatorAngleAction: 0.057662< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032379.783297F (some fields omitted in printout)AQ@ASͬ@A [~? A A'O%"AAeoNA"AZAbAjArAzAAAdA+?AmA <*ACR:?2Aս:AoBACR:?JAսRAo٘i)I9Uf@Y/ G J^<JJJJ-E&K YYZ~?yFA,E{7{78HB)BE[[v֝[^Z~?[[[[[BZYY ip=) @Ii C?*;  U5?))  U5? U5?i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032379.803165 s, next control iter: 1743032380.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032380.203165 s.I~,! $AJ"J*J2J:J*?BJ*?nJD5vJAףp=@AV$&p@A#[~? A A=N%"AAoNA"AZAbAjArAzAAAr&@Az 6=tAf@Ar<A뛒A!>Ac?A?A[<*Ar:?2A_^Խ:AiBAr:?JA_^ԽRAi٘i)I9f@Y G JM<JJJJ-E&K YuZ~?y4GA 0D-Ej78)BE[[Le[yZ~?[z[[[[BZYY i) l`^Ii|3?/; F:?)) F:?F:?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032380.243165 s, next control iter: 1743032380.603180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032380.623165 s.XI~,a'$AA)\@Aس@A=[~? A AP%"AA~pNA"AZAbAjArAzAAAFf*'@Aպ=tARpg@AXd<ABꎽAi5>A ?A y?A<*At:?2AWԽ:A_BAt:?JAWԽRA_󼙘٘i)I9pg@Y G Jͤ<JJJEJ-E&K YёZ~?yGA-Eb77.8) BE[[|[Z~?[[[[[BZYY i) 8Ii%?; @?))@?@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032380.643165 s, next control iter: 1743032381.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5879 , header.stamp.nsec: 0 0 temperature: 13.569664 * salinity: 33.375282 , density: 1025.000000 * values[0]: 0.571350 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032381.043165 s.I~,B$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032381.043290F (some fields omitted in printout)A{Ga@A7+1G@A X[~? AT AU%"AA+pNA"AZAbAjArAzAAAB~'@A~ښA@b?A פ?A.<*Ar:?2AԽ:ABAr:?JAԽRA٘i)I9g@Y- G Jr<JJJJ-E&K YڭZ~?yHA -Eŧ7b7X8NB)B[[/(b[Z~?[[[[[BZYY i) :Ii?ӊ; :E?)):E?:E?y=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032381.063165 s, next control iter: 1743032381.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032381.463165 s.]I~,]$AA@AZ@Ar[~? A Ab^%"AARpNA"AZAbAjArAzAAA"f(@A,ŊA |?A ;?A<*AVo:?2AFԽ:AYBAVo:?JAFԽRAYY.@,^>yq ٓH`-?&˿ ~? v@?% *?Iv p?).@ I٘i)I9zh@Y} G J^<J<JJJ-E&KDt> YpZ~?y_HA,^>-E7778) BE[[|;[Z~?[[[[[BZYY i) 5:Ii?G; J?))owJ?J?e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032381.503165 s, next control iter: 1743032381.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5880, header.stamp.nsec: 00 temperature: 13.569263* salinity: 33.375305, density: 1025.000000* values[0]: 0.572082F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032381.883165 s.yI~,8x$AJ"J*J2J:Js?BJs?nJ5vJAQ8@A66;@A[~? A Ai%"AAypNA"AZAbAjArAzAAAY0m)@ANj A`Er?Awױ?A<*Ak:?2A@@ս:A9BAk:?JA@@սRA9٘i)I9h@Y G J<JJJJ-E&K YZ~?yHA-E8MB)BE[[<[Z~?[[[[[BZYY i) *=;Ii>Ζ; VP?)) VP?VP?D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032381.923165 s, next control iter: 1743032382.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032382.303165 s.WI~,{g$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032382.303284F (some fields omitted in printout)Aq= ף@AJ@L‰@A[~? AFAx%"AA^pNA"AZAbAjArAzAAA 13ۡ)@ABZz;tA~i@ArA(A>>AHg?A?Az<*A:?2A1ӽ:AiaBA:?JA1ӽRAia٘i)I9~i@YG J <JJJJ-E&K Y[~?y!IA-E8)BE[[L=[Z~?[[[[[BZYY i) B{;IiD>^; HU?))HU?HU?9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032382.323165 s, next control iter: 1743032382.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5881., header.stamp.nsec: 0.0 temperature: 13.568906.* salinity: 33.375317., density: 1025.000000.* values[0]: 0.572758.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032382.723165 s.I~,H$AJ"J*J2J:JBJnJvJA(\@AfI@A[~? ADAŊ%"AApNA"AZAbAjArAzAAAt({>*@A N:tAi@A0AG}As>AX?A`˃d; T[?))T[?T[?1*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032382.743165 s, next control iter: 1743032383.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032383.143165 s.i/I~,V*$AAGz@Ap`@A[~? AAݟ%"AApNA"AZAbAjArAzAAA{t*@AF:tAtoj@AA;A XAL>AG?A@(?A<*A{:?2Aս:ABA{:?JAսRA񼙘٘i)I9oj@YG J<JJJJ-E&K Y7[~?yVIA'-Eŧ7b7.8)BŹE[[=[j5[~?[d[[[[BZYY i=) ŷ;Iiw>RF; L`?))L`?L`?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032383.163165 s, next control iter: 1743032383.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032383.563165 s.I~,[ $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032383.563279F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@APN@A[~? AA%"AAqNA"AZAbAjArAzAAA5mfw+@AHv9tAj@A3J<AցA>A@2?Av?A<*A+w:?2A,ֽ:AA+BA+w:?JA,ֽRAA+Y=>y#ԁVK<ٓHV? ԿӬ? c?@* 7?]?`?)= I٘i)I9j@YG J<J<JJJ-E&KMu>  8YR[~? 8y(JA>,-E777Y8IB)BǹE[[x=[fP[~?[[[[[BZYY i) *;Iin>V[; ^f?))Jz^f?^f?԰*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032383.603165 s, next control iter: 1743032383.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5882, header.stamp.nsec: 00 temperature: 13.568535* salinity: 33.375298, density: 1025.000000* values[0]: 0.573461F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032383.983165 s.I~,$AAQ@A7@A: \~? AFA%"AA=qNA"AZAbAjArAzAAASMg,@Ab뺍8tAIk@A{z<A+dA>A`k?AU?A6z<*An:?2Aքֽ:ABAn:?JAքֽRA񼙘٘i)I9Ik@Y3G J!~<JJJJ-E&K Y{m[~?yJA2-E778)B[[i >[k[~?[s[[[[BZYY i) &;Iio,>B: "k?)) "k?"k?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032384.003165 s, next control iter: 1743032384.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032384.403165 s.&I~,$AJ"J*J2J:J?BJ?nJ5vJA ףp@A;5Y@A&\~? AA,%"AAdqNA"AZAbAjArAzAAAa,@A]Ҋ7tA,k@Ar&<A.A>A?A XB?A~<*A|:?2Aս:AcEBA|:?JAսRAcE٘i)I9k@YsG J{<JJJJ-E&K YS[~?yJA7-E{7j78HB)BʹE[[!>[؆[~?[0[[[[BZYY i)  elevatorAngleAction: 0.076218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743032384.823343F (some fields omitted in printout)A\(@AWv@A<@\~? AA%"AAsqNA"AZAbAjArAzAAAH-@A)o6tAl@AѿAؠAj>A?A ?A=<*At:?2AԽ:AGBAt:?JAԽRAG٘i)I9l@YG J<JJJJ-E&K Y+[~?yU-KA<-E77778)B͹E[[mE8>[<[~?[[[[[BZYY i) A?A?A<*A[[~?[[[[[BZYY i) v|,AY?AΡ?A4<*A~c:?2Anս:A; BA~c:?JAnսRA; YK>*>yp싽}ٓHB,?ٿؓ@?@X@?ҋz? 4?)K> I٘i)I9 m@YDG Jf<J>@JJJ-E&Kyu> Y[~?yߪKA*>G-E7{7/%8FB)ޯBӹE[[MYe>[[~?[A[[[[BZYY i) ; elevatorAngleAction: 0.076218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743032386.083320F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@AV pQ@A͋\~? AnA7%"AAOqNA"AZAbAjArAzAAAA/@A;2tA݄m@AFA*lAR3>A@b?A]t?Ac<*AZ:?2Aս:A BAZ:?JAսRA ٘i)I9m@YG Jd<JJJJ-E&K Y[~?ym۪@LAM-Eb77Y,8EB)ٯBֹE[[{>[[~?[:ު[[[[BZYY i)  fKA*b?A@]X?Az<*A=f:?2Abս:Al BA=f:?JAbսRAl ٘i)I9n@YG J<JJJJ-E&K Yu \~?yתLAR-E77{738)կB[[Ob>[\~?[۪[[[[BZYY i) ZA:?A,"?AWf<*A_:?2AMֽ:A>m BA_:?JAMֽRA>m ٘i)I9|n@Y&G Jt<JJJJ-E&K YC%\~?yEԪLAW-Ej7j7:8DB)ЯBٹE[[_۔>[W*\~?[٪[[[[BZYY i) Nj elevatorAngleAction: 0.076218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032387.343294F (some fields omitted in printout)AHz@AB_z@A\~? AAH%"AAorNA"AZAbAjArAzAAAQ\sOj0@A9-tA(n@Ant<AA ?A ?Au?A<*AX:?2Anֽ:A5[ BAX:?JAnֽRA5[ ٘i)I9n@YqG J5<JJJJ-E&K Y?\~?yЪZMA]-E777A8CB)̯BܹE[[e>[E\~?[֪[[[[BZYY i=) y?y֑;N]<ٓH?`I߿,??U꨿ ? 앋??)ҷ> I٘i)I9xo@YG J<JpJJJ-E&KYv> YW\~?yS̪MA?b-Ej7j7I8@B)įB޹E[[ի>[M`\~?[Ԫ[[[[BZYY i) Wp[{\~?[Ѫ[[[[BZYY i)  elevatorAngleAction: 0.085430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200732 time: 1743032388.603360F (some fields omitted in printout)A= ף@A@Au]~? A{A[%"AAwrNA"AZAbAjArAzAAA仌F1@AWR~2(tA?p@A2̻Aa}A2?A'?A?A<*AJ:?2A;ս:ABAJ:?JA;սRA٘i)I9p@YdG JŤ<JJJJ-E&K Y\~?yêNAm-Eb77YW8)B[[k>[ϕ\~?[ͪ[[[[BZYY i) UB)BE[[>[|\~?[lʪ[[[[BZYY i) [\~?[ƪ[[[[BZYY i) w$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743032389.863312F (some fields omitted in printout)A33333@A ?@Ae]~? AݫA%"AAHsNA"AZAbAjArAzAAA. Z-2@AM7!tAJr@AgAA?A 4?A  ?AӘ<*A,:?2AxBֽ:A BA,:?JAxBֽRA YȒ>?ygٓH`?]@? ?k `ڴ? ~?)Ȓ> I٘i)I9Jr@YwG Jŷ<JeJJJ.E&Kv> Y\~?yOA?}-E{7{7l8[\~?[ª[[[[BZYY i) "[\~?[[[[[BZYY i) Bf[]~?[[[[[BZYY i) -ø elevatorAngleAction: 0.085430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743032391.123271F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A׼[@A[]~? A/ҫAsv%"AA'sNA"AZAbAjArAzAAAh h12@A tA t@A# x<AA.?A.?AV&?A<*A:?2AW׽:A+FBA:?JAW׽RA+F٘i)I9 t@YG Jݼ<JJJJ.E&K Yv]~?yaQA-E7777Z87B)BE[[?[2]~?[F[[[[BZYY i) w ?))??K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032391.143165 s, next control iter: 1743032391.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032391.543165 s.IxI~,$AA{G@Ar0@A]~? AͫA]%"AAsNA"AZAbAjArAzAAAU0.3@A[ldžtAjt@A7<AVvA3?AV?A?AJ<*A\ :?2AZ׽:A'jBA\ :?JAZ׽RA'j٘i)I9t@YG J<JJJJ.E&K Yl,]~?yCQA-E)7)78)B[[ ?[L]~?[[[[[BZYY i) |?BJ>?nJr5vJAL@A 92@A]~? AɫA%"AAsNA"AZAbAjArAzAAA5)q3@A$ʂYtACou@AAxA8?A;?Aq?A<<*A:?2Aֽ:AgBA:?JAֽRAgY>?9?yrcٓH`?)`t`??`DQk? |P?)>? I٘i)I9ou@YaG J`<JoJJJ!.E&Kx> YA]~?yrRA9?-EZ7SI785B)BE[[?[d]~?[Ҭ[[[[BZYY i)  elevatorAngleAction: 0.085430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743032392.383278F (some fields omitted in printout)AQ@AnB<@A5]~? AūACq%"AAtNA"AZAbAjArAzAAA+ֲ3@Aú]itA!v@A5A(AK=?A@Hh?A@?A<*AW9?2Adֽ:A{BAW9?JAdֽRA{٘i)I9!v@YG Jj<JJJJ'.E&K YV]~?y|RA-E77{7ڗ84B)BE[[ͥ?[}]~?[Χ[[[[BZYY i)  BZYY i¸>5[)  ^~? AбA%"AANtNA"AZAbAjArAzAAA*N %4@AZytAMy@Ae<AAZS?A =?A`6?A3=*Ad9?2Az׽:ABAd9?JAz׽RAY?'S?yN<ٓH?@`?vj??@`۵???)? I٘i)I9y@YG J<Jګ;JJJ<.E&Ky> YX]~?y}[TA'S?-E77{78)fB[[.?[]~?[[[[[ZZZZBZYY i) JJJW.E&K/y> Y^~?y\>VAQm?-E77[8)?B[[hM?[L^~?[q[[[[ZZZZBZYY i) ~N?))>N?>N?J])YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032396.203165 s, next control iter: 1743032396.563175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743032396.583165 s.I~,S%$AAR@A1zn@Añ^~? AA#\%"AAXEuNA"AZAbAjArAzAAA 6@AlsA}@Ap_\Ad;A{r?A?Al;*Ak9?2AHֽ:AA<BAk9?JAHֽRAA<٘i)I9W}@Y1G J<JJJJb.E&K Y(^~?yNXVA-E77778 B)5BE[[Y?[Kv^~?[c[[[[ZZZZBZYY i)  >W}@Aau<AZ=AU?AR?Aq-?A*A9?2AQֽ:A=BA9?JAQֽRA=Y0O??yZ=Uu<ٓH`.~?PdE?|^?Y? p?`#T髎?g?)0O? I٘i)I9>}@Y"G JνJ>JJJr.E&KTw> Y}Y^~?y9(VA?-EZ7Z718B) E[[l?[^~?[M[[[[BZYY iFh) TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032398.683165 s, next control iter: 1743032399.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032399.103165 s.I~,$AA= ףp @AV @A _~? A6lA%%"AAuNA"AZAbAjArAzAAA @7@A3WsA_|@A{SAmˈ=A9?A=?A@?A-f*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9|@YG JMJJJJ}.E&K Yv^~?y)UA-E77 8B)4B E[[oy?[^~?[=[[[[BZYY i) ;IG?iK ] ?))??绪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032399.123165 s, next control iter: 1743032399.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032399.523165 s.I~,{$AJ"J*J2J:J?BJ?nJ5vJA( @AX @A&_~? AeA%"AAuNA"AZAbAjArAzAAAn7@Aצ^sA?|@Ax3A=AC?A6v?A ?A:*A9?2AG׽:AP =BA9?JAG׽RAP =٘i)I9?|@YG J^xJJJJ.E&K YE^~?ya"LUA-E77{78)7B[[P?[^~?[5[[[[BZYY i) [;IG?i.n_ ۶?))۶?۶?yh.ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032399.543165 s, next control iter: 1743032399.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5898, header.stamp.nsec: 00 temperature: 13.563126* salinity: 33.375530, density: 1025.000000* values[0]: 0.583941F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032399.943165 s.ZdI~,J]$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743032399.943315F (some fields omitted in printout)AzG @Asd- @A5_~? A_A"%"AAvNA"AZAbAjArAzAAAro7@AihVsA6{@ArAш=A=8?Ad?A V?A{*A9?2AP׽:Af =BA9?JAP׽RAf =٘i)I9{@Y?G JJJJJ.E&K Yܓ^~?yUA 1D-E778B)9BE[[΂?[Z^~?[-[[[[BZYY i) ͼ;IG?i]Bw` ?))??yΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032399.963165 s, next control iter: 1743032400.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032400.363165 s.I~,>$AJ"J*J2J:JBJnJvJA3333 @At( @A'D_~? AhXA%"AA=&vNA"AZAbAjArAzAAAy*7@A]+7@sAJ{@A1A_=Aɐ?A?A'?A*Ah9?2A׽:A5 =BAh9?JA׽RA5 =YFEi??y =a02ٓH`5?Ӗ? ? Y^~?yTA?.Eb77 8)=B[[?[1_~?[N%[[[[BZYY i) ;ItG?i{;e ?))??zԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032400.383165 s, next control iter: 1743032400.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5899&, header.stamp.nsec: 0&0 temperature: 13.563275&* salinity: 33.375546&, density: 1025.000000&* values[0]: 0.583449&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032400.783165 s.X I~,2$AAQ @A2 @AIR_~? AQA>(%"AAl  ?)) ? ?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032401.223165 s, next control iter: 1743032401.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032401.623165 s.XI~,ag$AA)\ @A+~ @A8m_~? ACAx4%"AAevNA"AZAbAjArAzAAAոWE8@A sAy@A`Vp<A=A[?Aw?AX?Ax*A9?2A_Iֽ:AP=BA9?JA_IֽRAP=٘i)I9y@YG JAJJJJ.E&K Y^~?ycSA.Ej7j758)GB[[pi?[1_~?[ [[[[BZYY i) ~;I^9G?iiwm 0+?))0+?0+?תYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743032401.643165 s, next control iter: 1743032402.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5900, header.stamp.nsec: 00 temperature: 13.563467* salinity: 33.375549, density: 1025.000000* values[0]: 0.582828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032402.043165 s.J "J *J 2J :J 4?BJ 4?nJ s5vJ Ȩ I~,Â$AA{Ga @A?T1G @Az_~? A<A %"AAVyvNA"AZAbAjArAzAAA@6k8@AV_sA x@AkK<A3=A?A?A.?A*Aj9?2Aֽ:A= =BAj9?JAֽRA= =٘i)I9x@YG JJJJJ.E&K Y ^~?yRA.E77<8B)JBE[[֓?[:?_~?[[[[[BZYY i) :Im%G?ij>Um K?))K?K?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032402.063165 s, next control iter: 1743032402.443196 s, wait time: 0.380031 s rAdjusting time to match Gazebo time: 1743032402.463165 s.X'I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743032402.463294F (some fields omitted in printout)A @Aꗈ @AS_~? A5A:G%"AAdvNA"AZAbAjArAzAAA(G88@AYsA6bx@A,o;A=A?A)?A`?A-*A19?2ATֽ:A0=BA19?JATֽRA0=YN??y=o;ٓH@3?. ? W?fF?貱?`'m?` ?)N? I٘i)I9bx@Y,G JJJJJ.E&KSx> Yn^~?yRA?.Ej7Z7C8B)LBE[[?[K_~?[[[[[BZYY i) L~9I%G?inq Jb?))Jb?Jb?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032402.483165 s, next control iter: 1743032402.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5901, header.stamp.nsec: 00 temperature: 13.563689* salinity: 33.375557, density: 1025.000000* values[0]: 0.582170F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032402.883165 s.J "J *J 2J :J ?BJ ?nJ F5vJ z-I~,$AAQ8 @Az): @A+_~? Ap.A%"AAvNA"AZAbAjArAzAAA1!8@Au%sAw@AAl=A{e?A b?A@?A*A9?2A9׽:A=BA9?JA9׽RA=٘i)I9w@YG J:JJJJ.E&K Y^~?yi.RA#.E{7{7K8)PB[[?[W_~?[[[[[BZYY i) 52IF?iþ,t }?))}?}?8ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032402.903165 s, next control iter: 1743032403.283182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032403.303165 s.W4I~,{g$AAq= ף @Aʼn @A_~? A+'A*`%"AAYvNA"AZAbAjArAzAAA8@A?1sAkCw@AfA=A|?A ?A`>?A*A9?2AL]׽:AC<BA9?JAL]׽RAC<٘i)I9Cw@Y~G J/B=JJJJ.E&K Y0^~?yکQA(.E7772R8)UB[[?[b_~?[[[[[BZYY i) ѺIF?iؿru k?))k?k?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032403.323165 s, next control iter: 1743032403.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5902., header.stamp.nsec: 0.0 temperature: 13.563889.* salinity: 33.375584., density: 1025.000000.* values[0]: 0.581515.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032403.723165 s.;I~,H$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743032403.723276F (some fields omitted in printout)A(\@A2F @Ak_~? AA%"AAt @))@@+ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032404.163165 s, next control iter: 1743032404.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032404.563165 s.HI~,F $$AJ"J*J2J:J?BJ?nJ5vJAffff@AjTQ@A_~? AA %"AAvNA"AZAbAjArAzAAA2@+69@AQsAfu@A~;Aō=Ai?Apo?A`?A*A9?2AOֽ:A<BA9?JAOֽRA Y_~?yPA?8.E{7{7g8)]B[[?[_~?[˩[[[[BZYY iĕ) DIF?ix"w ހ@))ހ@ހ@^êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032404.583165 s, next control iter: 1743032404.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5903, header.stamp.nsec: 00 temperature: 13.564101* salinity: 33.375557, density: 1025.000000* values[0]: 0.580922F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032404.983165 s.OI~,>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743032404.983318F (some fields omitted in printout)AQ@A7@A*_~? Ah A%"AAvNA"AZAbAjArAzAAA4qR9@A(bsAG&u@AU9T<As=Ag@?A?A?A|[*A9?2Ahֽ:A*W=BA9?JAhֽRA*W=٘i)I9&u@Y4G J⠼JJJJ.E&K Y1 _~?ya.Eb77n8)bB[[Ȩ?[ _~?[S©[[[[BZYY i) I5F?iD¿x @))@@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032405.003165 s, next control iter: 1743032405.383180 s, wait time: 0.380015 s*1 _~?)*a rAdjusting time to match Gazebo time: 1743032405.403165 s.&VI~,Y$AJ"J*J2J:J?BJ?nJ5vJA ףp@A[@A_~? AA$6%"AAyvNA"AZAbAjArAzAAAKmm9@A/ɀkesAt@Al<A=ADٯ?A2Q?A&?A*A9?2Azֽ:AX=BA9?JAzֽRAX=٘i)I9t@YG JJJJJ.E&K Y_~?yѯOAC.E7{7v8B)E[[?[_~?[ϸ[[[[BZYY i) 1SͻIOF?ie¿x @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032405.423165 s, next control iter: 1743032405.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5904", header.stamp.nsec: 0"0 temperature: 13.564292"* salinity: 33.375576", density: 1025.000000"* values[0]: 0.580324"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032405.823165 s.\I~,:t$AA\(@A$a@A_~? A,A%"AA wNA"AZAbAjArAzAAA.bn9@A}ÙsAu"t@Aq<A'=A?A ?A@JN?A5*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9"t@YG JJJJJ.E&K Yq_~?yA~OAI.E772}8)fB[[%?[4_~?[=[[[[BZYY i) "IkF?iuw >6@))>6@>6@y{ϼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032405.843165 s, next control iter: 1743032406.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032406.243165 s.cI~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032406.243282F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A@1dz@Ay_~? AyA`%"AAwNA"AZAbAjArAzAAAKy9@A0sAȨs@A A8!=A 6?A}?As?Ag*A9?2A׽:AQN<BA9?JA׽RAQN<٘i)I9s@YLG JאJJJJ.E&K Y _~?yOAN.Ej7Z7]8)jB[[R?[ _~?[[[[[BZYY i) yIVF?it}u ) @))) @) @ռYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032406.263165 s, next control iter: 1743032406.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032406.663165 s.jI~,q$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5905, header.stamp.nsec: 00 temperature: 13.564482* salinity: 33.375568, density: 1025.000000* values[0]: 0.579770F (some fields omitted in printout)A@A@A_~? AAn%"AA"wNA"AZAbAjArAzAAA,޵9@A9MsA3s@A7<A =A Y#_~?yNA̷?S.Eb778)mB[[m?[J_~?[[[[[BZYY i) I0BF?i{v Z @))Z @Z @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032406.683165 s, next control iter: 1743032407.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032407.083165 s.DqI~,S$AJ"J*J2J:JBJnJvJARk@ATo lQ@A_~? AA%"AA-wNA"AZAbAjArAzAAApY9@AWabsA r@AJLrA=A?A@?A ,?AO*A9?2AV׽:A9 =BA9?JAV׽RA9 =٘i)I9r@YG JJJJJ.E&K Y'_~?y=eNAY.E77{78B)oBE[[q?[_~?[K[[[[BZYY i) {$Ir-F?iGw  @)) @ @8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032407.103165 s, next control iter: 1743032407.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032407.503165 s.wI~,;4$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032407.503283F (some fields omitted in printout)Ap= @A;@A._~? A۪A'%"AA7wNA"AZAbAjArAzAAAy@9@A%3ÃsALr@AI(Aʻ=AH?A?A?AL*A9?2A_׽:A.=BA9?JA_׽RA.=٘i)I9Lr@YxG J~JJJJ.E&K Yw+_~?yNA^.Eb7b7ݙ8)rB[[gܻ?[M_~?[[[[[BZYY i)  3IF?i*u m~@))m~@m~@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032407.543165 s, next control iter: 1743032407.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5906, header.stamp.nsec: 00 temperature: 13.564662* salinity: 33.375568, density: 1025.000000* values[0]: 0.579243F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032407.923165 s.B~I~,$AJ"J*J2J:JI?BJI?nJ}5vJA(\B@Aͬ(@A_~? A:ӪA%"AAAwNA"AZAbAjArAzAAA`9@A~sAq@AAj=A9?Am=?A?A9*A9?2A~ֽ:A=BA9?JA~ֽRA=٘i)I9q@Y.G JJJJJ.E&K YC/_~?y{MAc.E77778)vB[[ ?[$_~?[~[[[[BZYY i) 6CIRF?iEUs @))@@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032407.963165 s, next control iter: 1743032408.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032408.343165 s.<I~,$AAHz@A`[?@Al_~? AR˪A[&"AAIwNA"AZAbAjArAzAAA4S:@A@i!zsATq@Ar <A'ԑ=A ?A7d?A`?A;*A9?2Apbֽ:A[v =BA9?JApbֽRA[v =٘i)I9Tq@YG J^JJJJ.E&K Y3_~?ysOMAi.E738B)xBE[[*3?[4_~?[u[[[[BZYY i) SI,E?iQo ۥ@))ۥ@ۥ@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032408.383165 s, next control iter: 1743032408.743177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5907*, header.stamp.nsec: 0*0 temperature: 13.564859** salinity: 33.375587*, density: 1025.000000** values[0]: 0.578694*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032408.763165 s.8I~,#0$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032408.763290F (some fields omitted in printout)J"J*J2J:JBJnJvJA@An@AE`~? AbêA&"AAjQwNA"AZAbAjArAzAAAz%:@AΑIusA=p@A@r<A(n=AD?A ?A]?Aߟ*A9?2ABOֽ:A =BA9?JABOֽRA =Yƨ?4?yj="r<ٓH@?Sਛ?O?|?@E?@.iG??)ƨ? I٘i)I9p@YG J~J2<JJJ.E&Kx> Y3_~?yAjLA?n.E7ŧ7^8B){BE[[^?[~_~?[]k[[[[BZYY i) GBbIE?i6p 6@))6@6@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032408.803165 s, next control iter: 1743032409.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032409.183165 s.˒I~,kK$AAQ@A>[k@A`~? AjA&"AAiXwNA"AZAbAjArAzAAAj):@Acd5lpsA=Ip@AD<A=AR?AG?A2?A *A9?2Aֽ:A! =BA9?JAֽRA! =٘i)I9Ip@Y>G JJJJJ.E&K Y4_~?ytaLAs.E7{78)B[[?[_~?[a[[[[BZYY i) GqIE?i4Mo ~@))~@~@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032409.203165 s, next control iter: 1743032409.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032409.603165 s.94I~,f$AJ"J*J2J:J?BJ?nJ.5vJA= ף@A,@Ai `~? AlA,&"AA^wNA"AZAbAjArAzAAAT':@A3KksANo@Aw%A;A:ϕ=A>?Au?A`hD?A*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9o@YG JJJJJ/E&K Y5_~?yX&LAy.E{78)B[[?[_~?[W[[[[BZYY i) aIE?i.m Y@))Y@Y@'ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032409.643165 s, next control iter: 1743032410.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5908 , header.stamp.nsec: 0 0 temperature: 13.565094 * salinity: 33.375599 , density: 1025.000000 * values[0]: 0.578099 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032410.023165 s.ZI~,|$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032410.023299F (some fields omitted in printout)A(\@A>?B@A`~? AhA&"AAdwNA"AZAbAjArAzAAA S1:@AVYfsA=o@AAKh=A{?A`b?AwS?Az*A9?2AC9׽:AQ =BA9?JAC9׽RAQ =٘i)I9=o@YG JJJJJ/E&K Y6_~?yOKA~.Eb778B)BE[[p?[_~?[)N[[[[BZYY i) 9IbE?iYhi h@))h@h@9ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032410.043165 s, next control iter: 1743032410.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032410.443165 s.7æI~,>]$AJ"J*J2J:J?BJ?nJ5vJAz@A#@Am`~? A`Ae&"AAhwNA"AZAbAjArAzAAAwsa9:@A asAn@AֹhA=Ad?A ñ?A_?A陛*A9?2AV׽:A =BA9?JAV׽RA =ƗI٘i)I9n@YLG JJJJJ/E&K Y7_~?yG`KA.E77 8)B[[N?[_~?[D[[[[BZYY i) ТI1E?iv7od @))@@yӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032410.483165 s, next control iter: 1743032410.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5909, header.stamp.nsec: 00 temperature: 13.565310* salinity: 33.375587, density: 1025.000000* values[0]: 0.577467F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032410.863165 s.+I~,>$AA33333@Auq@A`~? ASA&"AA_lwNA"AZAbAjArAzAAAH@:@A9\sA7n@A >YA=A2?A?Ai?A&&*A9?2A*׽:A5B=BA9?JA*׽RA5B=Yϵ??y=YٓH@)] j?ֱPS?`s@'6?)ϵ? I٘i)I97n@YG J'J6<JJJ/E&KGx> Y5_~?yF>JA?.E7738)B[[&?[b_~?[:[[[[BZYY i) '"IzE?i㱿c D@))D@D@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032410.903165 s, next control iter: 1743032411.263184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743032411.283165 s.1RI~,$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743032411.283279F (some fields omitted in printout)AQ@Alxz@AQ`~? ADA&"AA[owNA"AZAbAjArAzAAA*aTE:@AVɜWsAXm@A40AL=At?AWS?Ap?Am*A9?2Aֽ:AH=BA9?JAֽRAH=٘i)I9m@YG JnB=JJJJ/E&K Y3_~?y}5JA.Eb77^8)B[[L?[_~?[11[[[[BZYY i) GIgE?iB=a @))@@SܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032411.303165 s, next control iter: 1743032411.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5910., header.stamp.nsec: 0.0 temperature: 13.565535.* salinity: 33.375603., density: 1025.000000.* values[0]: 0.576875.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032411.703165 s.ӺI~,$AAףp= @A<ۣ7@Az`~? A3Ae=&"AAqwNA"AZAbAjArAzAAA-B=J}<JJJ./E&Kx> Y@)_~?yyHA?.Eb77 8)B[[?[s_~?[A [[[[BZYY i) rIE?iJoQ "@))"@"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032412.983165 s, next control iter: 1743032413.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032413.383165 s.I~,'X$AAQ@AdT8@A`~? AjAԳ&"AA^rwNA"AZAbAjArAzAAAc|1_G:@AI?sA@j@Aa<A=A?A #ɡAp?A`*A9?2Aֽ:AB=BA9?JAֽRAB=٘i)I9j@YG JC=JJJJ3/E&K Yw$_~?y lHA.Ej7Z738B)BE[[?[x_~?[[[[[BZYY i) üI E?iu/E&K Y_~?yxGA.E7777 8)B[[#?[n{_~?[[[[[BZYY i) PfҼI$D?i`C '@))'@'@QYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032414.243165 s, next control iter: 1743032414.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032414.643165 s.wI~, *$AJ"J*J2J:JBJnJvJAG@A@A`~? ARA &"AA~jwNA"AZAbAjArAzAAABf5:@AܙT0sAh@AA==AWj?A``AQ?Apɼ*A9?2Atֽ:AS=BA9?JAtֽRAS=٘i)I9h@Y G JdƼB=JJJJD/E&K Y_~?yGA.Eb778)BE[[70?[jr_~?[w[[[[BZYY ij) ɸټIID?ii< ~)@))~)@~)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032414.663165 s, next control iter: 1743032415.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5913, header.stamp.nsec: 00 temperature: 13.566429* salinity: 33.375591, density: 1025.000000* values[0]: 0.574628F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032415.063165 s.I~,V $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032415.063288F (some fields omitted in printout)Afffff@A2PL@A `~? AJA8( &"AAFfwNA"AZAbAjArAzAAA%Q+:@A؝T#+sA h@Aa9AC=A?A@AB?AzѼ*A9?2Amֽ:Ai=BA9?JAmֽRAi=Y??yB=9ٓH@$ѿY`O?@5ѿ ?J3l7?`?)? I٘i)I9 h@Y9 G JNͼC=Ji<JJJI/E&Kx> Y_~?yTFA?.EZ7Z78B)BE[[lF?[h_~?[vݨ[[[[BZYY i) ID?i 9 *@))*@*@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032415.083165 s, next control iter: 1743032415.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032415.483165 s.w_I~,$AJ"J*J2J:JBJnJvJA@A`+׷@A' `~? ABA &"AAEawNA"AZAbAjArAzAAA91 :@AQ&sA}Xg@Ag(<A=Ae?A׻Ai1?AY ּ*A19?2Aֽ:An=BA19?JAֽRAn=٘i)I9Xg@Y G JqӼJJJJN/E&K Y_~?yި&FA.E77 "8)ƯB[[^Z?[A^_~?[Ԩ[[[[ZZ¸BZYY i¸B"=) AԼIoD?iэf5 ',@))',@',@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032415.503165 s, next control iter: 1743032415.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5914, header.stamp.nsec: 00 temperature: 13.566741* salinity: 33.375584, density: 1025.000000* values[0]: 0.573808F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032415.903165 s.I~,$AA ףp=@A_#@A `~? A:AX` &"AA|[wNA"AZAbAjArAzAAAK b:@AnMi!sA/f@Aָr<AԊ=A?A`㑿A@?A<ټ*ALj9?2Aֽ:A =BALj9?JAֽRA =٘i)I9f@Y^ G J׼JJJJT/E&K YX^~?yc֨EA.Ej7Z75)8)˯B[[k?[5S_~?[˨[[[[ZZBZYY i) ȼID?izV/ 0-@))0-@0-@y.{fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032415.923165 s, next control iter: 1743032416.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032416.323165 s.tI~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083073< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743032416.323253F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@Acގ@Ao`~? A2A &"AATwNA"AZAbAjArAzAAA`:@A*sA e@AVx=<Anݮ=A?AGA`?AYk*Ai9?2A/?ֽ:A~7=BAi9?JA/?ֽRA~7=٘i)I9e@Y G JJJJJY/E&K Y^~?yͨ6EA.E77_08)ѯB E[[w?[G_~?[ è[[[[ZZBZYY i) 缼IrD?i ) :/@)):/@:/@yo=dYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032416.343165 s, next control iter: 1743032416.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5915*, header.stamp.nsec: 0*0 temperature: 13.387616** salinity: 33.391663*, density: 1025.000000** values[0]: 0.691901*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032416.743165 s.W I~,y/$AAGz@AGQg@AK_~? A*AJ &"AAMwNA"AZAbAjArAzAAA`9@A7@sAd@A% ;Ag.=AK?A$ÿA?A*A}9?2Aֽ:A7<BA}9?JAֽRA7<٘i)I9d@Y\ G JJJJJ^/E&K Y-^~?yrŨDA.Ej7j778)دB[[9?@[T;_~?[[[[[ZZBZYY i) E䰼ID?i{M 0@))0@0@y}=PԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032416.763165 s, next control iter: 1743032417.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032417.163165 s.y}I~,qJ$AJ"J*J2J:J0?BJ0?nJ}95vJA@Ae@A_~? A#AP0 &"AAgEwNA"AZAbAjArAzAAA{恢9@A6IrsA@(d@AA|w=A?AhhſAA?A*Ai9?2Aֽ:Af<BAi9?JAֽRAf Y^~?y>kDA?.Eŧ77>8B)B E[[@[[._~?["[[[[ZZBZYY i) ID?inuq DJ2@))DJ2@DJ2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032417.183165 s, next control iter: 1743032417.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032417.583165 s.I~,Se$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083073< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032417.583285F (some fields omitted in printout)AR@A~m@Av_~? ACA &"AAwN9@AUʪsAVlc@A?BzA3=A?A7EǿA?AFʼ*A9?2AJֽ:Aƴ;BA9?JAJֽRAƴ;٘i)I9lc@Yi G J߼JJJJi/E&K Y^~?y DA.E7{7E8)B[[J@[ _~?[ȩ[[[[ZZBZYY i) %\IxD?iKm< \3@))\3@\3@|YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743032417.603165 s, next control iter: 1743032417.983183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5916, header.stamp.nsec: 00 temperature: 13.388001* salinity: 33.391651, density: 1025.000000* values[0]: 0.690180F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032418.003165 s.J "J *J 2J :J 0?BJ 0?nJ D95vJ z I~,U4$AAp= W@A<@A_~? AxAEb&"AA2wNA"AZAbAjArAzAAAhS֪9@APP sAb@AgA~b<A1?AJɿA?A8*A9?2Aֽ:AR'BA9?JAֽRAR'٘i)I9b@Y G JJJJJo/E&K Y7^~?y׬CA.E77 M8)B E[[$@[_~?[[[[[ZZBZYY i) IlD?i"cw] W5@))W5@W5@YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743032418.023165 s, next control iter: 1743032418.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032418.423165 s.u&I~,$AA(\@A R)v@A_~? A A&"AA@(wNA"AZAbAjArAzAAA@OǨ9@Aa(-sAMb@A۾A}+<Atb@A@sʿA}u?A< *A9?2Aֽ:ABA9?JAֽRA٘i)I9Mb@Y G JUJJJJt/E&K Y^~?yrCA.E7774T8B)BE[[N@[_~?[[[[[ZZBZYY i) r҃I4aD?iV 6@))6@6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032418.443165 s, next control iter: 1743032418.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5917, header.stamp.nsec: 00 temperature: 13.388308* salinity: 33.391659, density: 1025.000000* values[0]: 0.688812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032418.843165 s.,I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083073< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743032418.843312F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@Au@A_~? AA&"AAwNA"AZAbAjArAzAAAd_d9@A $zsA-a@AU;AGAf@A̿AQ?A4>*A9?2Aֽ:AwtBA9?JAֽRAwt٘i)I9a@Y G JhJJJJy/E&K Y^~?yoCA.E77_[8)B[[@[^~?[[[[[ZZBZYY i) qIhVD?iH b8@))b8@b8@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032418.863165 s, next control iter: 1743032419.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032419.263165 s.4I~,$AA@A9 Q@A_~? A\A '&"AAwNA"AZAbAjArAzAAAtwx9@AZirAa@AmW<AiA@AhοA:+?AZ*A9?2Aֽ:A-pBA9?JAֽRA-pY??@yEfkW<ٓH`Nݿp@X? p?FSݿol???)?? I٘i)I9a@YW G JJCJJJ/E&Kmx> Y^~?y;CA@.E777b8B)BE[[^N @[^~?[͉[[[[ZZBZYY i#r=) ^ILD?iTAAv 9@))9@9@s)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032419.283165 s, next control iter: 1743032419.663178 s, wait time: 0.380013 s&^~?)&.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5918., header.stamp.nsec: 0.0 temperature: 13.388483.* salinity: 33.391651., density: 1025.000000.* values[0]: 0.687993.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032419.683165 s.l:I~,E$AJ"J*J2J:JBJnJvJAQ@Ay@A_~? AA &"AA!wNA"AZAbAjArAzAAA ^9@ADS*rAa@A"d<AA.M@Ao6пAh?A*A49?2Aֽ:A-ͼBA49?JAֽRA-ͼ٘i)I9a@YA G JJJJJ/E&K Y^~?yVCA 2D.EZ7SI7i8B)BE[[ @[^~?[[[[[ZZBZYY if=) LI!BD?i7Q h;@))h;@h;@5*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032419.683165 s, next control iter: 1743032420.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743032420.103165 s.AI~,Ú$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743032420.103300F (some fields omitted in printout)A= ףp@APV@A_~? A7AO&"AAvNA"AZAbAjArAzAAA:B9@A`xTrAMa@A;A-7A@A`ѿA?AV;*A9?2A}ֽ:A-BA9?JA}ֽRA-輙٘i)I9a@YB G Jq89B=JJJJ/E&K Y^~?y䄨rCA.E777p8)[[QK @[^~?[z[[[[BZYY i) {:I8D?i[,ܻ 9<@))9<@9<@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032420.123165 s, next control iter: 1743032420.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032420.523165 s.GI~,{!$AJ"J*J2J:J0?BJ0?nJ85vJA(@A%@A_~? AA&"AADvNA"AZAbAjArAzAAAl $9@AhrAa@A;oA5\AQ@AѿA`Ԫ?A!&;*A9?2A#ֽ:ABA9?JA#ֽRA٘i)I9a@YX G J\;C=JJJJ/E&K Y^~?y }CA/E77{7 x8B)E[[ @[^~?[As[[[[BZYY i) (IQ0D?isf˻ Kl>@))Kl>@Kl>@y#{=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032420.543165 s, next control iter: 1743032420.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5919, header.stamp.nsec: 00 temperature: 13.388560* salinity: 33.391697, density: 1025.000000* values[0]: 0.687753F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032420.943165 s.WdNI~,>]<$AAzG@AW-@Aͬ_~? ANީAxt&"AA:vNA"AZAbAjArAzAAAC9@A[urAa@AOAuzA@A`ҿA{?AN?<*A9?2Abս:A) BA9?JAbսRA) ٘i)I9a@Y G J<JJJJ/E&K Y{^~?y4uCA /Eŧ7b758)B[[=@[נ^~?[l[[[[BZYY i) I(D?i~~ ?@))?@?@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032420.963165 s, next control iter: 1743032421.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032421.363165 s.UI~,>W$AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032421.363331F (some fields omitted in printout)A3333@AU@A#_~? A֩A&"AAvvNA"AZAbAjArAzAAA#_j8@AJ_rAzHb@A|ZwAAf @A`ӿA@I?A%q<*Af9?2A!ս:ABAf9?JA!սRAY?uw @ywwٓHk`@z\??3n`#t`?뎿 ?)? I٘i)I9Hb@Y G JW<JJJJ/E&K$w> YSl^~?ymDAw @/E77`8 B)BE[[÷@[^~?[e[[[[BZYY iKh=) ]I[!D?i iA@))iA@iA@ι*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032421.383165 s, next control iter: 1743032421.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5920&, header.stamp.nsec: 0&0 temperature: 13.388469&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.688112&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032421.783165 s.V[I~,r$AAQ @Ak{ @A_~? AϩA&"AAvNA"AZAbAjArAzAAA?Qޟ8@A0 rAJb@Ax1AA @AԿA*?Ai[<*A9?2A7ֽ:ABA9?JA7ֽRA٘i)I9b@Y G J<JJJJ/E&K Y\^~?yqfaDA/E77778)B[[/@[{^~?[^[[[[BZYY i) ID?i0מ B@))B@B@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032421.823165 s, next control iter: 1743032422.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032422.203165 s.cI~,$AJ"J*J2J:JBJnJvJAףp= @Au(%p @A]_~? AoȩA!&"AAvNA"AZAbAjArAzAAAD}`8@AɊ,rA 0c@AoK5:AA @A#oտA?AK<*AJ9?2ATֽ:ABAJ9?JATֽRA٘i)I90c@YE G J&<JJJJ/E&K YM^~?y_DA/Eŧ7ŧ78B)BE[[h@[h^~?[aW[[[[BZYY i) ϻID?i޾ =cD@))=cD@=cD@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032422.243165 s, next control iter: 1743032422.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032422.623165 s.XiI~,a$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056713< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032422.623283F (some fields omitted in printout)A)\ @A+~ @AC_~? AKA&"AAɕvNA"AZAbAjArAzAAA'{8@A\rAc@A/<A Am @AJֿA`?A<*A9?2Aֽ:AM BA9?JAֽRAM ٘i)I9c@Y G J&<JJJJ/E&K Y>^~?yWEA/E{7j78)B[[Y@[=U^~?[P[[[[BZYY i) qðI{D?i*x 1E@))1E@1E@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032422.643165 s, next control iter: 1743032423.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5921 , header.stamp.nsec: 0 0 temperature: 13.388318 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.688858 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032423.043165 s.J "J *J 2J :J X0?BJ X0?pI~nJ85vJ,$AA{Ga!@A}˜.G!@Ar_~? A:A8&"AAvNA"AZAbAjArAzAAA;U8@AU prA?d@AQv<A A@A"׿A@i?Ay<*A>9?2A ׽:A,BA>9?JA ׽RA,٘i)I9?d@Y G J<JJJJ/E&K Y.^~?yLPuEA$/E77 8B)BE[[:@[zA^~?[{J[[[[BZYY i\=) I( D?i젾M WG@))WG@WG@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032423.063165 s, next control iter: 1743032423.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032423.463165 s.TwI~,ߤ$AA!@AO!@Ae_~? A>A &"AAovNA"AZAbAjArAzAAAy.8@A|,,rAd@A #<<A(A @A׿A@,?Ad<*Ae9?2Aֽ:ATBAe9?JAֽRATY*@P@yX&<<ٓHk ?`)?ct `?`??`?)*@ I٘i)I9d@YB G JL<B=JJJJ/E&Kx> Y^~?yqIEA@*/E7{768B)BE[[R@[-^~?[7D[[[[BZYY i) n-gIZD?is.5 H@))H@H@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032423.503165 s, next control iter: 1743032423.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5922, header.stamp.nsec: 00 temperature: 13.388140* salinity: 33.391727, density: 1025.000000* values[0]: 0.689741F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032423.883165 s.y}I~,<$AJ"J*J2J:J0?BJ0?nJ&95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743032423.883317F (some fields omitted in printout)AQ8"@A="@A(X_~? AWAI&"AA[vNA"AZAbAjArAzAAA[u-8@AoqQrAbe@A:A,7A K@A ؿAF?A<*A]9?2A{ֽ:ABA]9?JA{ֽRA٘i)I9be@Y G J<C=JJJJ/E&K Y6 ^~?yBEFA//E77j7a8B)BE[[l@[c^~?[">[[[[BZYY i) B+I-D?iPl|= sG))rGCGJ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032423.903165 s, next control iter: 1743032424.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032424.303165 s.UI~,sg$AAq= ף"@AJ"@A8J_~? AA&"AAFvNA"AZAbAjArAzAAAHEe7@A@rAe@A^ AܖA@AٿA@֭?Am<*A9?2AA0ֽ:ABA9?JAA0ֽRA٘i)I9e@Y G J<JJJJ/E&K Y|]~?y;FA5/E778)B[[E@[d^~?[=8[[[[BZYY i) ʳݺID?i6 %bF))%bFK@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032424.323165 s, next control iter: 1743032424.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5923*, header.stamp.nsec: 0*0 temperature: 13.387911** salinity: 33.391724*, density: 1025.000000** values[0]: 0.690749*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032424.723165 s.J "J *J 2J :J 0?BJ 0?nJ k95vJ I~,H.$AA(\#@ARE"@A;_~? A̞AT&"AA{1vNA"AZAbAjArAzAAABC7@AsrAVf@AoAAM@A[ڿA1k?A<*An9?2Avֽ:AQPBAn9?JAvֽRAQP٘i)I9f@YP G J<JJJJ/E&K Y]~?y4GA:/ES778B)BE[[E@["]~?[2[[[[BZYY i) ћJID?i D))D2M@yZN=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032424.763165 s, next control iter: 1743032425.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032425.143165 s.Y/I~,*I$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032425.143307F (some fields omitted in printout)AGz#@A"h`#@A-_~? A)A&"AAdvNA"AZAbAjArAzAAA(Y7@AZؤrAQg@A\4SA*AE"@A?%ۿA&?AT<*A9?2AOֽ:ABA9?JAOֽRA٘i)I9g@Y G Jƭ<JJJJ/E&K Y]~?y .~GA?/E{7j78B)ܯBE[[W@[]~?[-[[[[BZYY i) pG9ImC?iL yC))yCN@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032425.163165 s, next control iter: 1743032425.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032425.563165 s.I~,V d$AJ"J*J2J:J0?BJ0?nJ95vJAffff#@AnnLO#@A_~? AAiW&"AAvNA"AZAbAjArAzAAARAT7@A3krAhg@AAAy@AmۿA+?Aơ<*AR9?2Aֽ:ABAR9?JAֽRAYx@~@y쎻ٓH ww@wc?ȭ?``Ȫ?q 8?)x@ I٘i)I9g@Y G Jʦ<J-y<JJJ/E&K,x> Y&]~?y'GA~@E/Eŧ7ŧ7 8B)گBE[[^@[]~?['[[[[BZYY i) z5:INC?i B))BP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032425.583165 s, next control iter: 1743032425.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5924, header.stamp.nsec: 00 temperature: 13.387706* salinity: 33.391727, density: 1025.000000* values[0]: 0.691756F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032425.983165 s.I~,~$AAQ$@A_b,7$@A_~? A,AJ&"AA:uNA"AZAbAjArAzAAAc_@$7@A㖙rA.h@AB;AE~A@A@ܿAܓ?Az<*A9?2A׽:ABA9?JA׽RA٘i)I9.h@YO G J<JJJJ/E&K YE]~?y!)9 @))@Q@*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743032426.003165 s, next control iter: 1743032426.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032426.403165 s.&I~,Ι$AJ"J*J2J:J51?BJ51?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032426.403299F (some fields omitted in printout)A ףp$@AmY$@A^~? AՄA8S&"AA*uNA"AZAbAjArAzAAAhYT6@AOFwزrADh@A8d<AxwAc)@AvݿAG?Ag<*As9?2A*׽:A2BAs9?JA*׽RA2񼙘٘i)I9h@Y G J@<JJJJ/E&K Yd]~?yFHAO/E77a8)ӯB[[!@[•]~?[V[[[[BZYY i) GB;I-D?i2=]!{: $?))$?R@L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032426.423165 s, next control iter: 1743032426.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5925", header.stamp.nsec: 0"0 temperature: 13.387513"* salinity: 33.391724", density: 1025.000000"* values[0]: 0.692663"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032426.823165 s.I~,6$AA\(%@A%@Az^~? A~A(&"AAwuNA"AZAbAjArAzAAA2B6@AkU rA$i@Aaf<AAv@A3޿A ?AD><*Ag9?2A׽:A=BAg9?JA׽RA=𼙘ŗI٘i)I9$i@Y G J<B=JJJJ/E&K Y]~?yHAU/E)778B)ѯBE[[JP#@[]~?[|[[[[BZYY i) ;I]D?i">5P: =))=+kT@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032426.843165 s, next control iter: 1743032427.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032427.243165 s.I~,d$AJ"J*J2J:Jl1?BJl1?nJ :5vJAGz%@Aez%@A^~? AuxAG&"AA%uNA"AZAbAjArAzAAAW6@A+ KrA;i@A@;AΆA@A޿A?ANh<*A9?2Ayֽ:ARBA9?JAyֽRAR󼙘٘i)I9i@Y.G J<C=JJJJ/E&K Yr]~?y[IAZ/E77778B)ϯBE[[$@[=h]~?[[[[[BZYY i) w;ID?ij>-; F<))F<U@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032427.283165 s, next control iter: 1743032427.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032427.663165 s.I~,q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032427.663299F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5926, header.stamp.nsec: 00 temperature: 13.387362* salinity: 33.391743, density: 1025.000000* values[0]: 0.693470F (some fields omitted in printout)A&@A.=%@A;^~? AnrA&"AA9uNA"AZAbAjArAzAAAnY6@AOrA\j@AA{ͅA@AJ߿A9Z?A2<*A9?2Arֽ:ABA9?JArֽRAY@@y4ٓͅH) UE?H?=Ӧ?vpt?)@ I٘i)I9j@YwG J<J}<JJJ/E&Kx> Y\]~?y* IA@_/Eb778B)ͯBE[[&@[P]~?[J[[[[BZYY i!=) ;IF D?i>82; :)):FW@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032427.683165 s, next control iter: 1743032428.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032428.083165 s.DI~,R$AJ"J*J2J:JBJnJvJARk&@A3PlQ&@A^~? AlA2&"AAnuNA"AZAbAjArAzAAAX $6@AnrA׍j@AzPAȄAA@A`_)A?A<*A&9?2A@ֽ:AyBA&9?JA@ֽRAy٘i)I9j@YG J<JJJJ/E&K YF]~?yJAe/Ej7Z7 8B)˯BݹE[[y'@[Q9]~?[ [[[[BZYY i) 4;ID?iܥ>MT; Ym9))Ym9\X@ش*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032428.103165 s, next control iter: 1743032428.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032428.503165 s.I~,D4 $AAp= &@A[&&@An^~? AfA5&"AASuNA"AZAbAjArAzAAA-,G5@AwturAk@AGqADA@AAM?A<*A9?2A6Oֽ:Am!BA9?JA6OֽRAm!٘i)I9k@Y G J<JJJJ/E&K  8Y-1]~? 8yhJAj/E)7ŧ778)ǯB[[(@[!]~?[[[[[BZYY i) r;ID?i>iz; 8))8Z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032428.523165 s, next control iter: 1743032428.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5927, header.stamp.nsec: 00 temperature: 13.387185* salinity: 33.391724, density: 1025.000000* values[0]: 0.694317F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032428.923165 s.9I~,;$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032428.923287F (some fields omitted in printout)A(\B'@A*6u('@A^~? AaA&"AA7uNA"AZAbAjArAzAAAfI5@APrA*zk@Aw0AׄA @A A`\?A<*A$9?2Aֽ:A'BA$9?JAֽRA'٘i)I9zk@YQG J\<JJJJ/E&K Y[]~?yaJAp/E77j7a8!B)ůBڹE[[7*@[ ]~?[[[[[BZYY i) n ; Y6))Y6\[@y=Ӵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032428.943165 s, next control iter: 1743032429.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032429.343165 s.<I~,U$AAHz'@Aŧ'@A ^~? Ar[A&"AAuNA"AZAbAjArAzAAAh+b,|5@A ⾕rAyk@A=:AxQA:"@A0,AZ?As<*An9?2Awֽ:ABAn9?JAwֽRA٘i)I9k@YG J<JJJJ0E&K Y]~?yKAu/E{78"B)ïB׹E[[ +@[\~?[[[[[BZYY i) v6<A A#@AAmM?Ab<*A9?2Ad3׽:A/BA9?JAd3׽RA/YX@}#@yޢ6<ٓH `!? ի?`E?dž?@D?)X@ I٘i)I9Wl@YG J<B=JWJJJ0E&K2x> Y\~?yxKA#@z/EZ7Z78%B)ӹE[[P,@[\~?[W[[[[BZYY i) - elevatorAngleAction: 0.077211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032430.183272F (some fields omitted in printout)AQ(@A|k(@A][^~? APAX&"AAtNA"AZAbAjArAzAAAؕf5@AKrAl@At<AAD$@A@vA?Akf<*A9?2A4׽:A BA9?JA4׽RA ٘i)I9l@YG Jہ<C=JJJJ 0E&K Yz\~?yKA/E{7{78)B[[L.@[V\~?[[[[[BZYY i) ͌<?; 8/))8/}b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032431.043165 s, next control iter: 1743032431.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032431.443165 s.9I~,F]$AJ"J*J2J:J:2?BJ:2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032431.443297F (some fields omitted in printout)Az)@A)@A^~? AsAAم&"AA[tNA"AZAbAjArAzAAA_vN4@A[9ݷrA*n@AD5AsA(@A̳A w\?A<*A9?2A":ֽ:A}BA9?JA":ֽRA}٘i)I9*n@YG Jۖ<JJJJ0E&K Y\~?yhڧLA/E77b28*B)BʹE[[O2@[w\~?[[[[[BZYY i) /k$AA33333*@AUO*@A ^~? A<AL&"AAftNA"AZAbAjArAzAAAHP4@A,5K8džrAqn@AtrAvzAb)@AA?A<*A9?2A!ֽ:ABA9?JA!ֽRAY8@]*@y3vUsٓH<ݿf? ?Jm[[?%U?)8@ I٘i)I9n@YEG J$<J4JJJ 0E&Kw> Yv\~?yM֧LMA*@/E98)B[[3@[^\~?[[[[[BZYY i) 4TzrAn:o@ALAeAF+@ABAH?AA<*A"9?2ATֽ:AZMBA"9?JATֽRAZM٘i)I9:o@YG JE<JJJJ%0E&K Y]\~?y3ҧMA/E7777@8,B)BǹE[[$4@[F\~?["[[[[BZYY i)  elevatorAngleAction: 0.077211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743032432.703321F (some fields omitted in printout)Aףp= +@A`.*@A]~? Af3As&"AA&tNA"AZAbAjArAzAAAYj3@AKp$rAo@AoAWA,@AA+?AR}<*A9?2Aֽ:ABA9?JAֽRA٘i)I9o@YG Jӥ<JJJJ+0E&K YD\~?yΧNA/Eb7G8.B)B¹E[[N6@[-\~?[[[[[BZYY i) O\~?[r[[[[BZYY iӱ=)  elevatorAngleAction: 0.086829< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743032433.963286F (some fields omitted in printout)AL,@A_2,@A]~? A&A &"AA/sNA"AZAbAjArAzAAAr52@A9SyrAeq@AC_<AA0@A`JA?A<*A"9?2Aa׽:AOBA"9?JAa׽RAOY"@ 0@y`<ٓH+׿׳??א@?@?>?)"@ I٘i)I9eq@YG J\<J"JJJ;0E&K$x> Y[~?y§NOA0@/E7777b]81B)BE[[+<:@[9[~?[n[[[[BZYY i) B:W;2@A3ZtrAr@A5AtA3@AA?A?e<*AT9?2A-Eֽ:AQBAT9?JA-EֽRAQ٘i)I9r@YG J<JJJJF0E&K Ym[~?y%PA/Eb77k84B)BE[[<@[[~?[ݧ[[[[BZYY i) uӱ elevatorAngleAction: 0.086829< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743032435.223293F (some fields omitted in printout)A(\-@Ai9Cu-@AUX]~? AA!&"AA[sNA"AZAbAjArAzAAAbvK1@ATRdIrrAX#s@AWA9"Aa4@AMA?AB<*A[9?2A=ֽ:AzBA[9?JA=ֽRAz٘i)I9#s@YG J<JJJJK0E&K Y>[~?yPA/E77{7r85B)BE[[_ >@[[~?[ۧ[[[[BZYY i) dI Yt[~?ypQA7@/Ej7Z7886B)BE[[`@@[d[~?[D٧[[[[BZYY i) M elevatorAngleAction: 0.086829< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743032436.483274F (some fields omitted in printout)J"J*J2J:JBJnJvJA.@Aַ.@A]~? AAL"&"AATrNA"AZAbAjArAzAAA&N1@A  lrA u@A ;AݮA`8@ABAt?A<*A9?2AOֽ:A@BA9?JAOֽRA@٘i)I9 u@Y%G J<JJJJ[0E&K YY[~?yQA/E77c87B)BE[[A@[K[~?[Pا[[[[BZYY i) P[~?yXRA/Eŧ778:B)BE[[?C@[2[~?[ק[[[[BZYY i)  elevatorAngleAction: 0.086829< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032437.743261F (some fields omitted in printout)AGz0@A@1d/@A\~? AA|"&"AAۃrNA"AZAbAjArAzAAA&u6lC0@AQfrA/w@ANn)<AA_S<@A@WA ?Af<*AM}9?2Aֽ:ALBAM}9?JAֽRAL٘i)I9w@YVG J5<JJJJk0E&K Y[~?y<@SA/E78)BE[[ E@[[~?[l֧[[[[BZYY i) ,xe0@A\~? A\A3#&"AA^rNA"AZAbAjArAzAAAmb-/@Av erAJw@A.=9A7_AÑ=@A@$;A)?A<*Avz9?2AVֽ:A BAvz9?JAVֽRA Y/@9=@y6_9ٓH[`ƿ?`9?F|`?8? /?)/@ I٘i)I9w@YG J<JJJJJq0E&Kw> YZ~?ySA=@/E77{78@A@_A?Ad<*Aw9?2Aս:A BAw9?JAսRA ٘i)I9lx@Y2G JF<JJJJv0E&K Y Z~?y6TA/Eb7b788)yB[[JH@[5Z~?[է[[[[ZZZZ¸>BZYY i¸>) z?4?BJ>4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082277< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743032439.003292F (some fields omitted in printout)Ap= W1@AF<1@A~\~? AA#&"AArNA"AZAbAjArAzAAAel<щ.@A35ibrA8*y@ACsASA@@AA(?AJ=<*Au9?2A\ս:Aqr!BAu9?JA\սRAqr!٘i)I9*y@YG J<B=JJJJ{0E&K YJZ~?yTA/E777d8=B)tBE[[.I@[|Z~?[է[[[[ZZZZBZYY i) +y@AEA/AvgA@A@AO?A)=*Aa9?2Aֽ:AQBAa9?JAֽRAQ٘i)I9y@Y'G J|<C=JJJJ0E&K YZ~?y,UA 3D/E78>B)nBE[[J@[Z~?[ ֧[[[[ZZZZBZYY i) IFIZItbItjItrItzItIt!D3"hFailure count cleared after critical for CTD_SeabirdAHz.2@Av2@AL\~? AZA@#&"AA*qNA"AZAbAjArAzAAAx}-@A^_rA4z@AY6AAB@A`SAs?Af=*A9?2A+mֽ:ABA9?JA+mֽRA٘i)I9z@YG J=JJJJ0E&K Y}Z~?ybUA/E{7j78)gBE[[]L@[Z~?[R֧[[[[ZZZZBZYY i) ?A<*A9?2Aֽ:AF^BA9?JAֽRAF^Yk 6@D@y* w<ٓH0^׳?@?l?ܮ?@؀??)k 6@ I٘i)I9{@Y5G J=J}=JJJ0E&Kw> YaZ~?yUAD@0E7778?B)aBE[[CM@[ mZ~?[֧[[[[ZZZZBZYY i) ðV3@A\~? AEAR$&"AA UqNA"AZAbAjArAzAAA9W +@A_q\rAG}@A+n<AV+ۼAF@A`xA`?AX<*Ab9?2ACuֽ:A1;BAb9?JACuֽRA1;٘i)I9}@Y G JȾ<B=JJJJ0E&K YE)Z~?yRVA 0E)7ŧ7:8AB)XBE[[O@[S&R-4@Ae[~? AA$&"AAyqNA"AZAbAjArAzAAAȏ*@AH`uZrAu}@AGA5ֱ;ABHA 7A%?AVA<*A9?2Aֽ:Ay<BA9?JAֽRAy<٘i)I9}@YG Jjk<JJJJ0E&K YY~?yFWA0Eŧ7b78)QB[[].R@[ Z~?[٧[[[[ZZZZBZYY i) N$AJ"J*J2J:JBJnJvJA33334@A4@A[~? AA$&"AA|pNA"AZAbAjArAzAAAx ݍ)@A@ 9ZrAA~@A(UAs<AGA HAW?A ;*A9?2Aֽ:A)@<BA9?JAֽRA)@JJJ0E&Ksx> YY~?y(*WAG0Eb78BB)PBE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #27q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[ZZZZBZYY il) Bu<)ܩYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032442.383165 s, next control iter: 1743032442.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5941&, header.stamp.nsec: 0&0 temperature: 13.384175&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.709073&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032442.783165 s.]I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.057746< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032442.783303F (some fields omitted in printout)AQ5@A5@A̙[~? AA$&"AAcpNA"AZAbAjArAzAAA/CV)@A"IYrAf~@AiA=A=7FAUA@ƌ?A';*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9f~@YG JA;JJJJ0E&K YRY~?y]WA 0E778)OBE[[T@[Y~?[Tܧ[[[[ZZZZBZYY i) $c5vJAףp=5@AS'p5@A[~? AA$&"AA$pNA"AZAbAjArAzAAA';(@A EYrAe~@AFAk5=AGEA`rAu?A5HQ*A=U:?2A<½:AS<BA=U:?JA<½RAS<٘i)I9e~@Y JbJJJJ0E&K YY~?yVA&0E{7j78CB)E[[1U@[Y~?[ݧ[[[[BZYY i) Q )) @|YFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032443.223165 s, next control iter: 1743032443.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032443.623165 s.WI~,]$AA)\5@A5@Ae[~? AA$&"AAjpNA"AZAbAjArAzAAA|X;(@A#ja/XrA:B~@AQ';A Z=AADA*zA=?A;*Ae:?2A½:A>=BAe:?JA½RA>=٘i)I9B~@YG JJJJJ0E&K  8YY~? 8yɞVA+0E77{798)QBE[[W@[Y~?[Jߧ[[[[BZYY i) B>33~'@ARk֟XrA~@AD<ALw=A*CAπA?A${;*AWl:?2AĽ:AQ =BAWl:?JAĽRAQ =٘i)I9~@YG JLJJJJ0E&K YmcY~?yVA10Ed 8)SB|E[[BX@[Y~?[[[[[BZYY i) @,|<ٓHa }?@*7 ` C;?尿u?@*?)A@ I٘i)I9}@YcG JMSB=J=JJJ0E&KE> YMGY~?y럧aVA\B60E{7j78DB)VByE[[wY@[Y~?[[[[[BZYY iS d) 2IFIJ"J*J2J:JBJnJvJZJϜ@JJϜ@bJۜ@RJۜ@AQ87@A:q97@A[~? AA$&"AA[oNA"AZAbAjArAzAAAVR:B&@A3ZfXrA>}@A 1<A=A8+AA=A ?AnL*Aj:?2A!ʽ:A =BAj:?JA!ʽRA =٘i)I9>}@Y"G J~C=JJJEJ0E&K Y:+Y~?y֠VA;0Eb778)ZBvE[[Z@[hY~?[[[[[BZYY i)  A ZAA]*Aj:?2AQ4н:AJ =BAj:?JAQ4нRAJ =٘i)I9B|@YG JC=JJJJ0E&K YX~?yQUAF0E)7b7&8)bB[[ ]@[;Y~?[[[[[BZYY i) ;IGG?i3@<< ))`@y\dѪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032445.743165 s, next control iter: 1743032446.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032446.143165 s.T/I~,)$AAGz8@AA`8@AsZ~? A A$&"AA}oNA"AZAbAjArAzAAAUg$@A0M!XrA{@A*uA6=A.=AAqA*A1k:?2Aҽ:AŮ=BA1k:?JAҽRAŮ=٘i)I9{@Y5G JLJJJJ0E&K YX~?yTAK0E777:-8)gBpE[[77^@[%Y~?[;[[[[BZYY i ) 0ʽ;IG?i{8@n#< ))=@ҪYFF]t:Waiting for Gazebo time sync: latest Gz time: 1743032446.163165 s, next control iter: 1743032446.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032446.563165 s.I~,R $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743032446.563272F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff8@ASrN8@AeZ~? AA$&"AA>VoNA"AZAbAjArAzAAA"BA#@A26XrA-{@A~JA;.=A;A LA`娿AI*Ak:?2Abӽ:A=BAk:?JAbӽRA=Y=H@;y@+= KٓH@0<T? @Q%ʿ'P`O`?)=H@ I٘i)I9-{@YG J"JȠ<JJJ0E&Kw> YKX~?ygTA;Q0E)7ŧ7e48EB)kBmE[[*g_@[Y~?[[[[[BZYY i) ;I;G?iV;@< t))tՈ@ѪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032446.603165 s, next control iter: 1743032446.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5945, header.stamp.nsec: 00 temperature: 13.384743* salinity: 33.391708, density: 1025.000000* values[0]: 0.707114F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032446.983165 s.I~,$AAQ9@A79@A_Z~? AA$&"AA.oNA"AZAbAjArAzAAA2+#@AKYrAȞz@A`VA'=A:A 3vA--AĪ*A>h:?2A)Խ:A=BA>h:?JA)ԽRA=٘i)I9z@YG J!JJJJ0E&K YX~?y4*TAV0E777;8)pBjE[[b`@[X~?[8[[[[BZYY i) UH;I3 H?i>@< ))l@ΪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032447.003165 s, next control iter: 1743032447.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032447.403165 s.&I~,$AJ"J*J2J:J4?BJ4?nJ=5vJA ףp9@AW9@Ad{Z~? AA]$&"AA]oNA"AZAbAjArAzAAAql@"@A齫JYrAz@A;AMœ=A<9AjA賿AS5*Ae:?2AzԽ:Amn=BAe:?JAzԽRAmn=٘i)I9z@Y1G JJJJJ0E&K YX~?ySA[0E77{7B8)tBgE[[a@[EX~?[[[[[BZYY i) F;I2H?i8B@՚< 3))3@˪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032447.423165 s, next control iter: 1743032447.803176 s, wait time: 0.380011 sX~?)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5946, header.stamp.nsec: 00 temperature: 13.385009* salinity: 33.391693, density: 1025.000000* values[0]: 0.706044F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032447.823165 s.I~,-$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743032447.823309F (some fields omitted in printout)A\(:@Aٵ:@AxaZ~? AA$&"AAnNA"AZAbAjArAzAAAވ!@AFVZrAM~y@A4ej<A=An7A\AA`Ū*ACc:?2A2ս:AJ=BACc:?JA2սRAJ=٘i)I9~y@YG J۫JJJJ0E&K YchX~?yЪ]SAa0E77I8)yBdE[[]b@[X~?[[[[[BZYY i)  ;I]H?i>F@< ))*@y~ǪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032447.843165 s, next control iter: 1743032448.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032448.243165 s.J "J *J 2J I~:J4?BJ4?, $AnJc=5vJAGz:@A|az:@AGZ~? AAA$&"AAɸnNA"AZAbAjArAzAAAET!@AYK"[rAx@A ^<A=A(6A`%LAqAÆ*A a:?2Aս:Az=BA a:?JAսRAz=٘i)I9x@YG JʨJJJJ0E&K YLX~?yRAf0Eb7b7Q8)}BaE[[d@[X~?[[[[[BZYY i) m:I0H?iJ@= ))U,@êYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032448.283165 s, next control iter: 1743032448.643185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743032448.663165 s. I~,q* $AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5947, header.stamp.nsec: 00 temperature: 13.385287* salinity: 33.391666, density: 1025.000000* values[0]: 0.704994F (some fields omitted in printout)A;@A:@A-Z~? A+Am$&"AAnNA"AZAbAjArAzAAA! @AKз[rAdhx@Aָ;AS=AC5A 8A`AA?$*A^:?2A~ֽ:A<BA^:?JA~ֽRA Y1X~?yMRA=5l0E7)7;X8)B[[@e@[X~?[[[[[BZYY i) Sq9IYH?i@M@\= k6))k6@‹@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032448.683165 s, next control iter: 1743032449.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032449.083165 s.DI~,SE $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064960J< massPositionAction: 0.000000"J*J4 buoyancyAction: 0.0005002J dt: 0.419971:J2 time: 1743032449.083281BJF (some fields omitted in printout)nJvJARk;@Al;mQ;@A#Z~? AAbm$&"AAjnNA"AZAbAjArAzAAA( @Ai\rAw@AoAc=A3A`"A ډAq⓼*A\:?2A_׽:A-<BA\:?JA_׽RA-<٘i)I9w@YG JC=JJJJ0E&K YX~?y=RAq0E777e_8DB)B_E[[jf@[WX~?[[[[[BZYY i) 3.;IH?i>P@F= ))aW@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032449.103165 s, next control iter: 1743032449.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032449.503165 s.I~,4` $AAp= ;@A*;@AY~? A-A P$&"AACnNA"AZAbAjArAzAAAbB@Aۛ]rAnw@A6[AZ=A2A j A@qÿANz*APY:?2Atn׽:Aa<BAPY:?JAtn׽RAa<٘i)I9nw@YG JUJJJJ1E&K YW~?yQAv0E7f8)B\E[[g@[{X~?[[[[[BZYY i) 6|ٺII?iS@o= W))W@&YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032449.543165 s, next control iter: 1743032449.903214 s, wait time: 0.360049 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5948, header.stamp.nsec: 00 temperature: 13.385535* salinity: 33.391682, density: 1025.000000* values[0]: 0.704012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032449.923165 s.J "J *J 2J :J :4?BJ :4?nJ <5vJ =I~,{ $AA(\B<@A|(<@AY~? AA/$&"AAnNA"AZAbAjArAzAAA@A|D8^rAFv@A nAh݄=A=1AcA`RſA7*AfV:?2Avz׽:Aq<BAfV:?JAvz׽RAq<٘i)I9v@YQG JpJJJJ1E&K Y W~?yZQA|0E7m8)BYE[[wh@[gX~?[*[[[[BZYY i) *II?i`W@ = B))B7@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032449.963165 s, next control iter: 1743032450.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032450.343165 s.<%I~, $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743032450.343290F (some fields omitted in printout)AHz<@AUW<@AY~? AA $&"AAmNA"AZAbAjArAzAAA/p@A_rAŇv@AHA=Ao/AA`b.ǿA褈*AqS:?2AH׽:A2F<BAqS:?JAH׽RA2F<٘i)I9v@Y G JLJJJJ 1E&K Y7W~?y %QA0ES77t8)BVE[[qi@[SX~?[[[[[BZYY i?) ֘hIi[@P} = ))뿩@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032450.383165 s, next control iter: 1743032450.743177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5949*, header.stamp.nsec: 0*0 temperature: 13.385746** salinity: 33.391670*, density: 1025.000000** values[0]: 0.703175*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032450.763165 s.7+I~,ذ $AJ"J*J2J:JBJnJvJA=@A`<@A{Y~? AAa#&"AA3mNA"AZAbAjArAzAAA+ YTW~?yPA.0E77|8)BSE[[pk@[1@X~?[ [[[[BZYY i) Ii]@ = ))鿩@IYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032450.783165 s, next control iter: 1743032451.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032451.183165 s.2I~,c $AII"IG*Iv@6I>IFIAQ=@Ayk=@AeY~? A!A#&"AAmNA"AZAbAjArAzAAATK7@AvbrAu@ApiD<A`R=Al-AA@ʿAߡ*AI:?2Aֽ:A?<BAI:?JAֽRA?<٘i)I9u@YG J艼JJJJ1E&K YrW~?yuPA0E;8)B[[.l@[,X~?[[[[[BZYY i) Ii`@= C[))C[翩 9@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032451.203165 s, next control iter: 1743032451.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032451.603165 s.A49I~,ؚ $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073851< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420015J2 time: 1743032451.603289"JF (some fields omitted in printout)*J2J:JBJnJvJZJ@JJ@bJ@RJ@A= ף=@A=@Aw|Y~? AA#&"AA'mNA"AZAbAjArAzAAAAa@A(-\crA-u@Au<A攂=A ,AlAw̿Ai*AC:?2Aֽ:A^=BAC:?JAֽRA^=٘i)I9-u@Y9G JJJJJ1E&K YxW~?yħPA0E777f8CB)BPE[[oSm@[}X~?[~[[[[BZYY i) M{һIic@Ӻ= ))忩ˏ@yN%ճYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032451.643165 s, next control iter: 1743032452.003186 s, wait time: 0.360021 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5950 , header.stamp.nsec: 0 0 temperature: 13.385952 * salinity: 33.391670 , density: 1025.000000 * values[0]: 0.701939 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032452.023165 s.Z@I~,{!$AA(\>@ADB>@AcY~? A A^#&"AA{^mNA"AZAbAjArAzAAA.鏋@Ae?xerA-t@AB$<Ab=A*ADA|οAx_*A?=:?2A׽:A1=BA?=:?JA׽RA1=٘i)I9t@YG J JJJJ"1E&K Y^W~?y'ȧOA0E77{78)BME[[wn@[X~?[O[[[[BZYY i) Ii1g@= [))[⿩]@鴪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032452.043165 s, next control iter: 1743032452.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032452.443165 s.8FI~,B]!$AJ"J*J2J:JBJnJvJ@@@@Az>@A^>@AKY~? AA+#&"AA9mNA"AZAbAjArAzAAA9'J@ANgrAMt@AnwݸAĄ=Acs)A A@D(пA]*A7:?2A u׽:Ab=BA7:?JA u׽RAb=٘i)I9Mt@YG JJJJJ'1E&K YDW~?y˧mOA0E778)BJE[[o@[W~?[5[[[[BZYY i) Iik@o= ))࿩u@ǶYFF]Waiting for Gazebo time sync: latest Gz time: 1743032452.463165 s, next control iter: 1743032452.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5951, header.stamp.nsec: 00 temperature: 13.386161* salinity: 33.391651, density: 1025.000000* values[0]: 0.701515F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032452.863165 s.+MI~,>7!$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073851< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743032452.863345F (some fields omitted in printout)A33333?@A 6u?@A2Y~? A A"&"AAmNA"AZAbAjArAzAAA7M@AhrAs@Ae'A\=A(A`cAѿA#*A0:?2AS׽:A<BA0:?JAS׽RA Y+,W~?yЧOA%(0E778BB)BHE[[p@[W~?[?[[[[BZYY i) r<Ii!m@= O<޿))O<޿ǀ@oYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032452.883165 s, next control iter: 1743032453.263185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743032453.283165 s.4RTI~,R!$AJ"J*J2J:J}3?BJ}3?nJ5<5vJAQ?@A5磄?@A|Y~? AA"&"AAlNA"AZAbAjArAzAAA˰d@AYرjrAOvs@A+tA7/=A&AA =ѿA߀*A*:?2A ׽:Ae=BA*:?JA ׽RAe=٘i)I9vs@Y-G JC=JJJJ21E&K YW~?yYԧNA0Eŧ7ŧ78)B[[ q@[fW~?[_#[[[[BZYY i) 'Iio@oU= kۿ))kۿ@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032453.323165 s, next control iter: 1743032453.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5952., header.stamp.nsec: 0.0 temperature: 13.386363.* salinity: 33.391685., density: 1025.000000.* values[0]: 0.700767.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032453.703165 s.ֺZI~,m!$AAףp= @@AzR&5?@A{Y~? AAv"&"AAlNA"AZAbAjArAzAAA"A@AB lrAgs@A4b@Aڋ=A.|%A`AҿA|+*Ac%:?2Aڅ׽:Aa=BAc%:?JAڅ׽RAa=٘i)I9s@YG J͂B=JJJJ81E&K YV~?yا^NA0E7{7<8)BEE[[Js@[W~?['[[[[BZYY i) m7Iijr@S%= ٿ))ٿ@fYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032453.723165 s, next control iter: 1743032454.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032454.123165 s.4aI~,P!$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073851< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032454.123271F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@@A<\[@@AX~? AAbA"&"AAMlNA"AZAbAjArAzAAA~k&!@A,NnrAr@A'A6r=A8$A\AڴӿA(4*A5 :?2Ac"׽:A$*=BA5 :?JAc"׽RA$*=٘i)I9r@YG JC=JJJJ=1E&K YcV~?yݧNA0EZ7Z7f8)BBE[[#t@[W~?[+[[[[BZYY iDꩽ) 3GIiu@72= o׿))o׿3@êYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032454.143165 s, next control iter: 1743032454.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032454.543165 s.IhI~,â!$AA{G@@A.@@A X~? AAi!&"AAglNA"AZAbAjArAzAAAYS@AM7prA]r@A%#<A=A:"A(AFԿAu*A:?2AOֽ:AA =BA:?JAOֽRAA =٘i)I9r@YYG JݑJJJJB1E&K YV~?yYMA0E{7{78AB)B?E[[Bu@[͚W~?[50[[[[BZYY i) VIi2y@|= 1տ))1տtÓ@ǪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032454.563165 s, next control iter: 1743032454.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5953, header.stamp.nsec: 00 temperature: 13.386576* salinity: 33.391655, density: 1025.000000* values[0]: 0.699955F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032454.963165 s.nI~,!$AJ"J*J2J:J03?BJ03?InJ;5IvJ"IZG*Ir@6I>IFIALA@A42A@AʻX~? A'A!&"AA^lNA"AZAbAjArAzAAAj@AMrrAq@Aɇn<A=A}!A#AgտA5*A:?2Aֽ:A=BA:?JAֽRA=Y:zb@Y!y =2%o<ٓH@ @w? r_!5\X Ѝ??):zb@ I٘i)I9q@Y G JB=Jsg<JJJH1E&Kfx> YV~?ypFMA!0E7)78)B[[ldv@[W~?[4[[[[BZYY i) eIiz@ = ҿ))ҿ1T@ʪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032455.003165 s, next control iter: 1743032455.363184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743032455.383165 s.uI~,8!$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032455.383301F (some fields omitted in printout)AQA@AP}:A@AX~? AAr!&"AA;lNA"AZAbAjArAzAAA"W3P @A?urAq@A8X<Axu=A` AAO@ֿA*A :?2Aֽ:A=BA :?JAֽRA=٘i)I9q@YG J`C=JJJJM1E&K YV~?yLA0E77778)BIFIA(\B@AMuB@AKwX~? A'A &"AAkkNA"AZAbAjArAzAAA?&TS @A,dYzrAap@A<A/F=AAT<A׿AY*AK9?2A~׽:A=BAK9?JA~׽RA=٘i)I9p@YG J B=JJJJX1E&K YmV~?yLA0E77=8)B7E[[Qy@[_XW~?[B[[[[BZYY i) ׉IiJ@}%= 2̿))2̿$@sժYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032456.243165 s, next control iter: 1743032456.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032456.643165 s.uЉI~,*)"$AJ"J*J2J:J2?BJ2?nJg;5vJZJX@JJX@bJd@RJd@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743032456.643284F (some fields omitted in printout)AGB@A{B@AaX~? A,A &"AAhkNA"AZAbAjArAzAAADk6@ArL|rAoo@A>g^A=ATAKA`ؿAvڟ*A9?2A׽:A=BA9?JA׽RA=٘i)I9o@YG JQC=JJJJ]1E&K YVV~?yKA0E{7j7g8)ïB[[z@[HW~?[YG[[[[BZYY i) eyIi@'= ɿ))ɿg@٪YFF]{:Waiting for Gazebo time sync: latest Gz time: 1743032456.663165 s, next control iter: 1743032457.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5955, header.stamp.nsec: 00 temperature: 13.387041* salinity: 33.391636, density: 1025.000000* values[0]: 0.698139F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032457.063165 s.I~,V D"$AAfffffC@A PLC@AJX~? AZ0A7 &"AAӲkNA"AZAbAjArAzAAA" @AcXAJrA)o@AwgA=A;A@AٿAӥ*AT9?2An׽:Ay=BAT9?JAn׽RAy=Yi@y=1hٓH!?@ 19?)i@ I٘i)I9o@YxG J8J<JJJc1E&Kx> YMAV~?yOKA0E77{78?B)ǯB4E[[u{@[8W~?[;L[[[[BZYY i)  蘼Ii@(= ǿ))ǿ @ުYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032457.083165 s, next control iter: 1743032457.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032457.483165 s.x_I~,^"$AJ"J*J2J:JBJnJvJ@@@@AC@A=~oӷC@AF5X~? A4A&"AAkNA"AZAbAjArAzAAArf$@ArAtn@A^A4=AAtA[ڿA殼*A 9?2A"׽:A=BA 9?JA"׽RA=٘i)I9tn@Y!G JJJJJh1E&K Y ,V~?y`JA0E778>B)˯B0E[[A}@[)W~?[/Q[[[[BZYY i) WIi@)= ſ))ſ@ YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032457.523165 s, next control iter: 1743032457.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5956, header.stamp.nsec: 00 temperature: 13.387263* salinity: 33.391621, density: 1025.000000* values[0]: 0.697175F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032457.903165 s.ȝI~,y"$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743032457.903297F (some fields omitted in printout)A ףp=D@AnRX#D@AX~? Ai9A&"AApkNA"AZAbAjArAzAAA_0sC @A0v ҄rAm@A?e;A=AmA`/AD!ۿA*AR9?2Aɯֽ:A3=BAR9?JAɯֽRA3=٘i)I9m@YG JiJJJJm1E&K YV~?y+ vJA0Eb778)ϯB[[(8~@[W~?[3V[[[[BZYY i) aŧIi@ "+= /Gÿ))/Gÿ>@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032457.943165 s, next control iter: 1743032458.303181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032458.323165 s.J xI~"J*J2J,-"$A:JW2?BJW2?nJ;5vJA\D@A됛D@A X~? A$>A.&"AAPkNA"AZAbAjArAzAAA:r?A&rA?m@A9K<AB=A@AACۿA*A,9?2Ayeֽ:At=BA,9?JAyeֽRAt=×I٘i)I9?m@YdG J-JJJJs1E&K YV~?y JA0E78)ԯB.E[[S@[ W~?[H[[[[[BZYY i) 3Ii@$,= ))˘@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032458.343165 s, next control iter: 1743032458.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5957*, header.stamp.nsec: 0*0 temperature: 13.387547** salinity: 33.391628*, density: 1025.000000** values[0]: 0.696095*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032458.743165 s.WI~,~"$AII"IeG*I?m@6I>IFIZIbIjIrIzII 3AGzE@AeD@AW~? ACAG&"AA0kNA"AZAbAjArAzAAAZ$?ArkErAl@A{r<Aޫ=AAAܿAƼ*A9?2Aiֽ:A=BA9?JAiֽRA=٘i)I9l@YG JuļJJJJx1E&K  8YIU~? 8yIA0E7=8)ٯB+E[[67@[V~?[j`[[[[BZYY i) 8Iix@a.= ھ))ھ1Y@ Y U~?y.(IA 4D0E777g 8)ޯB[[Nŀ@[V~?[e[[[[BZYY i) 꽼Ii @j/= G))GI@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032459.183165 s, next control iter: 1743032459.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032459.583165 s.I~,S"$AARE@AlE@ASW~? AMA&"AAjNA"AZAbAjArAzAAAr^uq?A&ؐrANJk@A`A=ACAnA%&޿A1Ƽ*AW9?2A"׽:A=BAW9?JA"׽RA=٘i)I9Jk@Y3G JǼJJJJ1E&K YU~?y$HA0Ej7Z78=B)B(E[[S@[V~?[j[[[[BZYY i) 2żIiΉ@d0= /k))/ku@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032459.603165 s, next control iter: 1743032459.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5958, header.stamp.nsec: 00 temperature: 13.387827* salinity: 33.391594, density: 1025.000000* values[0]: 0.694927F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032460.003165 s.J "J *J 2J :J 1?I BJ 1?I nJ :5"I 4G I~*IJk@vJ6I>I,4#$AFIZJ@JJ@bJ@RJ@Ap= WF@Ax#tAzʯ=AA@^A:߿ATƼ*A9?2A/q׽:A=BA9?JA/q׽RA=٘i)I9i@YiG JżJJJJ1E&K YOU~?yz1GA1E7 8)B&E[[hm@[V~?[u[[[[BZYY i.j) ~ӼIi@ 3= ))c@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032460.443165 s, next control iter: 1743032460.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5959, header.stamp.nsec: 00 temperature: 13.388117* salinity: 33.391594, density: 1025.000000* values[0]: 0.693753F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032460.843165 s.I~,5#$AJ"J*J2J:J1?BJ1?nJ::5vJZJ`@JJ`@bJk@RJk@AHz.G@A9&G@AW~? A8]A&"AAjNA"AZAbAjArAzAAAg%)?ATحrAIFIAG@A/G@ANW~? AbAk&"AA|jNA"AZAbAjArAzAAÀN?ArrAh@AjA=A A 6A|Aμ*A9?2A'ֽ:AD=BA9?JA'ֽRAD=Y v@y=0ٓHC?`#@fRUm 5`,\@?) v@ I٘i)I9h@Y G J9̼J,;JJJ1E&K>x> Y{U~?y>FA 1E77=/8)B[[醃@[PV~?[ŀ[[[[BZYY i) CIi@3?5= ۛ))ۛ䨜@rYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032461.283165 s, next control iter: 1743032461.663184 s, wait time: 0.380019 s {U~?) >2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 59602, header.stamp.nsec: 020 temperature: 13.3883962* salinity: 33.3915862, density: 1025.0000002* values[0]: 0.6925842F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032461.683165 s.lI~,Rk#$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:JBJ< rudderAngleAction: -0.261799nJ@ elevatorAngleAction: -0.091999vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419996ZJJJbJ2 time: 1743032461.683281RJF (some fields omitted in printout)AQH@A<G@AmW~? AhA&"AA`jNA"AZAbAjArAzAAAh?A b~rAg@Ay<Aq=A A``AAԼ*A9?2AsRֽ:A9=BA9?JAsRֽRA9=٘i)I9g@Y/ G JYѼJJJJ1E&K YiU~?yEiFA1Ej7Z7h68-B)B E[[@['V~?[c[[[[ZZ¸BZYY i¸~=) DּIi0@06= _h))_h5@yTVYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032461.683165 s, next control iter: 1743032462.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743032462.103165 s.I~,#$AA= ףpH@A7֊VH@A[W~? AenAF&"AALEjNA"AZAbAjArAzAAAT=ȿAI)rA'Eg@A(o<AT=ALj AA#Aټ*A9?2A.ֽ:A =BA9?JA.ֽRA =٘i)I9Eg@Y G J׼JJJJ1E&K YXU~?yLEA1E)7ŧ7=8)B[[Z@[UV~?[[[[[ZZBZYY i) -BʼIi@Y6= 6))6U@y8MYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032462.143165 s, next control iter: 1743032462.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032462.523165 s.I~,{#$AJ"J*J2J:JBJnJvJ@@@@A(H@A H@AjJW~? AWtAP&"AAW*jNA"AZAbAjArAzAAAɚ-qٿA*mC˨rAzf@AmFR<Aΰ=AG8 AW߿AsA*A.9?2A+]ֽ:A=BA.9?JA+]ֽRA=٘i)I9zf@YF G JJJJJ1E&K YGU~?ySzEA1E{7j7D8.B)BE[[,@[ۊV~?[Ƒ[[[[ZZBZYY i) DIi@98= K))KN@y=$YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032462.543165 s, next control iter: 1743032462.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5961, header.stamp.nsec: 00 temperature: 13.388898* salinity: 33.391556, density: 1025.000000* values[0]: 0.690545F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032462.943165 s.bdI~,l]#$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032462.943302F (some fields omitted in printout)AzGI@A?Q-I@A=9W~? AfzA9&"AAjNA"AZAbAjArAzAAAd3:A:5}}rA$e@A;A=AuA޿A vA*A 9?2Agֽ:A$<BA 9?JAgֽRA$<٘i)I9e@Y G JB=JJJJ1E&K Y6U~?yZEA"1Eŧ7b7K8)B[[N@[V~?[[[[[ZZBZYY i) bCIi@n9= G֨))G֨Iڞ@y=ԪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032462.963165 s, next control iter: 1743032463.343187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743032463.363165 s.I~,>#$AJ"J*J2J:J0?BJ0?nJ]95vJA3333I@Ak$I@Aw(W~? AA-&"AA=iNA"AZAbAjArAzAAAF=AK*@rA?d@A!A v=AA4ݿA@A.*A9?2Aֽ:AEMh<BA9?JAֽRAEMh G J<C=JJJJ1E&Kw> Y(U~?yybDA'1E)7ŧ7S8-B)BE[[D@[tV~?[b[[[[ZZBZYY i) IiM@o9= ۣ))ۣf@̫YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032463.403165 s, next control iter: 1743032463.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5962&, header.stamp.nsec: 0&0 temperature: 13.389084&* salinity: 33.391563&, density: 1025.000000&* values[0]: 0.689779&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032463.783165 s.ZI~,#$AIIEC"I> G*Id@6I>IFIAQJ@AA]J@AW~? AԆA&"AAiNA"AZAbAjArAzAAA\GAHrAA d@A/qA:r3=A,5A$ݿAaAZʼ*A9?2Aֽ:A$;BA9?JAֽRA$;٘i)I9 d@Y G J߼JJJJ1E&K YjU~?yi]DA-1E{7Z7>Z8) B[[`ц@[PjV~?[J[[[[ZZBZYY i) Ii@:= q))q[@{YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032463.803165 s, next control iter: 1743032464.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032464.203165 s. I~, $$AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J:J8 propOmegaAction: 25.132812BJ< rudderAngleAction: -0.261799nJ> elevatorAngleAction: 0.082828vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419969ZJ@2 time: 1743032464.203289F (some fields omitted in printout)JJ@bJ@RJ@Aףp=J@A&pJ@A&W~? A4AV8&"AAiNA"AZAbAjArAzAAAHuA9xrAQoc@A?vA<AA{dܿAAmɥ*A[9?2Aֽ:ABA[9?JAֽRA٘i)I9oc@Yk G J JJJJ1E&K Y U~?yq DA21E77ha8)BE[[]@[`V~?[<[[[[ZZBZYY i) xIiU@"N;= cA))cA@4YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032464.223165 s, next control iter: 1743032464.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032464.623165 s.^ I~,z'$$AA)\J@A-XJ@AV~? AA&"AAiNA"AZAbAjArAzAAAa~mA)arAGb@AAD*<AAۿAAWˁ*A9?2Aֽ:A(aBA9?JAֽRA(a٘i)I9b@Y G J>JJJJ1E&K YT~?y yCA71E7{7h8)B[[n@[FVV~?[:[[[[ZZBZYY i) 5Ii@P<= ))i @рYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032464.663165 s, next control iter: 1743032465.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5963 , header.stamp.nsec: 0 0 temperature: 13.389386 * salinity: 33.391556 , density: 1025.000000 * values[0]: 0.688506 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032465.043165 s. I~,B$$AJ"J*J2J:JBJnJvJ@@@@A{GaK@Ae2GK@AV~? A?A;&"AAtiNA"AZAbAjArAzAAAk˺AN7rAb@AW;ANɭARAڿA@?Ax<*A9?2Aֽ:AvuBA9?JAֽRAvu٘i)I9b@Y G JRfJJJJ1E&K YMT~?yeCA=1E77o8)BE[[t@[LV~?[@[[[[ZZBZYY i) sIi@== 㝿))㝿@Ǿ(YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032465.063165 s, next control iter: 1743032465.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032465.463165 s.[ I~,]$$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743032465.463293F (some fields omitted in printout)AK@A( K@AV~? A꠩A}&"AA~iNA"AZAbAjArAzAAA3A!CAoQrA(Mb@A:I<A"AA ڿA4A*A9?2Aֽ:A􈥼BA9?JAֽRA􈥼YZ@yyI<ٓH ۿ?jd` ۿq՗?c?`:??)Z@ I٘i)I9Mb@Y G J J_CJJJ1E&Kx> YT~?yCAB1E)7ŧ7v8)B[[)@[CV~?[Z[[[[ZZBZYY iljq=) aIi'@== ۲))۲$#@)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032465.503165 s, next control iter: 1743032465.863182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5964, header.stamp.nsec: 00 temperature: 13.389571* salinity: 33.391537, density: 1025.000000* values[0]: 0.687771F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032465.883165 s.y I~,8x$$AJ"J*J2J:J0?BJ0?nJ85vJAQ8L@Aq::L@AV~? AAy7&"AAhiNA"AZAbAjArAzAAAD<^2AO| rAS*b@An<A2AgAAٿA@A*AF9?2A0ֽ:A|̼BAF9?JA0ֽRA|̼٘i)I9*b@Y G JॻJJJJ1E&K YT~?yCAG1E777~8.B)BE[[H@[:V~?[[[[[BZYY i"=) OIif@B== _))_C@*5*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032465.903165 s, next control iter: 1743032466.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032466.303165 s.`$ I~I,g$$AI"I G*I*b@6I>IFIAq= ףL@AbL@A־V~? AA&"AASiNA"AZAbAjArAzAAA U)tgAg|NrA&+b@A<A6ADA`OsؿA`A|#Q;*A˰9?2Aذֽ:A8MBA˰9?JAذֽRA8M缙٘i)I9+b@Y G J08JJJJ1E&K YT~?ywCAM1E>8-B)BE[[C@[22V~?[Ǩ[[[[BZYY i) =IiӔ@>= sR))sR>;@Hu*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032466.323165 s, next control iter: 1743032466.703181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5965., header.stamp.nsec: 0.0 temperature: 13.389631.* salinity: 33.391506., density: 1025.000000.* values[0]: 0.687600.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032466.723165 s.+ I~,H$$AJ"J*J2J:J0?BJ0?nJ85vJZJ@JJ@bJ@RJ@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069615< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032466.723308F (some fields omitted in printout)A(\M@A ސFL@AV~? AtA;,&"AA?iNA"AZAbAjArAzAAA&A&ÉrAOb@Af׺A[A)LA׿AFA~;*A9?2ATֽ:ABA9?JATֽRA٘i)I9Ob@Y G J$;JJJJ1E&K YT~?yoCAR1E{7{7i8)B[[@[*V~?[ͨ[[[[BZYY i) `g+Iip@eH?= _#))_#ǣ@y '=X*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032466.743165 s, next control iter: 1743032467.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032467.143165 s.X/2 I~,*$$AAGzM@Ax)u`M@AV~? AwA$&"AA2+iNA"AZAbAjArAzAAAi=dAgrAb@A<A.zAA`qֿA@6A?<*AK9?2AC ֽ:Aս BAK9?JAC ֽRAս ٘i)I9b@Y G J<JJJJ1E&K YXT~?yfCAX1E778)B[[u0@[:"V~?[*Ԩ[[[[BZYY i) HIi<@L@= ))pR@K*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032467.163165 s, next control iter: 1743032467.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032467.563165 s.8 I~,N $$AJ"J*J2J:JBJnJvJ@@@@AffffM@ALQM@A0V~? AéAz&"AAiNA"AZAbAjArAzAAAqA(&rAb@AR|AꈽA 5A@(տA`A r<*A89?2Aս:ABA89?JAսRAYDŽ@Ayc戽|ٓHտ??<տ?`?@ ?)DŽ@ I٘i)I9b@Y G J_W<B=JJJJ1E&K!w> YѦT~?yJDA]1E{7Z78.B)BE[[@[V~?[uڨ[[[[BZYY ig=)  Ii@s(@= ǐ))ǐݤ@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032467.583165 s, next control iter: 1743032467.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5966, header.stamp.nsec: 00 temperature: 13.389550* salinity: 33.391510, density: 1025.000000* values[0]: 0.688017F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032467.983165 s.? I~,$$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032467.983302F (some fields omitted in printout)AQN@A[7N@A9V~? AʩAI&"AAwiNA"AZAbAjArAzAAAM2A䰃rAOXc@A(9ACݑA]Ai#տA^A"<*A9?2ADDֽ:A BA9?JADDֽRA ٘i)I9Xc@Y] G J<C=JJJJ1E&K YKT~?yDAb1E7778)B[[cG@[V~?[[[[[BZYY i) lIi1@?@= 󙎿))󙎿^i@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032468.003165 s, next control iter: 1743032468.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032468.403165 s.&F I~,%$AJ"J*J2J:JBJnJvJA ףpN@AvXN@AV~? AѩA&"AAhNA"AZAbAjArAzAAA,IArAc@A峺AؗAIAEԿA)+A)<*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y G J<JJJJ1E&K YƓT~?yFEAh1Eŧ7ŧ78)B[[Ҍ@[ V~?['[[[[BZYY i) ZջIir@"@= {l)){l@t*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032468.423165 s, next control iter: 1743032468.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 5967", header.stamp.nsec: 0"0 temperature: 13.389380"* salinity: 33.391487", density: 1025.000000"* values[0]: 0.688877"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032468.823165 s.L I~,64%$AA\(O@A^0O@AuV~? AJ٩Azt&"AAhNA"AZAbAjArAzAAAN\TAirA?Yd@A?<AޚA(A;eӿA_A<|<*A9?2At׽:A BA9?JAt׽RA ٘i)I9Yd@Y G JӞ<B=JJJJ1E&K Y?T~?yɨ]EAm1E77j7?8-B) BE[[ ^@[uV~?[[[[[BZYY i) EIi@2"A= [?))[?@yh=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032468.843165 s, next control iter: 1743032469.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032469.243165 s.S I~,mO%$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743032469.243290F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzO@AMdzO@A8kV~? AA&"AADhNA"AZAbAjArAzAAAhpfSArA|d@A su<AsAAAҿA@BAA<*A,9?2A+׽:A BA,9?JA+׽RA ٘i)I9d@YN G Jϥ<C=JJJJ1E&K YT~?yѨEAr1E77i8.B)BE[[@[hV~?[[[[[BZYY i =) ]5Ii@A= )) @*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032469.263165 s, next control iter: 1743032469.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032469.663165 s.Z I~,qj%$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5968, header.stamp.nsec: 00 temperature: 13.389132* salinity: 33.391457, density: 1025.000000* values[0]: 0.689957F (some fields omitted in printout)AP@AO@A1aV~? A!A T&"AAhNA"AZAbAjArAzAAAj&F ARxrAte@A=`R<A~ϚAA`ѿA`A<*A9?2Aֽ:A1BA9?JAֽRA1Y^ @ y8̚tR<ٓH =ο?v?` ο@q?T? K??)^ @ I٘i)I9te@Y G J۪<JpJJJ2E&KPx> YyT~?yhڨ!FA x1Eŧ7b78)B[[t@[U~?[i[[[[BZYY i) 0rIi6@3A= 7煿))7煿 @*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032469.683165 s, next control iter: 1743032470.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032470.083165 s.Da I~, S%$AII"I G*Ite@6I>IFIZIjECbIjjIjrIjzIjIjw3J"J*J2J:JBJnJvJZJJJbJRJARkP@AytQP@AWV~? AA &"AAϳhNA"AZAbAjArAzAAAirr- AùrA3f@AH;AAdAzпA\A6֮<*A9?2Aֽ:ABA9?JAֽRA٘i)I9f@Y G J<JJJJ 2E&K Y1sT~?yFA}1Eb78)B[[=@[WU~?[[[[[BZYY i) k5Ii@DiA= ))8!@f*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032470.103165 s, next control iter: 1743032470.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032470.503165 s.g I~,P4%$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032470.503298F (some fields omitted in printout)Ap= P@AP@ANV~? A7A.&"AAhNA"AZAbAjArAzAAA [k A^rAܙf@AZmAAbAOϿAA<*Au9?2ATֽ:AeBAu9?JATֽRAe٘i)I9f@YY G Jү<JJJJ2E&K YmlT~?yFA1E778)B E[[^@[VU~?[g[[[[BZYY i) ~Ii,@A= ))Y@E*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032470.523165 s, next control iter: 1743032470.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5969, header.stamp.nsec: 00 temperature: 13.388881* salinity: 33.391460, density: 1025.000000* values[0]: 0.691174F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032470.923165 s.:n I~,%$AJ"J*J2J:J0?BJ0?nJ95vJ@@@@A(\BQ@A|z(Q@A FV~? AAo&"AANhNA"AZAbAjArAzAAATv AłUrA.g@AhARғAYA[ͿA@AÈ<*A9?2Ap4ֽ:A BA9?JAp4ֽRA ٘i)I9.g@Y G Jh<JJJJ2E&K YeT~?y YGA1Eŧ778/B)BE[[x@[U~?[ [[[[BZYY i) n vIim@kA= =~))=~s7@yG=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032470.963165 s, next control iter: 1743032471.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032471.343165 s. elevatorAngleAction: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032471.763303F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A#Q@Am6V~? A@An&"AAhNA"AZAbAjArAzAAAFS AsAkLh@A"ϻAԍAۿA LʿA@ߊA0]<*Ag9?2Aֽ:Au*BAg9?JAֽRAu*YrL@]ۿyԍ лٓH@@?zV?@2@+P? ⶱ?Xy3?)rL@ I٘i)I9Lh@Ya G J1<Jw<JJJ2E&K5x> YZT~?yP HAۿ1Eŧ7b7j8)B[[e+@[yU~?[[[[[BZYY i) IBq:Iid@IA= v))v`M@[*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032471.783165 s, next control iter: 1743032472.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032472.183165 s.˂ I~,c &$AAQR@A|҉kR@Ab/V~? AA1&"AAthNA"AZAbAjArAzAAA( AlN} sA_h@A.;A2A~[ؿA`\pȿAඬA<*A9?2A׽:A;cBA9?JA׽RA;c٘i)I9h@Y G JR<JJJJ$2E&K YWT~?yHA1E77778)B[[@[U~?[![[[[BZYY i) :Ii@hA= q))q{ت@*YFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032472.203165 s, next control iter: 1743032472.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032472.603165 s.;4 I~,&&$AJ"J*J2J:JBJnJvJA= ףR@ALR@A(V~? AA>&"AAgjhNA"AZAbAjArAzAAApXA=6xCsANi@A85X<AAտA ƿA Ar<*Aw9?2A?׽:AUBAw9?JA?׽RAU񼙘٘i)I9Ni@Y G Ju<JJJJ)2E&K YST~?yHA1E7781B)BE[[A@[U~?[G([[[[BZYY i) 7;Ii@ EA= `m))`mc@Ӻ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032472.623165 s, next control iter: 1743032473.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5971 , header.stamp.nsec: 0 0 temperature: 13.388383 * salinity: 33.391449 , density: 1025.000000 * values[0]: 0.693483 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032473.023165 s.Z I~,|A&$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032473.023291F (some fields omitted in printout)A(\S@ABS@A"V~? A%AХ &"AA`hNA"AZAbAjArAzAAA%i.AsAKi@Ar<AA^ӿAgĿAwAo<*A9?2A0׽:A/BA9?JA0׽RA/9٘i)I9i@YHG JG<JJJJ/2E&K YOT~?yy>IA1E7780B)B E[[͒@[U~?[.[[[[BZYY i) s&u;Ii@]A= i))i@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032473.043165 s, next control iter: 1743032473.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032473.443165 s.8Ö I~,B]\&$AJ"J*J2J:J1?BJ1?nJL:5vJAzS@AS@A]V~? A-A &"AA"XhNA"AZAbAjArAzAAAw Ah!sA=j@A5 <A mA)пA¿A@4A(<*A9?2Aֽ:AaBA9?JAֽRAa񼙘٘i)I9=j@YG J<JJJJ42E&K Y)KT~?y1(IA1Eb778)ޯB[[-X@[TU~?[5[[[[BZYY i) wb;IiR@A= d))d(z@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032473.463165 s, next control iter: 1743032473.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5972, header.stamp.nsec: 00 temperature: 13.388176* salinity: 33.391403, density: 1025.000000* values[0]: 0.694523F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032473.863165 s.+ I~,>w&$AA33333T@AqT@AdV~? A5Aqq &"AA+PhNA"AZAbAjArAzAAA*A&dsAj@AAuAaͿAoA \A<*A"9?2Aֽ:ABA"9?JAֽRAYH@ͿyuٓHœ ?՘r? ٸk?`?a`@?)H@ I٘i)I9j@YG J<J`<JJJ:2E&K$x>  8YJT~? 8y0IAͿ1E77@82B)ܯB E[[:@[3U~?[9<[[[[BZYY i=) U;Ii@a@= -U`))-U`5@ȵ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032473.883165 s, next control iter: 1743032474.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032474.283165 s.7R I~,&$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032474.283286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQT@AϻT@AV~? A=AN &"AAHhNA"AZAbAjArAzAAAI%LAQ#sAN-k@A0>AAw˿A;A&.A N<*A#9?2A;Xֽ:ABA#9?JA;XֽRA٘i)I9-k@Y"G J<JJJJ?2E&K YHT~?y9PJA1Eŧ7b7j 8)ٯB[[n@[nU~?[B[[[[BZYY i) ';Ii1@?@= [))[}@u*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032474.303165 s, next control iter: 1743032474.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 5973., header.stamp.nsec: 0.0 temperature: 13.387954.* salinity: 33.391392., density: 1025.000000.* values[0]: 0.695527.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032474.703165 s.պ I~, &$AAףp= U@AWj1T@AV~? A}EA: &"AABhNA"AZAbAjArAzAAA {A1MZu(sAk@AwAAVȿACzA P@Akt<*A9?2AbYֽ:ABA9?JAbYֽRA—I٘i)I9k@YkG Jl<B=JJJJD2E&K YGT~?yBJA1E{7{78)կB[[@[U~?[I[[[[BZYY i) +;Ii@?= W))W@dz*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032474.723165 s, next control iter: 1743032475.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032475.123165 s.8 I~,a&$AJ"J*J2J:Ji?BJi?nJ5IvJI\C"IkG*Ik@6I=>I!DFIDA)\uU@A[U@A V~? AMAt &"AA elevatorAngleAction: 0.077096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743032475.543285F (some fields omitted in printout)A{GU@Ab4U@A V~? AUA &"AA'8hNA"AZAbAjArAzAAA4lAF묫?2sAl@AFAPAÿA-ֲA@]A<*A9?2Aqֽ:ABA9?JAqֽRA٘i)I9l@YG J,<JJJJO2E&K YET~?y4T]KA1Eb77"8)ǯBE[[@[OU~?[W[[[[BZYY i) 9׽:ABA9?JAB>׽RAYБ@yET3h <ٓH`3??@e@gg?հ?P? ?w?)Б@ I٘i)I9l@Y9G J<JZJJJT2E&Kfx> YGT~?y\KA1E7*8)ïB[[?@[U~?[][[[[BZYY i) c*= J))J:@~*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032475.983165 s, next control iter: 1743032476.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032476.383165 s. I~,+'$AAQV@A&:V@AV~? AeA&"AA0hNA"AZAbAjArAzAAAjA̮= elevatorAngleAction: 0.077096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032476.803294F (some fields omitted in printout)Aq= #W@AFT W@A6V~? AmA;*&"AA.hNA"AZAbAjArAzAAANc A1AsA3m@AH<AdAA`<A FvAZ<*A#9?2A׽:AyBA#9?JA׽RAy٘i)I9m@YG J<JJJEJ_2E&K YKT~?ynpLA1E)7)7k88)B[[7qſ[|U~?[$k[[[[BZYY i) IIFIAGW@A `W@A5V~? A}A&"AA+,hNA"AZAbAjArAzAAAkATJsAn@A{ARДAtAz8O?A`yA'<*A9?2ASֽ:ABA9?JASֽRA٘i)I9n@YSG J<JJJJj2E&K YNT~?y('MA1EZ7Z7F8)B[[I[rU~?[x[[[[BZYY i) h elevatorAngleAction: 0.077096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032478.063291F (some fields omitted in printout)AfffffX@APLX@A~V~? A텪A?@4??)@ I٘i)I9Lo@YG JT<JCJJJo2E&Kw> YWST~?y׈MA볿1Eb77M8,B)BE[[Q㾿[U~?[J[[[[BZYY i) w elevatorAngleAction: 0.077096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743032479.323311F (some fields omitted in printout)A\Y@AߎY@AV~? AAx&"AA0hNA"AZAbAjArAzAAAگATF^sAmp@A߭;A-JA A o?AydA<*A9?2A׽:A|/BA9?JA׽RA|/٘i)I9p@YG J<JJJJ2E&K YEaT~?y䢩NA1E777kc8)B[[5Q[U~?[h[[[[BZYY i͍=) &"AA.8hNA"AZAbAjArAzAAAeɡA ]hsAr@Am<AAA` 7?A$JA<*A9?2A%+׽:A3BA9?JA%+׽RA3YT@!㦿yc~n<ٓHr? w? ? ???W? ??)T@ I٘i)I9r@YKG Jޤ<B=J5 JJJ2E&K+x> Y\mT~?yOA㦿1E7777q8)BE[[[*U~?[ [[[[BZYY i)  elevatorAngleAction: 0.086696< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743032480.583303F (some fields omitted in printout)ARZ@AQnZ@ARV~? A/A&"AAIFIA(\[@Alw[@AV~? AƪAj&"AAHhNA"AZAbAjArAzAAAAFedvsA7s@AGA觽A4A2?A aA`<*AM9?2A(ֽ:AѽBAM9?JA(ֽRAѽ٘i)I9s@YXG J<JJJJ2E&K YT~?yͩPA2Eb7b7A8)B[[aU[U~?[[[[[BZYY i) $ elevatorAngleAction: 0.086696< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743032481.843305F (some fields omitted in printout)AHz.\@Ai-\@AV~? AΪA&"AA%PhNA"AZAbAjArAzAAAG2Z^A}{sA]t@A&8wA5ZAءAm?AbAs<*Aw9?2Aֽ:ABAw9?JAֽRA٘i)I9]t@YG J<JJJJ2E&K Y&T~?y֩;QA2E77l8.B)BE[[[fU~?[V[[[[BZYY i) { YRT~?y;ީQAܙ2Eb778/B)BE[[k[U~?[[[[[BZYY i) IFIJ"J*J2J:J?BJ?nJ5vJZJ~@JJ~@bJ@RJ@AQ]@Avk \@A`)V~? AݪA%"AA`hNA"AZAbAjArAzAAAAmj hsAu@A{ 9AA@Ak?AAu<*Aۏ9?2Aֽ:ABAۏ9?JAֽRA٘i)I9u@YG J<JJJJ2E&K Y}T~?yo"RA2Ej7Z78)B[[[2U~?[vȩ[[[[BZYY i)  elevatorAngleAction: 0.086696< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743032483.103316F (some fields omitted in printout)A= ףp]@A V]@A/V~? AA%"AA[jhNA"AZAbAjArAzAAAc-gs A؃0,sA-Lv@AN(<AŰAA?A AL<*A9?2A0$׽:A'BA9?JA0$׽RA'٘i)I9Lv@YG J<JJJJ2E&K YT~?yRA#2Eb778)|B[[[+V~?[ϩ[[[[BZYY i) Z I~,F]($AAzG^@Af-^@A>V~? AAm%"AAhNA"AZAbAjArAzAAAsx? AfsAw@AXA<A{#AnOAZ?A.ZA~<*A9?2Alֽ:ABA9?JAlֽRA٘i)I9w@YG J\<JJJJ2E&K YT~?y ~SA.2E777A8)sB[[s[AV~?[ܩ[[[[BZYY i) )$A*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086696< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743032484.363284F (some fields omitted in printout)A3333^@A"^@AFV~? AA3=%"AAhNA"AZAbAjArAzAAA A'@ A.ABMsA}Lx@AI;A AЌA#?A3A+<*A9?2Atֽ:A=dBA9?JAtֽRA=dY֞@׌yR;ٓH?@6?Wҥ h??`ض?c?I?)֞@ I٘i)I9Lx@YG Jn<B=JGJJJ2E&Kw> YT~?ySA׌32E77{7m8)nB[[۝[LV~?[[[[[ZZZZ¸>BZYY i¸>«) 2E77782B)cB$E[[i[&V~?[V[[[[ZZZZBZYY i) P Y9 U~?y- VAN2E{7j7C8)PB[[[@@V~?[_[[[[ZZZZBZYY i˖) ŜAT)%"AAiNA"AZAbAjArAzAAAVA1Y'sA ~@ANA\ؙ<AjA ?AyA;*A<9?2AYֽ:Aء<BA<9?JAYֽRAء<٘i)I9 ~@YG J<JJJJ2E&K YpJU~?yRKWAd2Eŧ778)EB[[ᭉ[gV~?[E[[[[ZZZZBZYY i) cJJJ2E&KWx>  8Y\U~? 8y7RVAei2E7)787B)2E[[}m[rV~?[W![[[[BZYY i[l) ӏQ))>>y#.YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032488.583165 s, next control iter: 1743032488.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5987, header.stamp.nsec: 00 temperature: 13.567235* salinity: 33.375050, density: 1025.000000* values[0]: 0.581359F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032488.983165 s. I~,>*$AII[C"IG*I+~@6I>IFIDZI\CbI\CjIrI=zI=I3AQc@ASAE7c@AV~? ALA%"AA>iNA"AZAbAjArAzAAAxfQA Y{U~?ytUAK2EZ7$8:B)QBIFIAp= e@Ape@AW~? AtA %"AAiNA"AZAbAjArAzAAAcAAosAl|@As6:A=ARAA 8?A ,[A*Ac9?2Aֽ:A{7=BAc9?JAֽRA{7=٘i)I9|@YpG JޞJJJJ3E&K YU~?yUA2E77C38;B)ZB?E[[n[EV~?[J[[[[BZYY i) /;Iil]@d = `k))`k`kԪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032491.523165 s, next control iter: 1743032491.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5990, header.stamp.nsec: 00 temperature: 13.567339* salinity: 33.375042, density: 1025.000000* values[0]: 0.580770F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032491.923165 s.J "J *J 2J > I~:J?,*$ABJ?nJ5vJZJc@JJc@bJn@RJn@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057413< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743032491.923300F (some fields omitted in printout)A(\Bf@Aڦx(f@A})W~? AzA %"AAwiNA"AZAbAjArAzAAAR?-ASBsA{@A~mAޛ=A#;A?An A!*A#9?2Aֽ:Ax4 =BA#9?JAֽRAx4 =٘i)I9{@YG JJJJJ!3E&K YU~?yTA2E{7{7n:8)_BBE[[+Mj[V~?[=P[[[[BZYY i) _;IiZ@) = @))@@yok֪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032491.943165 s, next control iter: 1743032492.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032492.343165 s.< I~,+$AAHzf@A9f@AK:W~? AA%"AAiNA"AZAbAjArAzAAApAYsAz@A8zA[r=AE6A`?A A]*A9?2Ad׽:A=BA9?JAd׽RA=٘i)I9z@YG JߩJJJJ&3E&K YV~?yAUTA2EZ7Z7A8)cB[[e[V~?[U[[[[BZYY i) {;IiPX@p = ))佩 ֪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032492.363165 s, next control iter: 1743032492.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 5991&, header.stamp.nsec: 0&0 temperature: 13.567533&* salinity: 33.375057&, density: 1025.000000&* values[0]: 0.580164&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032492.763165 s.8 I~,#0+$AJ"J*J2J:JBJnJvJ@@@@Ag@Ax> Y9V~?y㒪SA12E77{7H8=B)jBFE[[7a[gV~?[V[[[[[BZYY i) RT?;Ii-T@= "))a""ӪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032492.783165 s, next control iter: 1743032493.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032493.183165 s. I~,kK+$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251002@ elevatorAngleAction: -0.057413< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032493.183284F (some fields omitted in printout)AQg@Akg@A]W~? AA$*%"AA)jNA"AZAbAjArAzAAA#1uƿAWsAy@ALQA0=A],A?A AW*AS9?2Ayֽ:A7=BAS9?JAyֽRA7=٘i)I9y@YG JeJJJJ13E&K Y0V~?ySA2E{7j7O8>B)oBIE[[v\[W~?[`[[[[BZYY i9) ;IijP@c= 1)) 11ϪYFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032493.203165 s, next control iter: 1743032493.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032493.603165 s.:4 I~,f+$AJ"J*J2J:JBJnJvJA= ףg@A Fg@AoW~? AʒA%"AADjNA"AZAbAjArAzAAA:AnTG?A5o0sAHy@A;A=An'A6k?AA*AC9?2AsRս:AJ=BAC9?JAsRսRAJ=٘i)I9Hy@YG JB=JJJJ63E&K YFV~?y&SA2E)7ŧ7W8)tB[['W[6W~?[(f[[[[BZYY i) 8:Ii M@9= l))ll{ʪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032493.643165 s, next control iter: 1743032494.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 5992 , header.stamp.nsec: 0 0 temperature: 13.567730 * salinity: 33.375084 , density: 1025.000000 * values[0]: 0.579546 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032494.023165 s.Z I~, |+$AA(\h@A2Bh@AxW~? AA"F%"AA/`jNA"AZAbAjArAzAAAQ qU?A.kesAx@Ak<A鑎=Ar"A?AwtA*A9?2AEս:A<BA9?JAEսRA<٘i)I9x@Y`G J߭C=JJJJ<3E&K YV\V~?yǣRA2E777C^8)yBLE[[c$S[W~?[{k[[[[BZYY i) x$9Ii J@O= H!))H!H!ĪY YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032494.043165 s, next control iter: 1743032494.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032494.443165 s.5 I~,5]+$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066517< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032494.443281F (some fields omitted in printout)J"J*J2J:JBJnJvJAzh@A?Ûh@A3W~? AAh%"AAE|jNA"AZAbAjArAzAAAT+?A sA4*x@AFTk<AGɊ=A%FA u?A 2A#%*A$9?2Agս:Aze<BA$9?JAgսRAze<٘i)I9*x@Y G JJJJJA3E&K Y rV~?yiQRA2Eb77ne8?B)~BOE[[rN[/W~?[p[[[[BZYY i) NHIirG@J< U))UUy+ZYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032494.463165 s, next control iter: 1743032494.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5993, header.stamp.nsec: 00 temperature: 13.567923* salinity: 33.375095, density: 1025.000000* values[0]: 0.578921F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032494.863165 s.+ I~,>+$AA33333i@Ax!i@ALW~? AAj%"AAjNA"AZAbAjArAzAAA ?A6*sAۤw@A5;Az=AAf?A@߿A *A;9?2A:ֽ:Aj<BA;9?JA:ֽRAj YyV~?yUQA2E{7j7l8)B[[[I[?W~?[u[[[[BZYY i) &IiC@Y< <))*}<<ϺYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032494.883165 s, next control iter: 1743032495.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032495.283165 s.6R I~,+$AJ"J*J2J:J"?BJ"?nJT5vJII"IG*Iw@6I>IFIAQi@ASͬi@AW~? AA%"AAjNA"AZAbAjArAzAAAy5zU?AtdqtAC(w@A-=A|=A_A ?A޿A*A9?2Aֽ:AȻ<BA9?JAֽRAȻ<٘i)I9(w@YmG J^JJJJL3E&K YV~?yAQA2E77s8AB)BSE[[;E[PW~?[z[[[[BZYY i) W.Ii ?@3< h|<)) h|<h|<:YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032495.303165 s, next control iter: 1743032495.683176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 59946, header.stamp.nsec: 060 temperature: 13.5680896* salinity: 33.3750886, density: 1025.0000006* values[0]: 0.5783416F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032495.703165 s.Ӻ I~,+$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066517< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032495.703280F (some fields omitted in printout)Aףp= j@A[a/i@AW~? A7A/%"AAjNA"AZAbAjArAzAAA%BW?AüpZtAv@A5ZA1%=AsK A`> ?Ax޿A]*A<9?2Aս:A <BA<9?JAսRA <٘i)I9v@Y&G JŊJJJJQ3E&K YTV~?y.@QA2E7ŧ7z8BB)BVE[[g@[`W~?[[[[[BZYY i) lIi;@^<  =)) = =YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032495.723165 s, next control iter: 1743032496.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743032496.123165 s.5 I~,T,$AJ"J*J2J:JBJnJvJZJ@JJ@bJ@RJ@A)\uj@A-X[j@AW~? AUA3%"AAjNA"AZAbAjArAzAAAp*?AA$tAbDv@A;yAl)=A+AW?A[ݿAÂ*AR9?2Ayս:AE<BAR9?JAyսRAE<٘i)I9Dv@YG JJJJJW3E&K YV~?yPA2E7778)B[[;[,rW~?[܄[[[[BZYY i:4) WIiZ8@x< SV=))SV=SV=[Y/YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032496.143165 s, next control iter: 1743032496.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032496.543165 s.I I~,",$AA{Gj@A/j@A3W~? ARA %"AAkNA"AZAbAjArAzAAA4d?Ag tAu@AA=AfA`֡?AܿA*AZ9?2AԻս:AE<BAZ9?JAԻսRAE<٘i)I9u@YG JmJJJJ\3E&K Y,V~?yªPA2E77D8)BZE[[6[΃W~?[[[[[BZYY i) OƴIi5@Je< @I=))@I=@I=²YFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032496.563165 s, next control iter: 1743032496.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5995, header.stamp.nsec: 00 temperature: 13.568212* salinity: 33.375080, density: 1025.000000* values[0]: 0.577893F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032496.963165 s.x I~,=,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075295< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743032496.963288F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@ALk@AA2k@A X~? A/Ap%"AA"0kNA"AZAbAjArAzAAA^ U?Aqi_ tAhu@A(:A$=AU6A?AQۿAԃ*A;9?2ASս:A<BA;9?JASսRA YW~?y1ƪ3PA'2E77o8CB)B]E[[/2[W~?[l[[[[BZYY i) g8ԻIi1@4< =));y== YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032496.983165 s, next control iter: 1743032497.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032497.383165 s. I~,4X,$AAQk@A"IFIAq= #l@AԸ7 l@A6X~? AƫA%"AApkNA"AZAbAjArAzAAA]}g2@AǩytAt@A0D~<A\=A A`9x?A6RڿAM*A9?2A4!Խ:A|W=BA9?JA4!ԽRA|W=٘i)I9t@YG JOJJJJl3E&K Y1W~?yΪOA2E{7{7Ğ8)BcE[[([2W~?[[[[[BZYY i) Q Ii")@}< >))>>۶YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032497.823165 s, next control iter: 1743032498.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032498.223165 s.g# I~,H,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075295< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032498.223279F (some fields omitted in printout)A(\l@AL Ful@A:LX~? AʫA_%"AAkNA"AZAbAjArAzAAAó@@A-[3tA^t@At*6<A=AݾA@?A ٿAˇ*A9?2A6Խ:Apr=BA9?JA6ԽRApr=٘i)I9t@YG JJJJJq3E&K YJW~?yҪ-OA2E78EB)BdE[[;#[!W~?[[[[[BZYY i) GIi%@.2< >))>>)YYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032498.243165 s, next control iter: 1743032498.623186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743032498.643165 s.r) I~,),$AJ"J*J2J:J?BJ?nJ5vJZJ@JJ@bJ2@RJ2@AGl@Al@A8bX~? APϫA %"AAбkNA"AZAbAjArAzAAA*r!V@Ai tAs@A|n:A=Ay#ӾA?AؿA'*AD9?2AVս:A*'=BAD9?JAVսRA*'=٘i)I9s@YIG JJJJJw3E&K YcW~?y֪NA 6D2Eŧ7ŧ78)BgE[[{[mW~?[~[[[[BZYY i) V(Ii"@j< =(>))=(>=(>(YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032498.663165 s, next control iter: 1743032499.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5997, header.stamp.nsec: 00 temperature: 13.568438* salinity: 33.375126, density: 1025.000000* values[0]: 0.576992F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032499.063165 s.0 I~,p ,$AII"IIG*Is@6I>IFIAfffffm@ANPLm@A}xX~? AӫA%"AAUkNA"AZAbAjArAzAAA|Er @Af gtA3s@AAL=AfȾA,9?A׿Am@*A9?2Aս:A=BA9?JAսRA=Yꀵ@սȾyJ=ٓH?j??eؿ?L[@e@ ?)ꀵ@ I٘i)I93s@YG JJ0<JJJ|3E&Kt> Y}W~?y8ڪxNAȾ2E77E8FB)BjE[[7[W~?[[[[[BZYY i) x8Ii&@Rn< `;>))~w`;>`;>YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032499.083165 s, next control iter: 1743032499.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032499.483165 s.t_7 I~,,$AJ"J*J2J:J?BJ?nJ5vJZJ@JJ@bJ@RJ@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241220@ elevatorAngleAction: -0.075295< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032499.483289F (some fields omitted in printout)Am@Anڷm@AX~? A׫Ae%"AAEkNA"AZAbAjArAzAAAD2 @AztAHr@AnyA+=A-̽A@v?A׿Acu*A9?2A:Wֽ:Ag=BA9?JA:WֽRAg=٘i)I9r@YG J酼JJJJ3E&K YW~?yݪNA2EZ7Z7o8)BmE[[ e[X~?[ߨ[[[[BZYY i) ZGIi@!< @N>))}@N>@N>êYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032499.503165 s, next control iter: 1743032499.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 5998, header.stamp.nsec: 00 temperature: 13.568534* salinity: 33.375137, density: 1025.000000* values[0]: 0.576536F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032499.903165 s.= I~,,$AA ףp=n@Aip[#n@A֥X~? Av۫AQ%"AAlNA"AZAbAjArAzAAAA) @AʐA tAhOr@A?PAd=AlA ٴ?A@ֿA*A:?2APzԽ:AF=BA:?JAPzԽRAF=٘i)I9Or@YzG JJJJJ3E&K YW~?yMA2Ej7j78)BpE[[S[X~?[שׁ[[[[BZYY i) jWIi@w<  b>))  b> b>ǪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032499.923165 s, next control iter: 1743032500.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032500.323165 s.sD I~,-$AJ"J*J2J:JBJnJvJ@@@@A\n@Acގn@AX~? A9߫AM%"AA]:lNA"AZAbAjArAzAAA2w@A6"tAWq@A(eAݓ=AfA?A HsտAL*A:?2AYԽ:Ap =BA:?JAYԽRAp =٘i)I9q@Y/G J[JJJJ3E&K YW~?yP_MA2E778)B[[ǥ [+0X~?[氪[[[[BZYY is¬) +fIi@< Pu>))Pu>Pu>`˪YɔYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032500.343165 s, next control iter: 1743032500.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 5999*, header.stamp.nsec: 0*0 temperature: 13.568651** salinity: 33.375134*, density: 1025.000000** values[0]: 0.576078*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032500.743165 s.WK I~,u/-$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743032500.743289F (some fields omitted in printout)AGzo@Acn@A/X~? AA%"AAu]lNA"AZAbAjArAzAAA|`F+@AtB$tASq@A;A2=A4A`?AϡԿA2*A:?2Aj`Խ:A=BA:?JAj`ԽRA=٘i)I9Sq@YG JEJJJJ3E&K Y1W~?yMA3Eb7778GB)BsE[[g[EX~?[Ĵ[[[[BZYY i) [vIim@j< 誄>))誄>誄>ΪYYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032500.783165 s, next control iter: 1743032501.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032501.163165 s.x}R I~,qJ-$AJ"J*J2J:JBJnJvJAo@Aeo@AX~? ATAr>%"AAlNA"AZAbAjArAzAAA䈂L.@A&tAYp@Az?q<Af=A A@_Q?A`XӿA{*A9?2AԽ:Af=BA9?JAԽRAf=Y@yb=q<ٓH Y=X~?y7LA 3E78)BvE[[[YX~?[w[[[[BZYY i) Ii @xx< Hd>)) uHd>Hd>ѪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032501.183165 s, next control iter: 1743032501.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032501.583165 s.X I~,Re-$AII"IG*Ip@6I>IFIZI[CbI[CjIrIzII%3ARo@Ammo@AlY~? AA%"AAlNA"AZAbAjArAzAAA@) N@A{f!(tAAp@A$g<Aޚ=AA ?A kҿAm*A9?2Aս:A=BA9?JAսRA=٘i)I9Ap@Y:G JC=JJJJ3E&K YEX~?y5LA3E77j7E8)ůByE[[u[/oX~?[[[[[BZYY i) LIiE@)ޫ< A1>))A1>A1>y ԪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032501.603165 s, next control iter: 1743032501.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6000, header.stamp.nsec: 00 temperature: 13.568776* salinity: 33.375156, density: 1025.000000* values[0]: 0.575546F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032502.003165 s.y ` I~,P4-$AJ"J*J2J:JW?BJW?nJ5vJZJw~@JJw~@bJ~@RJ~@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258954@ elevatorAngleAction: -0.084355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032502.003297F (some fields omitted in printout)Ap= Wp@Aeȱ)) a>a>تYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032502.023165 s, next control iter: 1743032502.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032502.423165 s.uf I~,-$AA(\p@A3wp@A3Y~? AA/%"AA;lNA"AZAbAjArAzAAA g@A,tA)o@A<A]=AymA?A`)ѿAW*A :?2A%aԽ:As=BA :?JA%aԽRAs=٘i)I9)o@YG JHJJJJ3E&K YYRX~?yiKA3Eb7ŧ78IB)ЯBE[[[ؚX~?[ª[[[[BZYY i) 4lIiw?7< 1>))1>1>lܪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032502.463165 s, next control iter: 1743032502.823180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6001, header.stamp.nsec: 00 temperature: 13.568943* salinity: 33.375179, density: 1025.000000* values[0]: 0.574956F (some fields omitted in printout)VYRX~?)V rAdjusting time to match Gazebo time: 1743032502.843165 s.l I~,-$AJ"J*J2J:J0?BJ0?nJV5vJI@I\C@@"IG@*I)o@6I>IFIAHz.q@Aq@AKY~? AAJE%"AAmNA"AZAbAjArAzAAA(@A.z.tAn@A.^A~=A^XA7 ?A@IпA:b*A):?2A ս:AR=BA):?JA սRAR=٘i)I9n@Y9G JB=JJJJ3E&K YemX~?y[KA3E77{78)ԯB[[ܾ[6X~?[=ƪ[[[[BZYY i) 6Ii(?u.< )>)))>)>Y YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032502.863165 s, next control iter: 1743032503.243175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032503.263165 s.t I~,,-$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032503.263287F (some fields omitted in printout)Aq@A0 q@AcdY~? A}AX%"AA6mNA"AZAbAjArAzAAA}@A˶$0tA n@A@sAn=AFCA 5?A οAݮ*A!9?2Aymս:A=BA!9?JAymսRA=Y@WDy=ttٓHxN? L?")?_ȿj?> MѴ^t?)@ I٘i)I9 n@YG JC=J<JJJ3E&Ks> YX~?y JAD%3E778JB)ٯBE[[16Ҿ[}X~?[Xɪ[[[[BZYY i) XIiy?< >))s>>YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032503.283165 s, next control iter: 1743032503.663181 s, wait time: 0.380016 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 60022, header.stamp.nsec: 020 temperature: 13.5690892* salinity: 33.3751682, density: 1025.0000002* values[0]: 0.5743872F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032503.683165 s.lz I~,o-$AJ"J*J2J:J ?BJ ?nJ/5vJZJ}@JJ}@bJ ~@RJ ~@AQr@A8 q@A}Y~? AA^%"AA@\mNA"AZAbAjArAzAAAlNi@Ae1tAum@AAש=A_/AaZ?AͿA*A 9?2A~ս:Ad=BA 9?JA~սRAd=٘i)I9um@YG JJJJJ3E&K  8YʤX~? 8y#JA*3EZ7Z78)ޯBE[[%=Ⱦ[(X~?[W̪[[[[BZYY i) ڶIi? M< >))F>>ZYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032503.683165 s, next control iter: 1743032504.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032504.103165 s. I~,.$AII"IG*Ium@6I>IFIA= ףpr@A$Vr@AY~? A|Aq%"AAɁmNA"AZAbAjArAzAAAe:I>@Ag13tAl@A*;A1=AA`z?AA.˿A¼*AO:?2APӽ:A&+=BAO:?JAPӽRA&+=٘i)I9l@Y%G J;JJJJ3E&K Y~X~?yfIA/3E77F 8)BE[[/[2X~?[8Ϫ[[[[BZYY i) jIi? %< )>)) )>)>fYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032504.143165 s, next control iter: 1743032504.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032504.523165 s. I~,{!.$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032504.523301F (some fields omitted in printout)J"J*J2J:JBJnJvJZJJJbJRJA(r@Apr@AY~? AA}{%"AAmNA"AZAbAjArAzAAAr n@Ahݓ4tA?1l@AG<AX=AA?AisɿAxʼ*AX :?2A15ӽ:A=BAX :?JA15ӽRA=٘i)I91l@YG J(ƼJJJJ3E&K Y1X~?yCIA53E{7j7p8)BE[[[ Y~?[Ѫ[[[[BZYY i) CsIiP?k< >))>>YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032504.563165 s, next control iter: 1743032504.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6003, header.stamp.nsec: 00 temperature: 13.569266* salinity: 33.375202, density: 1025.000000* values[0]: 0.573743F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032504.943165 s.Xd I~,B]<.$AAzGs@AW-s@AY~? AAuP%"AAmNA"AZAbAjArAzAAA= @AU5tAk@Ak{<AD=ADnA?A@ƯǿA5$м*A2:?2Aӽ:A4=BA2:?JAӽRA4=٘i)I9k@YWG JͼJJJJ3E&K YX~?yHA:3Eŧ7b78)BE[[ߩ[D$Y~?[Ԫ[[[[BZYY i) EżIi?co< ?>))?>?>4YfYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032504.983165 s, next control iter: 1743032505.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032505.363165 s. I~,p>W.$AJ"J*J2J:J?BJ?nJ5vJI@@I@@"IWG*Ik@6I>IFIA3333s@AAc&s@AZY~? AAk(%"AAmNA"AZAbAjArAzAAAW@Ac7tAj@An,<A$T=A3AM?AſA8vѼ*A:?2AEԽ:A=BA:?JAEԽRA=Yu@TyQ=,-<ٓHv?@Dݷ? ʵ?L@?@l#??)u@ I٘i)I9j@YG JѼB=JI<JJJ3E&K/s> YY~?y\HAT@3EZ7SI78)BE[[͟[;Y~?[ת[[[[BZYY i)  ͼIi-?*c|<  R>))Jcs R> R>YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032505.383165 s, next control iter: 1743032505.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6004&, header.stamp.nsec: 0&0 temperature: 13.569469&* salinity: 33.375206&, density: 1025.000000&* values[0]: 0.573026&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032505.783165 s.` I~,r.$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237683@ elevatorAngleAction: -0.084355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032505.783292F (some fields omitted in printout)AQt@A(Gt@AY~? AAv%"AAnNA"AZAbAjArAzAAAƖMm@AHrw+8tA%j@AcR9A)=AA ?A@ĿAм*A9?2Asս:A-=BA9?JAsսRA-=٘i)I9%j@YG JAѼC=JJJJ3E&K Y0Y~?ybGAE3E77j7&8)BE[[[SY~?[b٪[[[[BZYY i) DԼIiB?p< x>))*؃x>x>YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032505.803165 s, next control iter: 1743032506.183183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032506.203165 s. I~,2.$AJ"J*J2J:JBJnJvJZJ}@JJ}@bJ}@RJ}@Aףp=t@A$pt@AAZ~? AGA%"AA@nNA"AZAbAjArAzAAAZm9g @A'(+9tAvi@AV*(A'=AZRA@Q?A@u ¿Avμ*A:?2A_ Խ:A~=BA:?JA_ ԽRA~=٘i)I9vi@YG JϼJJJJ3E&K Y&LY~?y2nGAJ3E{7.8)B[[i[ lY~?[۪[[[[BZYY i) T}ۼIi,?df< Z?)) Z?Z?JYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032506.223165 s, next control iter: 1743032506.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032506.623165 s.U I~,T.$AII"IG*Ivi@6I>IFIA)\t@A9dt@A-Z~? AA#%"AAmgnNA"AZAbAjArAzAAA!΢ @A<:tAh@AM\{AK=AA(?A`<Aϼ*A:?2A<Խ:A=BA:?JA<ԽRA=I٘i)I9h@Y G J ϼJJJJ3E&K Y=hY~?yFAP3E77F58)BE[[[Y~?[ݪ[[[[BZYY i) Ii?Z]< ?))??GYFF]{:Waiting for Gazebo time sync: latest Gz time: 1743032506.643165 s, next control iter: 1743032507.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6005 , header.stamp.nsec: 0 0 temperature: 13.569646 * salinity: 33.375225 , density: 1025.000000 * values[0]: 0.572302 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032507.043165 s. I~,.$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.093296"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0005002J:J dt: 0.420043BJnJ2 time: 1743032507.043323F (some fields omitted in printout)vJZJJJbJRJA{Gau@Aݗ3Gu@AGZ~? AA%"AAOnNA"AZAbAjArAzAAAPb/T!@A8s:tA.h@A_IA=AH{AA;?AؼAYӼ*A`:?2AkԽ:AN=BA`:?JAkԽRAN=٘i)I9h@YB G JѼJJJJ3E&K YUY~?yFAU3E7ŧ7q<8) BE[[om[Y~?[ߪ[[[[ZZ¸BZYY i¸_=) ZּIi?}.U<  ?)) ? ?YYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032507.063165 s, next control iter: 1743032507.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032507.463165 s.V I~,.$AAu@A"u@A\aZ~? A?A%"AAPnNA"AZAbAjArAzAAA>]!@Ab[ɼ;tAqfg@A7A,"=A;AK?A q3A[_׼*A :?2AԽ:A=BA :?JAԽRA=Y3H@;y!=e8ٓHi? ~ ?}??Xl?Tf?)3H@ I٘i)I9fg@Y G JԼB=JT;JJJ3E&Ks> YY~?yFA;Z3E77C8)BE[[X[@Y~?[J[[[[ZZBZYY i) YʼIiМ?>H< ?))s??,YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032507.483165 s, next control iter: 1743032507.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6006, header.stamp.nsec: 00 temperature: 13.569884* salinity: 33.375221, density: 1025.000000* values[0]: 0.571545F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032507.883165 s.y I~,Q.$AJ"J*J2J:JP?BJP?nJl5vJ@@@@II"I G*Ifg@6I>IFIZI\CbI\CjIrIzII2AQ8v@A;v@A3{Z~? AA Ay%"AAknNA"AZAbAjArAzAAAY"@AY5 elevatorAngleAction: 0.082701< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743032508.303272F (some fields omitted in printout)Aq= ףv@AAv@AZ~? A Akg%"AAoNA"AZAbAjArAzAAAc*#@AF`;BAJ:?JAxӽRA>;٘i)I9d@Y G JJJJJ3E&K YVZ~?yDAp3EZ7Z7F`8)(BE[[ [!Z~?[[[[[ZZBZYY i) NqIi|?!< '?))'?'?sY] YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032509.163165 s, next control iter: 1743032509.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032509.563165 s.J "J *J 2J :J ?BJ ?nJ 5vJ  @ @ @ @ I~, d/$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082701< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200662 time: 1743032509.563328F (some fields omitted in printout)Affffw@A~*Ow@AZ~? A AJC%"AAyoNA"AZAbAjArAzAAAwp%@AD:=tA {c@AqAgm<A4=Ab?A斚A1*AH:?2AԽ:A+BAH:?JAԽRA+Y+t@=y#l<,ٓH@#?@!9Ƙ? +?Z?ݑ?Ԭ@?c|@:?)+t@ I٘i)I9{c@Yr G J9JJJJ4E&Kq> Y{-Z~?yCA=u3E77qg8)-B[[:[5Z~?[[[[[ZZBZYY im=) !%Iii?|< -?))2!u-?-?YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032509.583165 s, next control iter: 1743032509.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6008, header.stamp.nsec: 00 temperature: 13.570393* salinity: 33.375252, density: 1025.000000* values[0]: 0.569825F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032509.983165 s. I~,~/$AAQx@A 7x@AZ~? A Ar=%"AA%oNA"AZAbAjArAzAAA:e%@AQ=tAQb@A!uAY <A>A[?A 9AOs*A]A:?2AԽ:AH)BA]A:?JAԽRAH)٘i)I9b@Y' G JIJJJJ4E&K YIZ~?yCAz3Eb77n8)1BE[[fϵ[OZ~?[[[[[ZZBZYY ih=) n؅IiX?@ < U2?))܄U2?U2?.TYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032510.003165 s, next control iter: 1743032510.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032510.403165 s.& I~,͙/$AJ"J*J2J:JBJnJvJA ףpx@AZx@A.[~? A A:%"AAoNA"AZAbAjArAzAAAFw?&@Ai=tAb@A}A~A>A ć?A`p?A*A]Z:?2AUӽ:ALBA]Z:?JAUӽRAL٘i)I9b@Y G J$NJJJJ 4E&K YeZ~?yCA3Ej7SI7u8HB)3BE[[ [>jZ~?[0[[[[ZZBZYY i) <wIi:H?t%< 87?)) 87?87?)YFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032510.423165 s, next control iter: 1743032510.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6009", header.stamp.nsec: 0"0 temperature: 13.570525"* salinity: 33.375263", density: 1025.000000"* values[0]: 0.569292"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032510.823165 s. I~,2/$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077197< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032510.823289F (some fields omitted in printout)A\(y@Ay@AB1[~? A Ao;%"AA+oNA"AZAbAjArAzAAA͜$&@A%a=tAsb@AzA\A3*>A?Aޒ?Au*AnS:?2A2ӽ:AyBAnS:?JA2ӽRAy٘i)I9sb@Y G JeJJJJ4E&K YZ~?yCA3E77|8)4BE[[?[ʄZ~?[[[[[ZZBZYY i) JbIi5:?X; =?))=?=?yI=)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032510.843165 s, next control iter: 1743032511.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032511.243165 s. I~,q/$AJ"J*J2J:J?BJ?nJ5vJAGzy@ADbzy@ASK[~? A A ?%"AApNA"AZAbAjArAzAAAУ{'@A9ϙ=tAwZb@AY;AA>>A‚?A`J?AM*A3H:?2AԽ:A˼BA3H:?JAԽRA˼٘i)I9Zb@Y G JnJJJJ4E&K YZ~?ypCA3E778)5BE[[WnҼ[Z~?[[[[[BZYY i) bMIi-?3; h|B?))h|B?h|B?s2*YYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032511.263165 s, next control iter: 1743032511.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032511.663165 s. I~,q/$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6010, header.stamp.nsec: 00 temperature: 13.570480* salinity: 33.375278, density: 1025.000000* values[0]: 0.569129F (some fields omitted in printout)Az@Ay@A^e[~? A AE%"AA,?pNA"AZAbAjArAzAAA٤Ԟ(@A"U=tA\b@AoP<Ae2A1T>A{?A@q?A*W;*A;:?2A9\ս:A^BA;:?JA9\սRA^Y+@mS>y2XP<ٓH +J?Rʿ;?`8P?@edW??`?)+@ I٘i)I9\b@Y G Jgy9J'JJJ4E&KQt> YZ~?yCAS>3E77G8GB)4BE[[^[Z~?[[[[[BZYY i-g=) =Ii?J; |G?))v|G?|G?$p*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032511.683165 s, next control iter: 1743032512.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032512.083165 s.D I~, S0$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241110> elevatorAngleAction: 0.056632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743032512.083291F (some fields omitted in printout)J"J*J2J:JBJnJvJARkz@A*RalQz@A`[~? A AO%"AAfpNA"AZAbAjArAzAAA;@(@AoAgr?A?A\;*A0:?2A'ս:AOBA0:?JA'սRAO٘i)I9xb@Y G J;JJJJ#4E&K YnZ~?y3CA3E7)7q8)3BE[[)<[Z~?[ [[[[BZYY iֆ=) F,Ii ?.; @M?))䅾@M?@M?@*YFF]Waiting for Gazebo time sync: latest Gz time: 1743032512.123165 s, next control iter: 1743032512.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032512.503165 s. I~,D4 0$AAp= z@A3z@AW[~? A AB]%"AApNA"AZAbAjArAzAAAM]T)@Aܬ~A@mh?A?AK1<*AoF:?2AԽ:AЮBAoF:?JAԽRAЮ٘i)I9b@Y G J; <B=JJJJ(4E&K Y Z~?yc$DA3E778FB)1BE[[N=[Z~?[[[[[BZYY i) tIi+>; ȴR?)) ȴR?ȴR?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032512.523165 s, next control iter: 1743032512.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6011, header.stamp.nsec: 00 temperature: 13.570315* salinity: 33.375313, density: 1025.000000* values[0]: 0.569294F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032512.923165 s.F I~,;0$AJ"J*J2J:J?BJ?nJ5vJII"I G*Ib@6I>IFIA(\B{@A~({@AA[~? AAm%"AASpNA"AZAbAjArAzAAArӄ)@Ag;tAc@ANAAW>AZ?A`y?AJHk<*AA:?2A2Խ:A8 BAA:?JA2ԽRA8 ٘i)I9c@Y, G JL<C=JJJJ.4E&K Y [~?y`DA3E7Ƞ8).B[[4-r=[ [~?[h[[[[BZYY i)  Ii>d; 2X?))2X?2X?y=ֹ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032512.943165 s, next control iter: 1743032513.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032513.343165 s.< I~,U0$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743032513.343279F (some fields omitted in printout)AHz{@AD{@A[~? AA%"AApNA"AZAbAjArAzAAA._*@A:D;tAtc@Ai<AO֑AsB>A J?A`.?A5<*A*?:?2A&_Խ:A,BA*?:?JA&_ԽRA,٘i)I9tc@Yn G Jf<JJJJ34E&K Y([~?yDA3E77778)*B¹E[[JP=[%[~?[[[[[BZYY i) ^Ii>-y; ]?))]?]?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032513.363165 s, next control iter: 1743032513.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6012*, header.stamp.nsec: 0*0 temperature: 13.570053** salinity: 33.375301*, density: 1025.000000** values[0]: 0.569754*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032513.763165 s.6 I~,p0$AJ"J*J2J:J?BJ?nJ5vJZJ{@JJ{@bJ{@RJ{@A|@AQ%{@A[~? AzA%"AAqNA"AZAbAjArAzAAAK22*+@AߒN:tADc@AhiAԗAN|>A#8?Ay˾?Ap<*A<:?2A*Խ:A2BA<:?JA*ԽRA2Y^=>yϗāٓH`l? SAӿKF?_?@}@?-z?)^= I٘i)I9c@Y G Jۖ<JJJJ84E&KTt> YkC[~?yEA>3E778EB)&BŹE[[j=[@[~?[ [[[[BZYY i) }`ջIi>w;J; 0c?))-y0c?0c?z*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032513.803165 s, next control iter: 1743032514.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032514.183165 s." I~,k0$AII"I G*Ic@6I>IFIAQ|@Ak|@A\~? AA0%"AA*qNA"AZAbAjArAzAAAج]+@Au9tA}d@AA"?A D?A!<*A;:?2Aս:ABA;:?JAսRA٘i)I9}d@Y G Jܤ<JJJJ>4E&K YR^[~?ythEA3E8787G8BB)BǹE[[=[[[~?[[[[[BZYY i) H!Iiy>g; h?)) h?h?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032514.203165 s, next control iter: 1743032514.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032514.603165 s.64) I~,0$AJ"J*J2J:J ?BJ ?nJ#5vJZJ9|@JJ9|@bJP|@RJP|@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743032514.603321F (some fields omitted in printout)A= ף|@A |@A*\~? AA %"AAQqNA"AZAbAjArAzAAAnRa,@AfzƲ8tA e@AuغA1SA!>A  ?A%9?A<*ArR:?2AԽ:ATiBArR:?JAԽRATi٘i)I9 e@Yg G J<JJJJC4E&K Y>y[~?yEA3E{7Z7r8)BʹE[[5>[v[~?[[[[[BZYY i) ٘Ii>>z: ?n?))?n??n? *YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032514.623165 s, next control iter: 1743032515.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6013 , header.stamp.nsec: 0 0 temperature: 13.569679 * salinity: 33.375332 , density: 1025.000000 * values[0]: 0.570479 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032515.023165 s.Z0 I~,|0$AA(\}@ADB}@A3\~? AA%"AAHxqNA"AZAbAjArAzAAA4-4j,@AB7tAe@A<AAX>A?A ?AH<*AR:?2Afս:A@O BAR:?JAfսRA@O ٘i)I9e@Y G J̭<JJJJH4E&K Y*[~?y#4FA3E778AB)B͹E[[e +>[A[~?[[[[[BZYY i) )uIi >;: s?))s?s?:*Yf YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032515.043165 s, next control iter: 1743032515.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032515.443165 s.86 I~,B]0$AJ"J*J2JI:J#?BJ#?InJ=5"I GvJ*Ie@6I>IFIZJd|@JJd|@bJ{|@RJ{|@Az}@Aٕ}@AM\~? AA1%"AA֞qNA"AZAbAjArAzAAAcE-@A2&~6tA2f@A~e}<A佝A`>A`3?A`?AG<*A_R:?2Aս:AhBA_R:?JAսRAh٘i)I92f@Y G J<JJJJN4E&K Y[~?yzFA3E78)B[[ A>[[~?[[[[[BZYY i) 48Ii=+it: xy?))xy?xy?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032515.463165 s, next control iter: 1743032515.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6014, header.stamp.nsec: 00 temperature: 13.569265* salinity: 33.375340, density: 1025.000000* values[0]: 0.571256F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032515.863165 s.+= I~,>0$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743032515.863299F (some fields omitted in printout)A33333~@A\~@AFf\~? AAg7%"AA4qNA"AZAbAjArAzAAA(G[/.@Af>5tAf@A[<A?ԜA4>Av?Ap?AC<*AQ:?2A3ֽ:ABAQ:?JA3ֽRAY@> >yМI\<ٓHJ?Hmٿ@՜ _K?\?`ץ`-?@Zt?@B?)@> I٘i)I9f@Ys G J<JJJJS4E&Ku> Y[~?yGA>3Ej7Z78) BйE[[5W>[[~?[^[[[[BZYY i) 1Ii<}9 h ?))~|h ?h ?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032515.903165 s, next control iter: 1743032516.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032516.283165 s.J "J *J 2J :J V?BJ V?nJ r5?RD I~vJ,1$AZJ|@JJ|@bJ|@RJ|@AQ~@AIӠ~@Ab\~? AA`%"AA_qNA"AZAbAjArAzAAAG՚.@A 3tA=Zg@A:;A~GAuH>Az?A?A=4<*AP:?2Aֽ:A BAP:?JAֽRA ٘i)I9Zg@Y G J<JJJJY4E&K Y[~?yުlGA3Eŧ7b78@B)BӹE[[jn>[[~?[vߪ[[[[BZYY i) >IVI?i]ΕŹ H?)) H?H?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032516.303165 s, next control iter: 1743032516.683187 s, wait time: 0.380022 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6015., header.stamp.nsec: 0.0 temperature: 13.568902.* salinity: 33.375347., density: 1025.000000.* values[0]: 0.572038.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032516.703165 s.պJ I~, -1$AII"I G*IZg@6I>IFIAףp= @A[1~@AX\~? AKA%"AASrNA"AZAbAjArAzAAAj^/@A3(9v2tAg@A3AA}>As?A`jb?Aµ<*Ac:?2A[Խ:A;BAc:?JA[ԽRA;٘i)I9g@Y* G J|<B=JJJJ^4E&K Y[~?y۪GA3Eb7H8?B)BֹE[[o>[[~?[[ݪ[[[[BZYY i) 0ݒII?i q  ?)) ? ?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032516.723165 s, next control iter: 1743032517.103175 s, wait time: 0.380010 s[~?)۪ rAdjusting time to match Gazebo time: 1743032517.123165 s.8Q I~,aG1$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743032517.123292F (some fields omitted in printout)J"J*J2J:JBJnJvJZJJJbJRJA)\u@A)[@A(\~? AAr%"AA7rNA"AZAbAjArAzAAAQݝe/@AZ0tAh@AooAjA>AYO?A%!?A2<*A7b:?2AԽ:ABA7b:?JAԽRA٘i)I9h@Y G J<C=JJJJc4E&K Y\~?yת?HA3E{7j7s8)BٹE[[7>[\~?[ ۪[[[[BZYY i) !]:I& I?iᶺ (Շ?))(Շ?(Շ?"*Y/YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032517.163165 s, next control iter: 1743032517.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032517.543165 s.IX I~,b1$AA{G@AQH2@A\~? AA%"AA\rNA"AZAbAjArAzAAA2yjE0@A $ecM/tAr!i@AmA7ZAr>A`'?A?Az<*A`:?2Ajս:ABA`:?JAjսRA٘i)I9!i@Y G J<JJJJi4E&K Y0\~?yԪHA3E77{78>B)BܹE[[_m>["5\~?[ت[[[[BZYY i) :I I?i7& j?))j?j?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032517.583165 s, next control iter: 1743032517.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6016, header.stamp.nsec: 00 temperature: 13.568467* salinity: 33.375385, density: 1025.000000* values[0]: 0.572832F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032517.963165 s.x^ I~,}1$AII[C"I G*I!i@6I>IFIZIbIjIrIzII 3J"J*J2J:JBJnJvJZJJJbJRJAL@AbԵ2@AD\~? AMA'$%"AAǁrNA"AZAbAjArAzAAA#,!0@A9-tAٲi@ALݻA<A?Aj?AW?A-<*A_:?2Aֽ:A0BA_:?JAֽRA0Y~7>^4?y<~{޻ٓHT?j#߿ ?@?`/@?{?)~7> I٘i)I9i@Y;G J<Jo<JJJn4E&KPv> YWI\~?yϪ IA4?3Eb778;B)B۹E[[gΤ>[O\~?[ժ[[[[BZYY i) 0;INI?i{ ef?))ef?ef?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032517.983165 s, next control iter: 1743032518.363176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032518.383165 s.e I~,'1$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249889> elevatorAngleAction: 0.065839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743032518.383288F (some fields omitted in printout)AQ@A:q9@A\~? AUA\%"AArNA"AZAbAjArAzAAAM40@A[j\~?[Ҫ[[[[BZYY i) Bn;I I?i*G _/?)) _/?_/?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032518.423165 s, next control iter: 1743032518.783176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6017&, header.stamp.nsec: 0&0 temperature: 13.568068&* salinity: 33.375412&, density: 1025.000000&* values[0]: 0.573620&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032518.803165 s.yAl I~,g1$AJ"J*J2J:JBJnJvJ@@@@Aq= #@A} @A]~? A4A%"AAbrNA"AZAbAjArAzAAA,2"1@A]>)tAj@A ]<At#A ?A`e?A a?Aó<*Aj:?2Aֽ:A2;BAj:?JAֽRA2;󼙘٘i)I9j@YG JӚ<B=JJJJy4E&K  8Yz\~? 8y+ǪIA3Eb778)BE[[Cػ>[j\~?[Ϫ[[[[BZYY i) I;I=H?iԐh g?))g?g?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032518.823165 s, next control iter: 1743032519.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032519.223165 s.gs I~,H1$AA(\@A`Cu@A}*]~? AAm%"AArNA"AZAbAjArAzAAAK<j1@A'tAT;k@A`d|<AeA?A`vo?A?AA<*Ai:?2A?ֽ:AIBAi:?JA?ֽRAI𼙘٘i)I9;k@Y*G Jk<C=JJJJ~4E&K YX\~?yª,JA3E{7{7H 89B)߯BE[[y>[\~?[̪[[[[BZYY i,=) &g;IH?i˾ ו?))ו?ו?>*Y YFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032519.243165 s, next control iter: 1743032519.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032519.643165 s.xy I~,*1$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032519.643284F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A%@A$B]~? AA%"AAsNA"AZAbAjArAzAAA/C1@AH!%tAk@A}x<AJA ?A @[\~?[ ɪ[[[[BZYY i) G;IH?ik޾PY ?))??g*YFF]r:Waiting for Gazebo time sync: latest Gz time: 1743032519.663165 s, next control iter: 1743032520.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6018, header.stamp.nsec: 00 temperature: 13.567702* salinity: 33.375397, density: 1025.000000* values[0]: 0.574309F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032520.063165 s. I~,[ 2$AAfffff@AaNL@AY]~? AA[%"AAq7sNA"AZAbAjArAzAAAqHH1@Aԕ#tA[/l@AxA{aA@?A ?A`5?A<*A^:?2Aֽ:ABA^:?JAֽRAYf>S?yla,ٓH -?~REI?> I٘i)I9/l@YG J<J(<JJJ4E&Kv> Y,\~?yJA?3EZ7Z788B)ׯBE[[+>[\~?[`Ū[[[[BZYY i) x<;IH?i* ڄ?))ڄ?ڄ?r*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032520.083165 s, next control iter: 1743032520.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032520.483165 s.v_ I~,2$AJ"J*J2J:J?BJ?nJ?5vJAт@A.u׷@Ap]~? A5ݫA%"AAZsNA"AZAbAjArAzAAA?2@Ak Q!tAtl@Af`CAAo!?A?A ?A$n<*AW:?2Akֽ:AbBAW:?JAkֽRAb٘i)I9l@Y G JV<JJJJ4E&K YV\~?yBKA4E!87B)үBE[[{>[\~?[|[[[[BZYY i)  elevatorAngleAction: 0.075165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743032520.903337F (some fields omitted in printout)A ףp=@AkBZ#@A]~? AY٫A%"AA}sNA"AZAbAjArAzAAA/"2@AħtAj$m@AmǀAU:AI&?A`[?A?A~<*AP:?2ABֽ:A,BAP:?JABֽRA,٘i)I9$m@YTG Jb<JJJJ4E&K Y\~?yuKA4Eb77(83B)ʯBE[[;D>[]~?[b[[[[BZYY i) FIFIAGz@Ac@Aʴ]~? A3ѫA܈%"AAsNA"AZAbAjArAzAAA 3@A@ڗtAn@AJViA(A*1?A?A@?A5<*AA:?2A[(׽:A:BAA:?JA[(׽RA:٘i)I9n@YG J<JJJJ4E&K Y]~?y_SLA4E77I782B)¯BE[[?[+<]~?[[[[[BZYY i) m7 elevatorAngleAction: 0.075165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032522.163287F (some fields omitted in printout)A@AS Oe@A]~? A̫A%"AALsNA"AZAbAjArAzAAA5P3@AI^tAn@AJ"<AAq6?A?A [?A<*A::?2A׽:ABA::?JA׽RAYX> E6?yȳ"<ٓH8+? ('H?5? Ѫ?@P?@E?)X> I٘i)I9n@Y/G J<JʻJJJ4E&KEy> Y35]~?yLAE6?4E77s>81B)BE[[ ?[6U]~?[௪[[[[BZYY i) FBAl4:?JAz׽RA>I٘i)I9o@YvG J.<JJJJ4E&K YJ]~?yݙMA4E{7{7E8)B[[o?[n]~?[[[[[BZYY i) KV elevatorAngleAction: 0.084113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743032523.423276F (some fields omitted in printout)A(\…@A'Nw@A ^~? A8A#%"AAFtNA"AZAbAjArAzAAACj^4@ARtAwo@Ad;AAAF?A?A@?Ad3<*Ao(:?2A[׽:Aw BAo(:?JA[׽RAw ٘i)I9o@Y G J<JJJJ4E&K Y[u]~?y[MA&4E77S8,B)BE[[?[*]~?[[[[[BZYY i) )u Y!]~?y3NAbP?14EIb8+B)BE[[*?[]~?[o[[[[BZYY i) y؉ elevatorAngleAction: 0.084113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032524.683286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A^ 놷@AOI^~? AXAz%"AA_tNA"AZAbAjArAzAAA촱!4@AF(tA2q@AiojA:QAxVU?A ?A?A L<*A :?2Aֽ:AiBA :?JAֽRAi٘i)I9q@YG Jt<JJJJ4E&K Y]~?y{NA64Eb7b7ti8*B)BE[[1?[]~?[[[[[BZYY i) XdtAr@AYʻA)AZ?Aj?A`?Aw<*A:?2A+׽:ABA:?JA+׽RA٘i)I9r@YZG J<JJJJ4E&K Y]~?yfuaOA<4EZ7Z7p8)B[[C7?[]~?[[[[[BZYY i) /IFIJ"J*J2J:JBJnJvJZJJJbJRJA(܇@A‡@Ap^~? AʥA%"AAtNA"AZAbAjArAzAAA]m&G5@AL|sAjr@A U;A AW.`?A`}?Ak?A<*A9?2A׽:A BA9?JA׽RA ٘i)I9r@YG J<JJJJ4E&K YI]~?yoOAA4Eb77w8&B)BE[[I8=?[^~?[B[[[[BZYY i)  { elevatorAngleAction: 0.084113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032525.943303F (some fields omitted in printout)AzG@A-@A^~? ATAE5%"AA4tNA"AZAbAjArAzAAAgSu5@A0o('sA;s@Ada<A?Ane?A(?A ?A/<*A9?2A׽:ABA9?JA׽RA٘i)I9;s@Y G Jѫ<JJJJ4E&K Y]~?yh/PAF4Eŧ7ŧ7~8)B[[[C?[)^~?[|[[[[BZYY i) 3$AJ"J*J2J:JBJnJvJ@@@@A3333@AD @Aܖ^~? AA %"AAuNA"AZAbAjArAzAAA}}=5@A5fsAs@AS%w<ArhAIj?A?A@^i?A轲<*A9?2Aʖ׽:AtBA9?JAʖ׽RAtY/i2?Ёj?ycw<ٓH`k?`Vg uK?s?@_?]?c?)/i2? I٘i)I9s@YcG J\<B=JJJJ4E&Kx> Y]~?yaPAj?L4E77 8$B)BE[[uI?[0?^~?[IFIAQ@Aui@AT^~? A A%"AAY8uNA"AZAbAjArAzAAAL[l:5@A6CsARht@A <A`Ao?A@=|?A`?Aaz<*A$9?2A 3׽:A&BA$9?JA 3׽RA&٘i)I9ht@YG Jh<C=JJJJ4E&K Y ^~?yZQAQ4Eb7K8)B[[O?[UT^~?[vo[[[[BZYY i) u elevatorAngleAction: 0.084113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743032527.203277F (some fields omitted in printout)Aףp=@A##p@Ak^~? A:Ar%"AATuNA"AZAbAjArAzAAAlhrR*6@AlsA u@AY,A쭽At?A@$?A*?AL<*A69?2Aֽ:A14BA69?JAֽRA14٘i)I9 u@Y#G J<JJJJ4E&K Y8^~?ySQAV4Ej7j7t8#B){BE[[lU?[ i^~?[h[[[[BZYY i)  elevatorAngleAction: 0.084113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032528.463302F (some fields omitted in printout)Å@A@A\^~? A!}Aa%"AAģuNA"AZAbAjArAzAAAn6@A/᭕sAHw@A.AAI-?A$?A`Z?A<*A9?2Aֽ:AIBA9?JAֽRAIY~L?K?yX|/ٓH ?`57`K!? ?Kx8?4څ?)~L? I٘i)I9w@YaG J<J6JJJ4E&K`x> YgP^~?y8>RAK?f4E{78B)eB E[[*[h?[^~?[R[[[[BZYY i) BZYY i¸>n:) JBA9?JA{׽RA>J뼙٘i)I98y@YG J<C=JJJJ5E&K Y|^~?y'BTAw4E{7{7v8B)OB E[[3{?[J^~?[G;[[[[ZZZZBZYY i) I FI ( I~, 4$AJ"J*J2J:JBJnJvJZJ@JJ@bJ@RJ@Affff挷@AQۆQ̌@A=_~? A\AM%"AAvNA"AZAbAjArAzAAA-ʹ7@A(mvsAz@Aa[;ATlAf?A}F?A@q?AS<*A9?2A&ֽ:AUBA9?JA&ֽRAUYf?S`?yl^ \;ٓHp??r?@K\`I?uk? I?)f? I٘i)I9z@YG J <J=JJJ5E&K+y> Y^~?yZ UA`?4E8B)ABE[[E̓?[r^~?[*[[[[ZZZZBZYY i)  Ę4$AII"IG*I9|@6I>IFIZI[CbI[CjIrIzIIx/3A\(@Ad@AVg_~? AnHAO%"AAk\vNA"AZAbAjArAzAAAiG38@AܻsA|@AzXQAۻAK%?A?A6?A <*A9?2Ajֽ:A<BA9?JAjֽRA<٘i)I9|@YG J<JJJJ 5E&K Y^~?yUA4E77K8)-B[[C?[(_~?[|[[[[ZZZZBZYY i) FZnJJJ*5E&Kv> Y^~?yR%VAU?4Eb78B)(BE[[?[TC_~?[[[[[BZYY i@s)  FIFIAHz@AnN%@Ah_~? AQAW%"AArvNA"AZAbAjArAzAAA\ 9@AG=.sA|@AeROAA=AP̦?A@ ?A ?AA*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9|@YG J)JJJJ@5E&K Y^~?y(ϩUA4E7777L8 B)$BE[[N?[}p_~?[^۩[[[[BZYY i) K;I"F?i=s @))@@_YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032534.363165 s, next control iter: 1743032534.743177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6033., header.stamp.nsec: 0.0 temperature: 13.562760.* salinity: 33.375557., density: 1025.000000.* values[0]: 0.584345.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032534.763165 s.7k I~,ذ5$AJ"J*J2J:J?BJ?nJ5vJZJ-@JJ-@bJ9@RJ9@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.070270< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032534.763288F (some fields omitted in printout)A@A؜@A_~? AAү%"AAAvNA"AZAbAjArAzAAA 5 )9@AN./sAcu|@A|IǍ=A{?A`?A?Aj*A9?2A((׽:A4 =BA9?JA((׽RA4 =YS?.`?yɌ=IٓHJ?_s??A?ұ?u/?)S? I٘i)I9u|@YG JTJ3=JJJE5E&Krx> Y_~?yƩCUA`?4E7v8)'B[[z?[y_~?[ҩ[[[[BZYY iwm) ;IoF?i"sv 7x@))7x@7x@LYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032534.783165 s, next control iter: 1743032535.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032535.183165 s.r I~,g5$AAQ@AϷk@A?_~? AcAA%"AAQvNA"AZAbAjArAzAAA#F9@APsA |@AusA4=At?Aj?A=?A"Q*A9?2A)$׽:Ao9=BA9?JA)$׽RAo9=٘i)I9 |@YgG J |JJJJK5E&K Y_~?yTA4E778)*B[[8?[_~?[ȩ[[[[BZYY i) =;IF?i*Lx @))@@ΪYFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032535.203165 s, next control iter: 1743032535.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032535.603165 s.84y I~,5$AJ"J*J2J:J|?BJ|?nJ5vJ@@@@A= ף@A@Ŋ֑@Am_~? AA~%"AAvNA"AZAbAjArAzAAA@b9@AVtsAQ{@A2AUb=AI?A?A# ?AK*A9?2Aeֽ:A=BA9?JAeֽRA=٘i)I9{@YG JJJJJP5E&K Yn_~?yTA4E7#8).B[[֩?[_~?[.[[[[BZYY i) _;IF?i\¿x @))@@תYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032535.623165 s, next control iter: 1743032536.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6034 , header.stamp.nsec: 0 0 temperature: 13.562879 * salinity: 33.375591 , density: 1025.000000 * values[0]: 0.583930 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032536.023165 s.Z I~,-|6$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057975< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743032536.023297F (some fields omitted in printout)A(\@AB@A_~? A8Ah%"AA4wNA"AZAbAjArAzAAA} }9@ACϙsA_{@Amx]:A=A+?A7j?A5?A:*A9?2Atֽ:Ae=BA9?JAtֽRAe=٘i)I9{@YG JJJJJU5E&K YZ_~?y'TA4E7777*8B)/BE[[a?[ϑ_~?[[[[[BZYY i) ;I܆F?iUw ,@)),@,@ytm۪YFF]y:Waiting for Gazebo time sync: latest Gz time: 1743032536.043165 s, next control iter: 1743032536.423190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743032536.443165 s.6Æ I~,:]6$AJ"J*J2J:Jj?BJj?nJ5vJAzǒ@AEA@AM_~? AA%"AAwNA"AZAbAjArAzAAAޕ9@AXm!sAlz@A 0<A=A ?A]?A[?Aκ*A9?2A+ֽ:A =BA9?JA+ֽRA =٘i)I9lz@YjG J_JJJJ[5E&K YF_~?yxSA4E{7!28)3B[[2?[?_~?[[[[[BZYY i[) KE;I:rF?i꿿u B@))B@B@iܪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032536.463165 s, next control iter: 1743032536.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6035, header.stamp.nsec: 00 temperature: 13.563085* salinity: 33.375572, density: 1025.000000* values[0]: 0.583336F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032536.863165 s.+ I~,>76$AII"IjG*Ilz@6I>IFIA33333@Aq6@A_~? AAғ%"AAwNA"AZAbAjArAzAAA19@A=ksAy@AJv<Al=A=?A ?A`#?A.*AN9?2AK)ֽ:AU =BAN9?JAK)ֽRAU =YW?$d?yyg=}w<ٓH?దn͚? Ɛ??@?dz׎??)W? I٘i)I9y@Y G JJ<JJJ`5E&Kw> Ya _~?y›^SAd?4E77L98)8B[[_?[_~?[t[[[[BZYY i) @q ;Ik]F?iu#w O @))O @O @2ڪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032536.883165 s, next control iter: 1743032537.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032537.283165 s.7R I~,R6$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032537.283273F (some fields omitted in printout)J"J*J2J:JBJnJvJZJ@JJ@bJ@RJ@AQ@A~SX@A/_~? AA*%"AAl)wNA"AZAbAjArAzAAAUlB9@A&sAA-y@A:<A^=A1?A ?AM?AqF*A9?2Anֽ:Ao =BA9?JAnֽRAo =٘i)I9-y@YG JJJJJe5E&K Y{$_~?y RA4E7{7w@8)=B[[?[Ԣ_~?[Ș[[[[BZYY i) 2:IHF?i=x  @)) @ @<֪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032537.303165 s, next control iter: 1743032537.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6036., header.stamp.nsec: 0.0 temperature: 13.563342.* salinity: 33.375568., density: 1025.000000.* values[0]: 0.582629.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032537.703165 s.ֺ I~,m6$AAףp= @A&5@A_~? ADA%"AA3wNA"AZAbAjArAzAAAF.42:9@A&sAbx@A:A=A?AN?A`?As*A9?2A9ֽ:A=BA9?JA9ֽRA=٘i)I9x@YJG J&JJJJk5E&K Y(_~?yVRA4E7ŧ7G8B)@BE[[滹?[_~?[[[[[BZYY i) &9I3F?iYS}w gs @))gs @gs @ҪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032537.723165 s, next control iter: 1743032538.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032538.123165 s.8 I~,a6$AJ"J*J2J:JBJnJvJ@@@@A)\u@A%[@A_~? AjتA[%"AA=wNA"AZAbAjArAzAAA!y9@Ay sAx@AA=AL?A;?A ?Acѩ*A9?2AD*׽:A=BA9?JAD*׽RA=I٘i)I9x@YG J̮JJJJp5E&K Y,_~?yRA 8D4E77N8)EB[[?[S_~?[^[[[[BZYY i) =(I*F?i`u w@))w@w@yQΪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032538.143165 s, next control iter: 1743032538.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032538.543165 s.I I~,â6$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032538.543287F (some fields omitted in printout)A{Gᔷ@AQ0ǔ@A_~? AЪAg%"AAFwNA"AZAbAjArAzAAAt9@A(yO}sAtw@A4sAw =A?A-Y?A?AsC*A9?2A{C׽:A4<BA9?JA{C׽RA4<٘i)I9tw@YG JJJJJv5E&K Y0_~?yxQA4E777U8B)GBE[[?[_~?[{[[[[BZYY i) f˺I F?i,q B@))B@B@ʪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032538.563165 s, next control iter: 1743032538.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6037, header.stamp.nsec: 00 temperature: 13.563591* salinity: 33.375584, density: 1025.000000* values[0]: 0.581932F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032538.963165 s.y I~J"J,6$A*J2J:J?BJ?nJ65vJAL@Ast2@A`~? AȪA&"AANwNA"AZAbAjArAzAAABCy :@A&yxsAv@A"UAې=At?Ax?A&?A#*A9?2A׽:Aے<BA9?JA׽RAے Y2_~?y!pTQAm?4E{7!]8)LB[[??[_~?[q[[[[BZYY i) *#IwE?i4r *@))*@*@ǪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032538.983165 s, next control iter: 1743032539.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032539.383165 s.ص I~,<6$AII"IIG*Iv@6I>IFIAQ@Auv28@A]`~? AA*&"AA?VwNA"AZAbAjArAzAAA3f:@A,ssAfv@AᢎA=A:?A 4?A@(?A蟼*A-9?2Aֽ:A<BA-9?JAֽRA<٘i)I9fv@YG JǟJJJJ5E&K YF3_~?yUgPA4E7Ld8B)NBE[[Ak?[_~?[#h[[[[BZYY i) t`I"E?ir @))@@ĪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032539.403165 s, next control iter: 1743032539.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6038", header.stamp.nsec: 0"0 temperature: 13.563828"* salinity: 33.375595", density: 1025.000000"* values[0]: 0.581310"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032539.803165 s.uA I~,sg6$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032539.803292F (some fields omitted in printout)J"J*J2J:JBJnJvJZJ@JJ@bJ@RJ@Aq= #@A=e @Aq `~? AAB&"AA\wNA"AZAbAjArAzAAA!u$:@A 6"nsA7u@AN;A=A?ASy?A;?Aۃ*A9?2Asֽ:A1<BA9?JAsֽRA1<٘i)I9u@YG J JJJJ5E&K Y4_~?y^PA4E77j7wk8)RB[[?[_~?[`^[[[[BZYY i) ߎIE?ip N@))N@N@TªYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032539.823165 s, next control iter: 1743032540.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032540.223165 s.g I~,H7$AA(\@AEu@A`~? AANb&"AAbwNA"AZAbAjArAzAAA` /:@A!QisAYu@A e<A =Ar?AX?A NL?A*A9?2AOֽ:Ad=BA9?JAOֽRAd=٘i)I9Yu@YSG J-JJJJ5E&K Y5_~?yU0PA4E77r8)VB[[?[~_~?[T[[[[BZYY i) yIE?iCl @))@@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032540.243165 s, next control iter: 1743032540.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032540.643165 s.y I~,*)7$AJ"J*J2J:JBJnJvJ@@@@AG@AdϞ@A `~? AA&"AAgwNA"AZAbAjArAzAAAUw8:@AZTdsAt@Aϕf<A==A\?A?A@Z?A҂*A9?2Aqoֽ:Ahd<BA9?JAqoֽRAhd<٘i)I9t@YG JJJJEJ5E&K Y7_~?yLOA5E{7{7y8B)YBE[[?[7_~?[J[[[[BZYY iYE) +̻IE?iUh t@))t@t@$YFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6039, header.stamp.nsec: 00 temperature: 13.564046* salinity: 33.375603, density: 1025.000000* values[0]: 0.580689F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743032540.663165 s, next control iter: 1743032541.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032541.063165 s. I~,g D7$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032541.063296F (some fields omitted in printout)Afffff@A+OL@A`~? AA&"AAkwNA"AZAbAjArAzAAA8^@:@A`sATt@A;A =A|g?A?Af?Ab*A9?2Aֽ:A<BA9?JAֽRA Y_5_~?y%DtOAv?5Eŧ7b78)]B[[G?[*_~?[?A[[[[BZYY i) RIE?ig @))@@ϺYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032541.103165 s, next control iter: 1743032541.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032541.483165 s._ I~,^7$AJ"J*J2J:JBJnJvJAї@Au6䷗@A`~? AA8&"AAdowNA"AZAbAjArAzAAAV`J]F:@A #[sAs@ADA$=A?A=?A@p?A**A|9?2Aj׽:A<BA|9?JAj׽RA<٘i)I9s@YkG J(B=JJJJ5E&K Y3_~?yY;OA 5E{7{7#8)aB[[7?[Y_~?[7[[[[BZYY i) m=IE?ite @))@@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032541.523165 s, next control iter: 1743032541.883197 s, wait time: 0.360032 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6040, header.stamp.nsec: 00 temperature: 13.564272* salinity: 33.375599, density: 1025.000000* values[0]: 0.580089F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032541.903165 s. I~,y7$AA ףp=@ANZ#@A`~? AzAL&"AArwNA"AZAbAjArAzAAAkJ:@A$6VsA.is@ASA+=A?ArĠ?Av?A*A/9?2AyM׽:A <BA/9?JAyM׽RA <٘i)I9is@Y%G JDC=JJJJ5E&K Y2_~?y2NA5E777M8)dB[[C]?[ȥ_~?[-[[[[BZYY i) IlE?i"b '@))'@'@y@2YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032541.923165 s, next control iter: 1743032542.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032542.323165 s.s I~,7$AJ"J*J2J:Jm?BJm?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032542.323316F (some fields omitted in printout)A\@Ax~܎@A`~? AgAs&"AAswNA"AZAbAjArAzAAAU2|M:@A*HQsAr@A 9rA=Ag?A)?Az?A*A9?2A>׽:Ab\<BA9?JA>׽RAb\<٘i)I9r@YG JJJJJ5E&K Yz0_~?y)cNA5E{7j7w8B)gBE[[~?[x_~?[`$[[[[BZYY i) _$IZE?i>^ @))@@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032542.343165 s, next control iter: 1743032542.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6041*, header.stamp.nsec: 0*0 temperature: 13.564460** salinity: 33.375603*, density: 1025.000000** values[0]: 0.579558*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032542.743165 s.W I~,m7$AAGz@Ac@AB`~? ASA&"AAtwNA"AZAbAjArAzAAA,N:@A?#ZLsAr@AA=Ŋ=Ah?Adwg?A`{?A*A 9?2Aֽ:A<=BA 9?JAֽRA<=٘i)I9r@YG J7JJJJ5E&K Y._~?y NA5E778B)lBE[[8?[n_~?[[[[[BZYY i) &3IGE?i kX I @))I @I @YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032542.783165 s, next control iter: 1743032543.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743032543.163165 s.{} I~,q7$AJ"J*J2J:JK?BJK?nJ5vJA@ANe@A`~? A>xAd&"AA uwNA"AZAbAjArAzAAA%s.N:@AVHlGsAr@A:A!=A3x?A`]Az?A@*A9?2Aϒֽ:A=BA9?JAϒֽRA=Yo?|?y!=E:ٓHIĿ`` ?;RĿ`x?ठ [?`?)o? I٘i)I9r@YUG JNjJ;JJJ5E&Kw> Y[*_~?yFMA|?"5E777ͤ8)oB[[?[_~?[g[[[[BZYY i) `CI5E?iէV  !@)) !@ !@3ªYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032543.183165 s, next control iter: 1743032543.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032543.583165 s.( I~,HS7$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743032543.583335F (some fields omitted in printout)AR뙷@Aݰmљ@Ap`~? A+pA M&"AAxtwNA"AZAbAjArAzAAA<%L:@A%~BsAq@A:<A3i=A?AEAEw?A@喼*A9?2ADKֽ:A =BA9?JADKֽRA =٘i)I9q@Y G J JJJJ5E&K Y%_~?yJMA(5E77{78B)rBE[[K?[_~?[[[[[BZYY i) DRI$E?iS f#@))f#@f#@RŪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032543.603165 s, next control iter: 1743032543.983188 s, wait time: 0.380023 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6042, header.stamp.nsec: 00 temperature: 13.564700* salinity: 33.375587, density: 1025.000000* values[0]: 0.579016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032544.003165 s.{ I~,Y48$AJ"J*J2J:J:?BJ:?nJm5vJAp= W@AE<@A?`~? AhA&"AAswNA"AZAbAjArAzAAABH:@AU*=sAqq@A x<Al=A?A;8Acq?Ap[*A9?2AEֽ:A =BA9?JAEֽRA =٘i)I9q@YG JJJJJ5E&K Ya!_~?yLA-5E777"8)vB[[?[܈_~?[[[[[BZYY i) 7bIE?i4O $@))$@$@ȪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032544.023165 s, next control iter: 1743032544.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032544.423165 s.uI~,8$AII"IG*Iq@6I>IFIA(\š@A^y@A`~? A `AE&"AApwNA"AZAbAjArAzAAANC:@AC8sAFp@A3<A/=A5?AݬA i?A!*A9?2Apֽ:A7 =BA9?JApֽRA7 =٘i)I9p@YlG J%JJJJ5E&K Y_~?y1LA25Eŧ7b7M8)zB[[6?[_~?[n[[[[BZYY iΤ) ޣqIE?iԝJ &@))&@&@ʪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032544.443165 s, next control iter: 1743032544.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6043, header.stamp.nsec: 00 temperature: 13.564937* salinity: 33.375591, density: 1025.000000* values[0]: 0.578408F (some fields omitted in printout)"_~?)"1 rAdjusting time to match Gazebo time: 1743032544.843165 s. I~,58$AJ"J*J2J:J?BJ?nJC5vJZJ@JJ@bJ@RJ@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084787< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032544.843298F (some fields omitted in printout)AHz.@Au@AF`~? AWA% &"AAmwNA"AZAbAjArAzAAAM z<:@A84+3sAp@AIǂ:Aؔ=Aj?A HA"^?AZw*As9?2A#ֽ:A =BAs9?JA#ֽRA =٘i)I9p@YG J>JJJJ5E&K Yh_~?y.LA85E{7{7x8)B[[2?[Ux_~?[P[[[[BZYY i) :IED?ilC z(@))z(@z(@̪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032544.863165 s, next control iter: 1743032545.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032545.263165 s.!I~,IP8$AA@AF7@A}`~? AOA &"AA(jwNA"AZAbAjArAzAAA<84:@AfC.sAʏo@AA=A?A "AEP?A^*A9?2A):׽:A =BA9?JA):׽RA =Yy?%?y=oٓHп`ۜ(? ^п ?ܲ@R_?)y? I٘i)I9o@YG JՙJ;<<JJJ5E&KPx> Y_~?yKA?=5Eŧ7b78)BE[[vL?[n_~?[8[[[[BZYY i) ID?iV'o@ )@)))@)@ϪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032545.283165 s, next control iter: 1743032545.663186 s, wait time: 0.380021 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 60442, header.stamp.nsec: 020 temperature: 13.5651832* salinity: 33.3755722, density: 1025.0000002* values[0]: 0.5777752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032545.683165 s.lI~,^k8$AJ"J*J2J:JBJnJvJ@@@@AQ@AG뛷@A+ `~? AGA0_ &"AAewNA"AZAbAjArAzAAA5):@A)sAo@AsA.=A_E?AA@??AH♼*A9?2A_K׽:Ak =BA9?JA_K׽RAk =٘i)I9o@YG JJJJJ5E&K Y _~?y|cKAB5Ej7Z78B)BE[[c?[d_~?[;ڨ[[[[BZYY i) AIGD?i8p< )+@)))+@)+@yӪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032545.683165 s, next control iter: 1743032546.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743032546.103165 s.!I~,8$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084787< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743032546.103296F (some fields omitted in printout)A= ףp@AK̳V@AS `~? A?Ae &"AA*`wNA"AZAbAjArAzAAA|M:@AZ~%sAn@A8LA=A?A`A,?Ay蟼*A9?2A)׽:A=BA9?JA)׽RA=٘i)I9n@Y/G JJJJJ5E&K Y_~?yۨJAH5E778)B[[x?[PZ_~?[ZѨ[[[[BZYY i) aDID?i 7 Z,@))Z,@Z,@تYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032546.123165 s, next control iter: 1743032546.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032546.523165 s.'I~,|8$AJ"J*J2J:JBJnJvJA(ܜ@Aœ@A`~? A8A &"AAYwNA"AZAbAjArAzAAAS :@Ae 5 sAn@ARcAkP=AA]?A@A?Aa*Ae9?2AΧֽ:A{=BAe9?JAΧֽRA{=٘i)I9n@YG JڣJJJJ5E&K Y7^~?yzӨJAM5E777#8)B[[Շ?[O_~?[Ȩ[[[[BZYY i) מID?i剿Ɓ0 -@.@))-@.@-@.@ݪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032546.543165 s, next control iter: 1743032546.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6045, header.stamp.nsec: 00 temperature: 13.394048* salinity: 33.394550, density: 1025.000000* values[0]: 0.694265F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032546.943165 s.fd.I~,}]8$AAzG@A^-@A`~? A0AJ2 &"AASwNA"AZAbAjArAzAAAlƳE:@AuJss^sApm@A;A=A>?Ah¿A@?Aõ*AL9?2Ai@ֽ:At=BAL9?JAi@ֽRAt=٘i)I9pm@YG JﭼJJJJ5E&K Y^~?yʨ3JAR5E77{7N8)B E[[?[(C_~?[[[[[BZYY i) kID?iR( /@))/@/@cYFF]w:Waiting for Gazebo time sync: latest Gz time: 1743032546.963165 s, next control iter: 1743032547.343192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743032547.363165 s.5I~,>8$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084787< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743032547.363318F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A4 @A_~? A-(A &"AAFKwNA"AZAbAjArAzAAAJx9@A^dsAl@A׈k<AA=A`c?A|kĿA ?Ay!*A9?2A6ֽ:A/=BA9?JA6ֽRA/=Y}??yϧ=vSl<ٓHֿ` j܏:?ֿ?`p??)}? I٘i)I9l@Y%G JJr<JJJ5E&Kw> Y^~?y¨IA?X5Ej7Z7y8B)B E[[ @[6_~?[p[[[[BZYY i) /ǭID?i׀$ Q1@))Q1@Q1@nYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032547.383165 s, next control iter: 1743032547.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6046&, header.stamp.nsec: 0&0 temperature: 13.386370&* salinity: 33.391624&, density: 1025.000000&* values[0]: 0.697445&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032547.783165 s.U;I~,8$AAQ@Ab֋@A_~? AP Af &"AABwNA"AZAbAjArAzAAA< 9@A3sA[6l@Ab<A=A(?AEƿA?A*A9?2A6ֽ:A]=BA9?JA6ֽRA]=٘i)I96l@YG JJJJJ5E&K Y^~?yRIA]5Eb778)B[[ W@[_)_~?[[[[[BZYY i) !ID?iy 2@))2@2@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032547.803165 s, next control iter: 1743032548.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032548.203165 s.CI~, 9$AJ"J*J2JI:Ja2?IDCBJa2?"IGnJ ;5*I6l@vJ6I=>I"DFItDZJ @JJ @bJ@RJ@ZIbI VCjI CrIzI =I 6Aףp=@AS'p@A`_~? A~A &"AAu9wNA"AZAbAjArAzAAA~Gԕ9@A) sAbk@A#;A-=A&?A@&#ȿAū?A{¼*A9?2Aֽ:AF=BA9?JAֽRAF=٘i)I9k@Y`G J¼JJJJ5E&K Y^~?yMHAc5E77j78)B[[6@[_~?[[[[[BZYY i) |I|D?ip `4@))`4@`4@YFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032548.223165 s, next control iter: 1743032548.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032548.623165 s.ZII~,i'9$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084787< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743032548.623331F (some fields omitted in printout)A)\@A1t۞@Aq_~? AAA&"AA_/wNA"AZAbAjArAzAAApKs9@Aɑ@:sAj@AA]=A k?A ʿA B?Aۆ¼*A9?2Ai׽:AR=BA9?JAi׽RAR=٘i)I9j@YG J¼JJJJ5E&K  8Y^~? 8yqHAh5Eb778B)BE[[]@[M _~?[[[[[BZYY i) üIopD?iOd 5@))5@5@IYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032548.643165 s, next control iter: 1743032549.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6047 , header.stamp.nsec: 0 0 temperature: 13.386679 * salinity: 33.391659 , density: 1025.000000 * values[0]: 0.696110 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032549.043165 s.PI~,B9$AJ"J*J2J:JBJnJvJZJJJbJRJA{Ga@Af/G@A_~? AA/&"AA$wNA"AZAbAjArAzAAAyv9@A sALj@A״XA=A@A ˿AEf?AӠü*Ax9?2A9׽:A=BAx9?JA9׽RA=٘i)I9Lj@YG J üJJJJ5E&K Y^~?yڡHAm5E# 8)B[[@[^~?[[[[[BZYY i) )2˼IdD?iVK  l7@)) l7@ l7@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032549.063165 s, next control iter: 1743032549.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032549.463165 s.UWI~,]9$AA̟@Av@A _~? ALAC&"AAwNA"AZAbAjArAzAAA\fu-و9@A9ϥrAbi@ACdoAw=A ^@A*ͿA@@?AǼ*A9?2A׽:Az=BA9?JA׽RAz=Y?1I@y߱=&LpٓHܿ@M@~?`ܿ`)?4B썿>?)? I٘i)I9i@Y4G JżB=JB<JJJ6E&Kx> Y&^~?yGAI@s5E777O8)B[[]@[^~?[[[[[BZYY i) jҼIYD?idO 8@))8@8@pYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032549.483165 s, next control iter: 1743032549.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6048, header.stamp.nsec: 00 temperature: 13.386963* salinity: 33.391666, density: 1025.000000* values[0]: 0.694784F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032549.883165 s.y]I~,Qx9$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084787< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743032549.883313F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@AQ8@A5C@A_~? AA[&"AAs wNA"AZAbAjArAzAAAm12o9@A/s)rAgh@AA=A@AxϿA?A;μ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9h@Y G J`ʼC=JJJJ6E&K Y^~?y GAx5Eb77y8B)BE[[ @[^~?[놨[[[[BZYY i) ,ټIOD?iCF@ r:@))r:@r:@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032549.903165 s, next control iter: 1743032550.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032550.303165 s.UdI~,sg9$AAq= ף@AҨ@A_~? AAM&"AAJvNA"AZAbAjArAzAAAK6 T9@AShSrA8Lh@AI;A=A@A пA ?A/ּ*A9?2AMֽ:A*r=BA9?JAMֽRA*r=٘i)I9Lh@Ya G JѼJJJJ 6E&K Yܛ^~?yDFA}5E7778B)įBE[[5[ @[y^~?[Q[[[[BZYY i) jIED?i&; ;@));@;@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032550.323165 s, next control iter: 1743032550.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6049., header.stamp.nsec: 0.0 temperature: 13.387296.* salinity: 33.391678., density: 1025.000000.* values[0]: 0.693433.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032550.723165 s.kI~,H9$AJ"J*J2J:J1?BJ1?nJ$:5vJA(\@AsE@A0_~? AA&"AAevNA"AZAbAjArAzAAAp o79@AXѫVrAg@A҈A<A0=A_@A}ѿA?Aܼ*A9?2Awս:Ah=BA9?JAwսRAh=٘i)I9g@Y G J>ټJJJJ6E&K Y7^~?yh#FA5E{7{7%8B)˯BE[[\ @[^~?[w[[[[ZZ¸BZYY i¸=) 0ԼI;D?i.޻ u=@))u=@u=@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032550.743165 s, next control iter: 1743032551.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032551.143165 s.X/rI~,*9$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082997< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032551.143325F (some fields omitted in printout)AGz@A\`@AC_~? AA&"AAvNA"AZAbAjArAzAAA/=Y9@Ap\PfrAf@A@v<A=ABh@A`]ҿA?A߼*AՇ9?2Aս:AR=BAՇ9?JAսRAR=٘i)I9f@Y G J_޼JJJJ6E&K Y^~?yzEA5Eŧ7b7,8)ѯB[[N@['^~?[p[[[[ZZBZYY i) ȼI 3D?i{˻ >@))>@>@1YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032551.163165 s, next control iter: 1743032551.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032551.563165 s.xI~,x 9$AJ"J*J2J:JT1?BJT1?nJ95vJAffff桷@A~*O̡@Aܨ_~? A۩A&"AAdvNA"AZAbAjArAzAAAlO8@AFsߙrA f@A)<Aҭ=A@A;ӿA@;_?Aߛ*Al9?2A/Gֽ:A<BAl9?JA/GֽRA Yls^~?ys7EA@5E{7{7$48)ׯB[[@[^~?[si[[[[ZZBZYY i) 缼I+D?i^ :t@@)):t@@:t@@ YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032551.583165 s, next control iter: 1743032551.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6050, header.stamp.nsec: 00 temperature: 13.387621* salinity: 33.391670, density: 1025.000000* values[0]: 0.691964F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032551.983165 s.I~,9$AAQ@A 7@A_~? AjԩA6&"AAKvNA"AZAbAjArAzAAAr*8@AkrA.e@A_\8A=A  @A=ԿA`M+?AE*Ap9?2Aֽ:A_<BAp9?JAֽRA_<٘i)I9.e@Y| G J>JJJJ"6E&K YHd^~?ykDA5EZ7Z7O;8 B)BE[[1C@[^~?[ob[[[[ZZBZYY i) I|#D?iV  ?A@))?A@?A@y?_=ѪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032552.003165 s, next control iter: 1743032552.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032552.403165 s.&I~,:$AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082997< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032552.403282F (some fields omitted in printout)A ףp@A'_[@A_~? A*ͩA&"AAvvNA"AZAbAjArAzAAAgVU8@A1"rA\d@AM,Aq=AMn @A8ԿA?A*A,9?2Arֽ:AnXX<BA,9?JArֽRAnXX<٘i)I9\d@Y G J_JJJJ'6E&K Y"U^~?yGdMDA5Eŧ7b7zB8)B[[I@[t^~?[[[[[[ZZBZYY i) ID?i 裻 {oC@)){oC@{oC@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032552.423165 s, next control iter: 1743032552.803180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6051, header.stamp.nsec: 00 temperature: 13.388015* salinity: 33.391697, density: 1025.000000* values[0]: 0.690246F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032552.823165 s.I~,)4:$AA\(@A&3@AĆ_~? AũAQ&"AAvNA"AZAbAjArAzAAAm8@AĝrAc@A)AE.=A @A#տA?AOȼ*A`9?2Aֽ:A1;BA`9?JAֽRA1;٘i)I9c@Y G JiݼJJJJ,6E&K YE^~?y\CA5E)7I8 B)BE[[.@[a^~?[T[[[[ZZBZYY i) lIzD?i㾉 sD@))sD@sD@tYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032552.863165 s, next control iter: 1743032553.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032553.243165 s.I~,`O:$AJ"J*J2J:JBJnJvJAGz@A cz@Asz_~? A㾩AK&"AAvNA"AZAbAjArAzAAAyYm8@A?6#HrA c@AϢXA<A@A௪ֿA?Ab*AӲ9?2AǍֽ:A<BAӲ9?JAǍֽRA<٘i)I9c@Y+ G JRJJJJ26E&K Y6^~?ypUdCA5E77P8)B[[@[N^~?[zN[[[[ZZBZYY i) !I9D?ioþe(z eF@))eF@eF@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032553.283165 s, next control iter: 1743032553.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032553.663165 s.I~,qj:$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082997< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032553.663284F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6052, header.stamp.nsec: 00 temperature: 13.388343* salinity: 33.391720, density: 1025.000000* values[0]: 0.688790F (some fields omitted in printout)A@A~壷@Am_~? AݷAGg&"AA{vNA"AZAbAjArAzAAAvͳWF8@ArAˇb@A-VAh<AOQ@A#׿AdJ?A"*Aկ9?2Ajֽ:AVBAկ9?JAjֽRAVYJ@P@y<WٓHM`n恿d?@rs?򹂿 p@?)J@ I٘i)I9b@Y G JRJ8JJJ76E&K|x> YM%^~?yNWCAP@5Eb77W8B)BE[[@[9^~?[H[[[[ZZBZYY i=) OEIz D?ia fG@))fG@fG@eYFF]:Waiting for Gazebo time sync: latest Gz time: 1743032553.683165 s, next control iter: 1743032554.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032554.083165 s.DI~,R:$AJ"J*J2J:JT0?BJT0?nJ85vJARk@AC5vQ@An`_~? A착A&"AAgvNA"AZAbAjArAzAAA"o08@AۘrA'b@A;AջA@AZUؿAW ?A:*AU9?2A ֽ:A{BAU9?JA ֽRA{٘i)I9'b@Y G JdJJJJ<6E&K Y^~?yGKCA5E77%_8)B[[@['%^~?[A[[[[ZZBZYY i =) 4rIXD?iǙD :H))9H|ZI@(YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032554.103165 s, next control iter: 1743032554.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032554.503165 s.I~,U4:$AII"I G*I'b@6I>IFIAp= פ@Al񼤷@AR_~? AAv&"AASvNA"AZAbAjArAzAAA167@AGurAa@AGg<AAQ@A)'ٿA?A̻*A09?2A{ֽ:A2BA09?JA{ֽRA2I٘i)I9a@Y} G JJJJJB6E&K Y5^~?y@>CA5E77Of8B)BE[[@[A^~?[;[[[[ZZBZYY i) _ID?iU~*" aLG))aLGTJ@])YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032554.523165 s, next control iter: 1743032554.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6053, header.stamp.nsec: 00 temperature: 13.388567* salinity: 33.391727, density: 1025.000000* values[0]: 0.687861F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032554.923165 s.J "J *J 2J :J 0?BJ 0?nJ 85vJ ZJ @ ;I~JJ@bJ@,:$ARJ@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074732< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032554.923296F (some fields omitted in printout)A(\B@A{(@AD_~? ALA&"AAz>vNA"AZAbAjArAzAAAx7@A̱prAVa@Aތ[<AA;@A BٿAt?Aۺ*A|9?2A̷ֽ:A4ƼBA|9?JA̷ֽRA4Ƽ٘i)I9a@Yk G JJJJJG6E&K Y]~?y92CA5EZ7Z7zm8)B[[ci@[]~?[5[[[[BZYY i) aKISD?iwA E))EKL@yF=3*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032554.943165 s, next control iter: 1743032555.323182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032555.343165 s.<I~,:$AAHz@AݲC@A5_~? AA &"AA(vNA"AZAbAjArAzAAAm^ʄ7@AX> ]rAa@A{;A3A}@AڿAF?AbH;*A 9?2Aqֽ:Ai6BA 9?JAqֽRAi6缙٘i)I9a@Ym G J9JJJJM6E&K Y]~?y2%CA5Eŧ7b7t8B)BE[[@[]~?[T0[[[[BZYY i) u7ID?i)A ^D))^DM@sq*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032555.363165 s, next control iter: 1743032555.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6054*, header.stamp.nsec: 0*0 temperature: 13.388641** salinity: 33.391731*, density: 1025.000000** values[0]: 0.687506*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032555.763165 s.9I~,':$AII"Im G*Ia@6I>IFIJ"J*J2J:J0?BJ0?nJ85vJZJ@JJ@bJ @RJ @A@A@A&_~? AA&"AASvNA"AZAbAjArAzAAAj@Qo7@AOWrAa@AͩAYA@AۿA)?AM3;*A9?2Aֽ:ACBA9?JAֽRACY@@yY츻ٓHL= G?? C`\`R Ym]~?yx,nCA@5E{7{7{8B)BE[[6C@[]~?[*[[[[BZYY i f=) _'IC?iU B))B5O@ *YFF]Waiting for Gazebo time sync: latest Gz time: 1743032555.783165 s, next control iter: 1743032556.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032556.183165 s.I~,x ;$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056324< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743032556.183332F (some fields omitted in printout)AQ@Atk@A_~? AA&"AAFuNA"AZAbAjArAzAAA$)A7@AVarA0b@A~cAyAB @ACܿA`b?A:<*A9?2Aս:Aj BA9?JAսRAj ٘i)I90b@Y G JU<C=JJJJW6E&K Y]~?y$&CA5E778)B[[3@[w]~?[o%[[[[BZYY i) IC?i ~ CvA))CvArP@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032556.223165 s, next control iter: 1743032556.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032556.603165 s.J "J *J 2J :J 0?BJ 0?nJ 85vJ  @ @A4I~@@,ؚ&;$AA= ף@A!֦@A_~? A$Al&"AAuNA"AZAbAjArAzAAA37@AQyrAb@AtAAV@AAݿA o?A\4u<*A$9?2Aս:AtBA$9?JAսRAt٘i)I9b@Y G J W<JJJJ]6E&K Y]~?yDA5E7777%8B)BE[[!@[]~?[F [[[[BZYY ip=) IZC?iA<Ob9 s@))s@BR@f*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032556.623165 s, next control iter: 1743032557.003183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6055 , header.stamp.nsec: 0 0 temperature: 13.388599 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.687740 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032557.023165 s.ZI~,{A;$AII"I G*Ib@6I>IFIA(\@A<B@Ae^~? AقAez&"AACuNA"AZAbAjArAzAAA~Һ6@AwrAb@AAv]Ag@A<ݿAK"?A<*Aڗ9?2AmLֽ:ABAڗ9?JAmLֽRA٘i)I9b@Y$ G J <JJJJb6E&K Ye]~?y{JDA5E7)7P8)B[["@[`]~?[N[[[[BZYY i)  ID?il=\: !>))!>S@yrg=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032557.063165 s, next control iter: 1743032557.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032557.443165 s.:I~,J]\;$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743032557.443303F (some fields omitted in printout)J"J*J2J:JBJnJvJZJ @JJ @bJ@RJ@Azǧ@A]ؚ@A^~? A|AZ&"AANuNA"AZAbAjArAzAAA 6@AۭrA3tc@A/1;AdA@A%޿A`?AK<*A9?2ACֽ:A BA9?JACֽRA ٘i)I9tc@Yn G Jo<JJJJg6E&K Y|]~?y&DA5Eb7b7{8B)BE[[a#@[u]~?[[[[[BZYY i) gt̻ID?i>): s"=))s"=BT@y=(*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032557.483165 s, next control iter: 1743032557.843181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6056, header.stamp.nsec: 00 temperature: 13.388465* salinity: 33.391754, density: 1025.000000* values[0]: 0.688409F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032557.863165 s.+I~,>w;$AA33333@A%!@A^~? AvA:l&"AAuNA"AZAbAjArAzAAA}Iy6@Akl[%rAc@A֬G<A7昽A^@A<߿A@?A<*A(9?2A׽:A BA(9?JA׽RA YI@O@yM㘽;H<ٓH@Bl i?Չ? lɣ? r??)I@ I٘i)I9c@Y G Jǘ<JQJJJm6E&K;x> Yg]~?y| DAO@5E8B)BE[[J%@[L^]~?[[[[[BZYY i) =IXD?iI>3; ;));kV@ *YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032557.903165 s, next control iter: 1743032558.263186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743032558.283165 s.5RI~,;$AJ"J*J2J:JBJnJvJ@@@@AQ@Af@A^~? ApA&"AA~uNA"AZAbAjArAzAAA!PC"; dF:))dF:QW@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032558.303165 s, next control iter: 1743032558.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 60572, header.stamp.nsec: 020 temperature: 13.3883112* salinity: 33.3917502, density: 1025.0000002* values[0]: 0.6892892F (some fields omitted in printout)6Q]~?)6 rAdjusting time to match Gazebo time: 1743032558.703165 s.кI~,;$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032558.703255F (some fields omitted in printout)Aףp= @ABB/@A9^~? AjAU&"AAcuNA"AZAbAjArAzAAA]@6@AhrAe@AQ'<ALA@AQA \?Aษ<*Aܥ9?2Asֽ:AA BAܥ9?JAsֽRAA ٘i)I9e@Yb G Jͥ<B=JJJJx6E&K Y;]~?y&EA5E)778B)BݹE[[(@[3/]~?[! [[[[BZYY i) |cI D?iJ> H; 8))8FY@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032558.723165 s, next control iter: 1743032559.103173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743032559.123165 s.;I~,m;$AJ"J*J2J:JBJnJvJA)\u@Aȯ[@A^~? AeA&"AA`HuNA"AZAbAjArAzAAAdkɡ5@A ~;krAe@APA雽A/7 @AA?A<*A9?2Abֽ:A BA9?JAbֽRA ٘i)I9e@Y G J<C=JJJJ}6E&K YG&]~?y|.FA5E77{7&8!B)BڹE[[o)@[~]~?[ [[[[BZYY i) 6'I D?ij>^sr; n7))n7Z@n*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032559.143165 s, next control iter: 1743032559.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032559.543165 s.II~,;$AII"I G*Ie@6I>IFIA{G᩷@A>-ǩ@AT^~? A__A,6&"AAr,uNA"AZAbAjArAzAAAJ#5@A$grAh-f@AΤ*A𷚽Aw!@A-A]0?AG<*A9?2Aֽ:Ao BA9?JAֽRAo ٘i)I9-f@Y G J,<JJJJ6E&K Y]~?yFA5EP8)B[[*@[\~?['[[[[BZYY i) պID?i>G; w6))w6>\@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032559.563165 s, next control iter: 1743032559.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6058, header.stamp.nsec: 00 temperature: 13.388100* salinity: 33.391747, density: 1025.000000* values[0]: 0.690257F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032559.963165 s.}I~,;$AJ"J*J2J:J0?BJ0?nJJ95vJZJ@JJ@bJ@RJ@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743032559.963290F (some fields omitted in printout)AL@Am½2@AUz^~? AYA&"AAuNA"AZAbAjArAzAAAd5@AsrA:f@AByAXA"@A7OA,?AX<*A9?2Aֽ:A T BA9?JAֽRA T Y@;"@yќdyٓH`a@?`?@nI櫿`? (P?)@ I٘i)I9f@Yt G J۵<B=J9JJJ6E&Kw> YQ\~?yFA"@5E{7j7|8"B)B׹E[[+,@[l\~?[a[[[[BZYY i) K9ID?iI>; x4))x4=]@ *YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032559.983165 s, next control iter: 1743032560.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032560.383165 s.I~,Q<$AAQ@A.:@Af^~? AwTA &"AAtNA"AZAbAjArAzAAA[ )5@ASrA~]g@AxDA0Ai$@AHA?A.<*AP9?2AERֽ:AmRBAP9?JAERֽRAmR٘i)I9]g@Y G J%<C=JJJJ6E&K Y\~?yaGA5E778%B)BӹE[[(-@[ \~?[[[[[BZYY i) Щa9I>&D?i ?P; 43))43^@j*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032560.403165 s, next control iter: 1743032560.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6059", header.stamp.nsec: 0"0 temperature: 13.387877"* salinity: 33.391739", density: 1025.000000"* values[0]: 0.691311"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032560.803165 s.yA I~,g3<$AJ"J*J2J:JBJnJvJ@@@@Aq= #@A j @AGS^~? A2OAu&"AAYtNA"AZAbAjArAzAAAG!4@AHrAg@AAAj%@A2A`r@?A"$<*AJ9?2Aֽ:ABAJ9?JAֽRA٘i)I9g@Y) G J<JJJJ6E&K Y\~?yGA6E7)78'B)BйE[[7.@[\~?[d[[[[BZYY i) $:I{.D?i8?; 1))1Q`@~*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032560.823165 s, next control iter: 1743032561.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032561.223165 s.gI~,HN<$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032561.223311F (some fields omitted in printout)A(\@A;4,Fu@A9?^~? A JA&"AA=tNA"AZAbAjArAzAAA "V4@AdrAzzh@A <A ZA&@ApAA?A<*AҾ9?2A ׽:ArBAҾ9?JA ׽RAr٘i)I9zh@Y} G J]<JJJJ6E&K YJ\~?y.HA 6E{7{78)B[[<0@[\~?[.[[[[BZYY i) ^ ;I7D?i0*?B; Lh0))Lh0ia@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032561.243165 s, next control iter: 1743032561.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032561.643165 s.J "J *J 2J :J ;1?BJ ;1?nJ 95vJ |I~, *i<$AAG@A૷@A*^~? A EA>&"AAtNA"AZAbAjArAzAAAOXs4@A)rnrAh@A Y\~?y٧HAU)@6E{7j7Q8*B)ޯBʹE[[2@[l\~?[B[[[[BZYY i>=) >;ILD?iH?+< --))--~d@ܾ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032562.103165 s, next control iter: 1743032562.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032562.483165 s.t_'I~,<$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032562.483278F (some fields omitted in printout)J"J*J2J:JBJnJvJAѬ@At%շ@A^~? Ag;A&"AAYtNA"AZAbAjArAzAAA/]jO3@ArA;i@Ah;A[A٨*@A : A`9?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9i@YiG J<JJJJ6E&K YBj\~?yէQIA6Eŧ77|8,B)ܯBǹE[[A4@[S\~?[[[[[BZYY i) Œ;IXD?iV?H < >,))>,e@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032562.503165 s, next control iter: 1743032562.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6061, header.stamp.nsec: 00 temperature: 13.387474* salinity: 33.391739, density: 1025.000000* values[0]: 0.693220F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032562.903165 s. -I~,ι<$AA ףp=@A4,F]#@A]~? A6AY&"AA9tNA"AZAbAjArAzAAAutL93@AT͆4rAY{j@AŻA*A+@A`3eA@Os?A<*A9?2A&^ֽ:A.BA9?JA&^ֽRA.٘i)I9{j@YG J<JJJJ6E&K YhQ\~?y}ѧIA6Eb78)دB[[>5@[:\~?[[[[[BZYY i) |t;I{dD?ie?,< ,*)),*Bg@ݺ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032562.943165 s, next control iter: 1743032563.303181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032563.323165 s.u4I~,!<$AJ"J*J2J:JBJnJvJA\@A{eގ@A]~? AK2A&"AA;tNA"AZAbAjArAzAAA~Rr3@AB:wrAj@A8>dAhňA.-@A@JA`?A<*A\9?2A4ֽ:ABA\9?JA4ֽRA٘i)I9j@YG J<JJJJ6E&K Y8\~?yMͧ JA$6E{7j78.B)ׯB¹E[[6@[!\~?[[[[[BZYY i) -Y;IqD?i&w?<-< /})))/})h@y$'=C*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032563.343165 s, next control iter: 1743032563.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6062*, header.stamp.nsec: 0*0 temperature: 13.387327** salinity: 33.391743*, density: 1025.000000** values[0]: 0.694092*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032563.743165 s.W;I~,i<$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743032563.743264F (some fields omitted in printout)AGz@Ac@A0]~? A-A &"AA?sNA"AZAbAjArAzAAA$-03@A 5}rAuk@AmAވA |.@AA?A <*A_9?2ANֽ:A[4BA_9?JANֽRA[4٘i)I9uk@YNG J<JJJJ6E&K  8Y\~? 8yɧkJA)6E)7b780B)ԯBE[[68@[\~?[z[[[[BZYY i) L@;ID?i?H*< ())(j@[*YFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032563.763165 s, next control iter: 1743032564.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032564.163165 s.y}BI~,q =$AJ"J*J2J:J1?BJ1?nJn:5vJA@Aɐce@A]~? A)A\ &"AAsNA"AZAbAjArAzAAA-.62@A_p_>{rAek@AAtA/@A)A ?Aּ<*AX9?2Aֽ:ABAX9?JAֽRAY!@/@ys6ٓH{ʗؿ;?4?ˊ@%+? ~S?)!@ I٘i)I9k@YG Jܑ<JF;JJJ6E&K/x> Y\~?yŧJA/@.6E77{7' 81B)үBE[[G9@[[~?[p[[[[BZYY i) * elevatorAngleAction: 0.074825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032565.003281F (some fields omitted in printout)Ap= W@A <@A|]~? A!A &"AAsNA"AZAbAjArAzAAAcAc2@A]vrAl@A%IN<ANA?2@A@&A[?A<*A)9?2A6׽:A@qBA)9?JA6׽RA@q٘i)I9l@Y(G J<JJJJ6E&K Yu[~?yKA96Eŧ7b7|8)̯B[['<@[0[~?[ݧ[[[[BZYY i) Y,6E77j7 84B)ɯBE[[2s=@[[~?[^ܧ[[[[BZYY i) 6<@[[~?[ۧ[[[[BZYY i) ,K elevatorAngleAction: 0.074825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032566.263313F (some fields omitted in printout)A@AR@A7]~? AA!&"AA)sNA"AZAbAjArAzAAA0Pw1@A]ݔorACn@A$yA蒽A[6@A`GA?AO<*A9?2A7|ֽ:Aw/ BA9?JA7|ֽRAw/ Y V(@0\6@y蒽yٓHpҿ?c?Y?$O?) V(@ I٘i)I9Cn@YG J<J4JJJ6E&Kw> Y<[~?yLA\6@I6E7.86B)įBE[[@@[q[~?[٧[[[[BZYY i) [IFIZI+xDCbI+xDCjI+xCrI+x=zI+x=I+xQ2A= ףp@AV@A~]~? ATAW"&"AArNA"AZAbAjArAzAAAu^kz31@ArkrAOo@A5zAA8@AA #?A<*A9?2A%ֽ:ABA9?JA%ֽRA٘i)I9Oo@YG J<JJJJ6E&K Y'L[~?y`MAT6Eb77R=89B)BE[[B@[b?[~?[ק[[[[BZYY i) y elevatorAngleAction: 0.083632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032567.523289F (some fields omitted in printout)J"J*J2J:JBJnJvJZJЙ@JJЙ@bJܙ@RJܙ@A(ܱ@A;±@Ae\~? AK A"&"AArNA"AZAbAjArAzAAA:"0@A:irAo@A<AJpA7:@AA0?A[%<*Ao9?2A]eֽ:A=BAo9?JA]eֽRA=٘i)I9o@YG J<JJJJ6E&K Y1[~?yMAY6E7{7}D8:B)BE[[OC@[b&[~?[2ק[[[[BZYY i) >$AJ"J*J2J:J2?BJ2?nJ];5vJII@"IMG@@*Iap@@6I>IFIA3333@A '@A\~? AAj#&"AAtrNA"AZAbAjArAzAAAD#0@AufrAp@A <AgA<@A`+AF?A0<*A9?2A`!׽:A~BA9?JA`!׽RA~Yz.@<@y<ٓHT"ȿ)? &?l@vz?D??)z.@ I٘i)I9p@YG J|<B=J,JJJ6E&K%x> YTZ~?yܩNA<@d6Eŧ7b7R8$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743032568.783282F (some fields omitted in printout)AQ@A4h@A\~? AA=9#&"AANrNA"AZAbAjArAzAAA(/@AdrAoq@As<AA@>@ARA2?A[<*A9?2A^8׽:Av*BA9?JA^8׽RAv*٘i)I9oq@YG J<C=JJJJ6E&K YZ~?y2NAi6E77Y8=B)BE[[7G@[oZ~?[է[[[[BZYY i) $AJ"J*J2J:JBJnJvJZJP@JJP@bJ\@RJ\@Aףp=@A(p@A(\~? AAi#&"AAP)rNA"AZAbAjArAzAAA /@A> .kcrA2q@ATT<At/A|?@AvA@?Aa<*A89?2A׽:ABA89?JA׽RA٘i)I9q@YFG J<B=JJJJ6E&K YZ~?y`OAo6E7777(a8)BE[[YH@[Z~?[է[[[[BZYY i) $AA)\@AE`۳@A2t\~? ArA#&"AArNA"AZAbAjArAzAAAlhm7.@A brAr@A;ALA@@A`AHD?A<*AO9?2Axֽ:AB>BAO9?JAxֽRAB>٘i)I9r@YG Jg<C=JJJJ7E&K Y-Z~?yݤOAt6ERh8>B)BE[[-J@[Z~?[է[[[[BZYY i) >$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032570.043264F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@A{Ga@AL3G@A[\~? AYA_#&"AAqNA"AZAbAjArAzAAA~'-@A8`rA#s@AfݻA/ As B@A@iAr?Ap|<*Aٔ9?2AU.ֽ:A BAٔ9?JAU.ֽRA I٘i)I9#s@YG J <JJJJ 7E&K YtZ~?y21PAy6Ej7j7}o8?B)BE[[kK@[zZ~?[+֧[[[[BZYY i) ^$AA̴@Af@AA\~? AgA#&"AAqNA"AZAbAjArAzAAAbR-@An_rAs@APhA+DANC@AA`?A6<*Aݑ9?2Aս:AАBAݑ9?JAսRAАY[5@ bC@y?iٓHNش??-`A?`?)[5@ I٘i)I9s@Y]G J7<JꇼJJJ7E&Kw> YZoZ~?ykPAbC@6Eb7b7v8@B)BE[[lL@[xZ~?[֧[[[[BZYY i) >$AJ"J*J2J:JBJnJvJAQ8@A\d8@A(\~? AA$&"AA;qNA"AZAbAjArAzAAAc}M,@A]ѽ|^rAUjt@AA iA,﫽A:D@A`tA@?A1<*AI9?2Aqֽ:ABAI9?JAqֽRA٘i)I9jt@YG Jk<JJJJ7E&K Y?SZ~?yQA6E77}8)B[[M@[B`Z~?[ק[[[[BZYY i) ;$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032571.303282F (some fields omitted in printout)Aq= ף@A,D@A \~? AA/$&"AAjqNA"AZAbAjArAzAAA;y,@A{],]rA#u@A|޻A:AFE@AAG?A<*A9?2A}ֽ:ApyBA9?JA}ֽRApy٘i)I9u@Y(G J<JJJJ7E&K Y#7Z~?yܠQA6E{7j78)BE[[&O@[GZ~?[ק[[[[BZYY i) "$AJ"J*J2J:JBJnJvJA(\@ADmF@A~[~? AA!N$&"AADqNA"AZAbAjArAzAAAy]+@A5*\rAu@A;AeA@QG@A A?A,P<*A9?2Aֽ:AyBA9?JAֽRAy٘i)I9u@YG J=<JJJJ7E&K YZ~?yQA6E{7(8AB)BE[[`P@[/Z~?[yا[[[[BZYY i) A%i$&"AAGqNA"AZAbAjArAzAAAS`*@A[rA_v@ArT<AXAH@A`/AT?A<*A9?2A%׽:A9BA9?JA%׽RA9٘i)I9_v@YG J%<JJJJ$7E&K YY~?yMlRA6E77S8)BE[[˘Q@[Z~?[f٧[[[[BZYY i<=) 1 elevatorAngleAction: 0.092631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743032572.563323F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff涷@AjQ̶@A[~? AA$&"AAXpNA"AZAbAjArAzAAA2ZK*@Au[rAw@A t<A5ܰA$HAi@A P?A]<*A9?2A׽:ABA9?JA׽RAY;@9Hy+װu<ٓH@Q`?@??`v??ׂ? ?);@ I٘i)I9w@YYG J<JJJEJ)7E&K$x> YY~?yjRA9H6E}8BB)BE[[ R@[Y~?[{ڧ[[[[BZYY i) m?$AAQ@A!7@AO[~? A$A$&"AANpNA"AZAbAjArAzAAAXt%)@A ϛZrA)w@ALX<AFtA4FA-NA?A<*A݀9?2A ֽ:A-BA݀9?JA ֽRA-٘i)I9w@YG Jf<JJJJ.7E&K YY~?yZSA6E)7b78)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #28q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) <) *YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032573.023165 s, next control iter: 1743032573.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032573.403165 s.&I~,Y?$AJ"J*J2J:JBJnJvJA ףp@AtZ@Au[~? AVA$&"AA,pNA"AZAbAjArAzAAA|XQ*)@A| ZrA]x@ANغAAEAZYAh̰?A<*Az9?2A Cֽ:AQBAz9?JA CֽRAQ٘i)I9]x@Y)G J<JJJJ47E&K YOY~?ySA6E77Ө8CB)BE[[*EU@[WY~?[ ݧ[[[[ZZZZ¸>BZYY i¸>Aè) 0<  ))  ă@y&=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743032573.423165 s, next control iter: 1743032573.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6072", header.stamp.nsec: 0"0 temperature: 13.385299"* salinity: 33.391724", density: 1025.000000"* values[0]: 0.704162"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032573.823165 s.I~,)t?$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032573.823297F (some fields omitted in printout)A\(@AE@At[~? AA$&"AApNA"AZAbAjArAzAAAQ+t(@AMYrAy@A4AADAYsA%?A&<*A>:?2A:Ai!!BA>:?JARAi!!٘i)I9y@YG J<JJJJ97E&K YY~?yŸGTA6Ej7Z78){BE[[zV@[Y~?[ާ[[[[ZZZZBZYY i) 7E&K YqY~?yTA6E77{7(8)tB[[׭W@[ϡY~?["[[[[ZZZZBZYY i) q YUY~?y&UAB6Eb7S8)mB|E[[X@[Y~?[[[[[ZZZZBZYY i) J@ALZ~? AA$&"AA5oNA"AZAbAjArAzAAA$@A :N&YrA{}@AsR<A/AX=AkAAy<*Au:?2AƘϽ:A[<BAu:?JAƘϽRA[<٘i)I9}@YKG Je<JJJJY7E&K YbX~?yVA6Eŧ7b78)XBpE[[ϧ]@[@0Y~?[ [[[[ZZZZBZYY i) ?Ak$&"AAloNA"AZAbAjArAzAAA&4#$@A4_YrA;}@A;AP;A<A ~AߤAZ;<*APh:?2A{ѽ:A}<BAPh:?JA{ѽRA}JJJ_7E&Kp> YX~?yѥVA<6E77)8EB)VBmE[[^@[Y~?[[[[[ZZZZBZYY i z) 'yVA6E)7)7~8)SB[[&8a@["X~?[[[[[BZYY i) S&I~,[]@$AJ"J*J2J:JBJnJvJAzǼ@A|ԗ@AkVZ~? APAe$&"AA5nNA"AZAbAjArAzAAA^!@Ac{3@[rA,*~@AsA&3V=AD7A]QA zAٻ*A6:?2As~ս:A_<BA6:?JAs~սRA_<٘i)I9*~@YG JJJJJt7E&K YZX~?yVA6E778)dE[[c@[X~?[1[[[[BZYY i) -@$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.071953< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032578.863301F (some fields omitted in printout)A33333@AdX@AJJJz7E&K{>  8Y}?X~? 8yARVA56E78)UBaE[[}d@[^X~?[*[[[[BZYY ie) [[[[BZYY i)  = OF))OF←G>@yre%ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032580.143165 s, next control iter: 1743032580.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032580.543165 s.IHI~,"A$AA{Gᾷ@AU0Ǿ@ATY~? AA. $&"AA nNA"AZAbAjArAzAAAmI8J@AG[Z_rA,|@AAM=AR0AAƿA *A):?2A ׽:A| =BA):?JA ׽RA| =٘i)I9,|@Y{G JJJJJ7E&K YnW~?yUA6E"8)cB[[x^i@[\X~?[[[[[BZYY i) p;II?iW@ = ))쿩7э@yfѪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032580.563165 s, next control iter: 1743032580.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6079, header.stamp.nsec: 00 temperature: 13.384665* salinity: 33.391659, density: 1025.000000* values[0]: 0.707892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032580.963165 s.}NI~,=A$AJ"J*J2J:J85?BJ85?nJ>5vJAL@A,2@A Y~? AA;#&"AAFmNA"AZAbAjArAzAAA5R g @AlfarA{@A3A=AY/AAȿAi*A(:?2Am׽:Aq=BA(:?JAm׽RAq=Y_T@5g/y/=3ٓHTa ?'9ؿTs\tc`?)_T@ I٘i)I9{@Y(G JvJ=JJJ7E&K7z> YoW~?y TAg/7EZ7Z7)8)gBVE[[(j@[HX~?[ [[[[BZYY i) f9;IiY@| = /))/꿩e@yҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032581.003165 s, next control iter: 1743032581.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032581.383165 s.UI~,/XA$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065541< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743032581.383288F (some fields omitted in printout)AQ@AGq:@AY~? AA#&"AAmNA"AZAbAjArAzAAA/@AvRbrAx{@AjA;=A.AAɿA#L*A(:?2A׽:A/=BA(:?JA׽RA/=٘i)I9{@YG JpJJJJ7E&K YpW~?y|:TA 7Eb7708)kBSE[[~k@[5X~?[*[[[[BZYY i) f;Ii\@G = Z))Z迩:@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032581.423165 s, next control iter: 1743032581.783177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6080&, header.stamp.nsec: 0&0 temperature: 13.384902&* salinity: 33.391663&, density: 1025.000000&* values[0]: 0.706941&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032581.803165 s.yA\I~,gsA$AJ"J*J2J:J4?BJ4?nJ=5vJAq= #@AH @AY~? A3A#&"AA mNA"AZAbAjArAzAAAp-@AŵDcrAmz@AY'A=AB,A`{A X˿Ac*Aj(:?2AKP׽:A3=BAj(:?JAKP׽RA3=٘i)I9z@Y~G JJJJJ7E&K YqW~?yçSA7E77{7*88CB)oBPE[[^l@[!X~?[[[[[BZYY i) FC;Ii_@ Q= ))濩*@$ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032581.823165 s, next control iter: 1743032582.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032582.223165 s.gcI~,HA$AA(\@Ai9Cu@ArY~? AAe#&"AAFtmNA"AZAbAjArAzAAAiƊ@A! :erAy@Ag>A~e=Afz+A VAvͿA&*Ac(:?2Aֽ:A=BAc(:?JAֽRA=٘i)I9y@Y'G JJJJJ7E&K YskW~?y[ǧlSA7E77T?8)sBME[[m@[X~?[[[[[BZYY i) .D;Ii~c@= k))k㿩@@|ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032582.243165 s, next control iter: 1743032582.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032582.643165 s.}iI~,$*A$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065541< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743032582.643296F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@Ag@AbYY~? ADAF4#&"AANmNA"AZAbAjArAzAAA[6_@A .frAmy@At<Aۄ=A7*A@;/ALϿA9*A~(:?2A[ֽ:Ak=BA~(:?JA[ֽRAk=٘i)I9my@YG J8JJJJ7E&K YsQW~?yʧSA7Eb7F81B)eB[[o@[W~?[[[[[BZYY i) :Iing@= ))Ῡt@ͪYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6081, header.stamp.nsec: 00 temperature: 13.385175* salinity: 33.391655, density: 1025.000000* values[0]: 0.705889F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743032582.663165 s, next control iter: 1743032583.043181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032583.063165 s.pI~,p A$AAfffff@A RL@A@Y~? A A"&"AAv)mNA"AZAbAjArAzAAAXe6@A(HhrAx@Ag<Aa=A(AA'пA*A(:?2Abֽ:A=BA(:?JAbֽRA=Y1;[@c(y=h<ٓH@?@ر޿ ``^r??)1;[@ I٘i)I9x@YvG JJ<JJJ7E&Kx> Y8W~?y ϧRA( 7Eŧ7b7M8)jBJE[[-@p@[zW~?[[[[[BZYY i) H\9Iii@}= #7߿))#7߿B@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032583.103165 s, next control iter: 1743032583.463183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743032583.483165 s.v_wI~,A$AJ"J*J2J:JBJnJvJA@Aշ@A(Y~? A A"&"AAumNA"AZAbAjArAzAAA@AukJjrAJx@A+?<A`=A'A5A@9pѿA1*A(:?2Aֽ:Ao*=BA(:?JAֽRAo*=٘i)I9Jx@YG J7JJJJ7E&K YW~?yGӧ@RA%7E777T8)oBHE[[8dq@[(W~?[![[[[BZYY i)  YV~?yPAV":7Eb77q8)~B?E[[u@[W~?[2[[[[BZYY iD) TIiw@= ӿ))ӿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032585.183165 s, next control iter: 1743032585.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032585.583165 s.I~, SeB$AAR÷@AL6l÷@A+X~? AA׆!&"AA PlNA"AZAbAjArAzAAA(&W@A>ҘtrAu@AAœ=A!A%A`տA2*A%:?2A3׽:AA<BA%:?JA3׽RAA<٘i)I9u@YG J3JJJJ7E&K YDV~?yaPA@7Ex8)B YLV~?yNAU7EZ7SI7V8)B4E[[{@[p?W~?[1J[[[[BZYY i) IiJ@V&= _ȿ))_ȿC@ܻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032587.283165 s, next control iter: 1743032587.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 60862, header.stamp.nsec: 020 temperature: 13.3863192* salinity: 33.3916132, density: 1025.0000002* values[0]: 0.7013072F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032587.683165 s.J lI~"J*J,oB$A2J:J3?BJ3?nJA<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032587.683272F (some fields omitted in printout)AQƷ@AVc ŷ@AAX~? A[3A&"AAkNA"AZAbAjArAzAAA?uE@ArAs@AA ATO=A AA ٿA&Ԉ*AZ :?2A[׽:A^=BAZ :?JA[׽RA^=٘i)I9s@Y4G J$JJJJ7E&K Y6V~?yNA[7E77j78)B[[+|@[/W~?[ O[[[[BZYY i) ҅&IiB@(= 'mƿ))'mƿt@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032587.683165 s, next control iter: 1743032588.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032588.103165 s.!I~,ؚC$AA= ףpƷ@ARVƷ@AU,X~? A7A&"AAkNA"AZAbAjArAzAAAPC9@A<,;rArs@A 9A砌=A'AXA>ڿA*A$:?2A׽:A=BA$:?JA׽RA=٘i)I9s@YG JAJJJJ7E&K Y!V~?y: =NA`7E778)B0E[[}@[ W~?[ T[[[[BZYY i) 06Iii@|)= 1Ŀ))1Ŀa@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032588.123165 s, next control iter: 1743032588.503189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743032588.523165 s.I~,{!C$AJ"J*J2J:JBJnJvJA(Ʒ@AyƷ@A X~? A<A"M&"AAqckNA"AZAbAjArAzAAAro"Y4@AnrAar@ARhAK=AA[A`9ۿAۊ*A'9?2A׽:A =BA'9?JA׽RA =٘i)I9r@YG JJJJJ7E&K Y V~?yMAe7E{7j7֪8.B)B-E[[5~@[W~?[/Y[[[[BZYY i) EIi@w3+= ))@ŪYFFF]o:Waiting for Gazebo time sync: latest Gz time: 1743032588.543165 s, next control iter: 1743032588.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6087, header.stamp.nsec: 00 temperature: 13.386539* salinity: 33.391594, density: 1025.000000* values[0]: 0.700505F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032588.943165 s.YdI~,F]WC$A:J:3?BJ:3?nJ;5vJA3333Ƿ@Av3Ƿ@AhW~? ACFA&"AA#kNA"AZAbAjArAzAAAA ?A{rAq@A8A졔=AcKA |AݿA*A>9?2ARֽ:At[ =BA>9?JARֽRAt[ =YIn@JKy졔=ۂ8ٓH,@&?b`ժ"?o?)In@ I٘i)I9q@YG JB=Jg<JJJ8E&KDx> YU~?y "MAKp7Ej7Z7,8.B)B+E[[@[pV~?[c[[[[BZYY i) hcdIi@-= ))@r̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032589.383165 s, next control iter: 1743032589.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6088&, header.stamp.nsec: 0&0 temperature: 13.386756&* salinity: 33.391590&, density: 1025.000000&* values[0]: 0.699667&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032589.783165 s._I~,rC$AAQȷ@AZȷ@AW~? AQKA0&"AAkNA"AZAbAjArAzAAAT?A1^rA#q@A|3<A˖=AC A0AݿA=*Ax9?2ATֽ:AY=BAx9?JATֽRAY=٘i)I9#q@YG J9C=JJJJ8E&K Y+U~?yi"LAu7Eb77V8)B(E[[@[V~?[h[[[[BZYY i) sIi@.= CP))CP;@mϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032589.803165 s, next control iter: 1743032590.183183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032590.203165 s.I~,C$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032590.203302F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=ȷ@A*pȷ@AW~? APA&"AA'jNA"AZAbAjArAzAAA8?AArAęp@A|i<An=AA@A}޿A*A#9?2A3|ֽ:A\=BA#9?JA3|ֽRA\=٘i)I9p@YoG JJJJJ 8E&K YU~?y(ZLA{7Eŧ7ŧ78)B[[@[V~?[(n[[[[BZYY iꭽ) jIi@>0= ?))?ɚ@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032590.223165 s, next control iter: 1743032590.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032590.623165 s.VI~,XC$AA)\ȷ@A ȳȷ@AkW~? AUAf&"AAjNA"AZAbAjArAzAAAբ?P?AEs&rA p@A}9<AZ=A$oA`đA5߿AlG*A'9?2Aֽ:Ah =BA'9?JAֽRAh =٘i)I9 p@YG JħJJJJ8E&K Y,U~?y'/KA7E778-B)B%E[[4@[V~?[s[[[[BZYY i) Iiފ@I1= ?䶿))?䶿V@VӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032590.643165 s, next control iter: 1743032591.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6089 , header.stamp.nsec: 0 0 temperature: 13.386995 * salinity: 33.391575 , density: 1025.000000 * values[0]: 0.698754 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032591.043165 s.I~,C$AJ"J*J2J:JBJnJvJA{Gaɷ@AR1Gɷ@AW~? A:[A&"AAjNA"AZAbAjArAzAAA'?Ao٦vrAo@AI ;A}=AA:>A.߿A㤼*A9?2AD׽:A=BA9?JAD׽RA=٘i)I9o@YG JަJJJJ8E&K YU~?y5KA7Eb778.B)B&E[[m@[߿V~?[y[[[[BZYY i) Ii:@|}3= ˱))˱h@%ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032591.063165 s, next control iter: 1743032591.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032591.463165 s.VI~,C$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032591.463281F (some fields omitted in printout)Aɷ@Aoɷ@A/W~? A`A&"AAjNA"AZAbAjArAzAAAʥ?A}i9ٜrAn@A/A.=AJApAOA=@*A9?2A_׽:A'=BA9?JA_׽RA'=YTu@y,=ٓH J?@[4T1?)Tu@ I٘i)I9n@YpG JJ"<JJJ8E&Kx> YaU~?yz<)KA7E{7Z78)B#E[[N@[9ʷ@AxW~? AqfA%&"AAqjNA"AZAbAjArAzAAA첶)?A+QOrAmn@A\aA=Ae A` AAF*A9?2Ax׽:A*=BA9?JAx׽RA*=٘i)I9mn@YG JJJJJ 8E&K YrU~?ynCJA7E777,8)B[[ۃ@[V~?['[[[[BZYY i) IiQ@J4= G))G@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032591.923165 s, next control iter: 1743032592.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032592.303165 s.WI~,{gD$AAq= ףʷ@Aʷ@ArfW~? A:lA&"AABUjNA"AZAbAjArAzAAA6&IJ`ɰAn7ףrAm@AMA- =A A8A`A *A9?2AH׽:Av=BA9?JAH׽RAv=٘i)I9m@YG JJJJJ&8E&K Y`U~?ybJVJA7E)7b7W8-B)B E[[h@[V~?[ω[[[[BZYY i) Ii$@5= ))ӊ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032592.343165 s, next control iter: 1743032592.703177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6091., header.stamp.nsec: 0.0 temperature: 13.387465.* salinity: 33.391563., density: 1025.000000.* values[0]: 0.696821.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032592.723165 s. I~,H.D$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743032592.723321F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\˷@ANGʷ@ATW~? A rAC&"AA9jNA"AZAbAjArAzAAA36ڮѿAI4prAOm@A9AM-=A A ž߿ANA]*AP9?2A ֽ:A+=BAP9?JA ֽRA+=٘i)I9Om@YnG JJJJJ+8E&K YsOU~?yVQIA7Eb778)ïBE[[I@[WV~?[[[[[BZYY i) Ii%@p:7= [⫿))[⫿D@]YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032592.743165 s, next control iter: 1743032593.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032593.143165 s.V/I~,*ID$AAGz˷@AJ$`˷@A?CW~? A!xA&"AAFjNA"AZAbAjArAzAAAz޿Ak7rA/l@A;A =A A  ߿AA4*A9?2AL{ֽ:A=BA9?JAL{ֽRA=٘i)I9l@YG J඼JJJJ08E&K Y%>U~?yJXIA7E7{78)ȯB[[5@[V~?[A[[[[BZYY i) <IiU@Ϳ8= ))0@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032593.163165 s, next control iter: 1743032593.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032593.563165 s.I~,N dD$AJ"J*J2J:JBJnJvJAffff˷@A`R˷@A<2W~? A>~AY&"AA*jNA"AZAbAjArAzAAA2VA%_֮rAl@AEU<Aw=ASAR޿ARAu ļ*Af9?2ACֽ:AD=BAf9?JACֽRAD=Y{@Ay t=V<ٓH#? Y# `Lfb h??){@ I٘i)I9l@YG JJ<JJJ68E&Kx>  8Y3/U~? 8y_IAA7ES7S78)̯BE[[ @[yV~?[[[[[BZYY i) kIi@9= ))/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032593.583165 s, next control iter: 1743032593.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6092, header.stamp.nsec: 00 temperature: 13.387721* salinity: 33.391537, density: 1025.000000* values[0]: 0.695785F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032593.983165 s.I~,~D$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743032593.983281F (some fields omitted in printout)AQ̷@A77̷@A!W~? AvAV&"AAiNA"AZAbAjArAzAAA[4ޜ-AɋߡrA.nk@AA_<Aec=AAݿA:Aȼ*A9?2AYֽ:AV=BA9?JAYֽRAV=٘i)I9nk@YIG JƼJJJJ;8E&K Y@ U~?y7gHA7Eŧ7b78)ѯB[[@[lnV~?[[[[[BZYY i) TļIi@9= #O))#O@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032594.023165 s, next control iter: 1743032594.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032594.403165 s.&&I~,͙D$AJ"J*J2J:JBJnJvJA ףp̷@AvX̷@AnW~? AȊAg&"AAiNA"AZAbAjArAzAAA6xh(A%~}rAj@At;A#=AmA`ܿAچA`ɼ*AY9?2A~ֽ:A1=BAY9?JA~ֽRA1=٘i)I9j@YG JɼJJJJA8E&K YPU~?yn*HA7EZ7Z7,8)ׯB[[&@[dV~?[ᦨ[[[[BZYY i) W̼Ii@^:=  )) H@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032594.443165 s, next control iter: 1743032594.803174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6093", header.stamp.nsec: 0"0 temperature: 13.388008"* salinity: 33.391541", density: 1025.000000"* values[0]: 0.694631"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032594.823165 s.,I~,GD$AA\(ͷ@Aͷ@AW~? A3A&"AAiNA"AZAbAjArAzAAA&w%AhrALj@AΝNA']=A SA`,ܿAAQɼ*AL9?2A׽:Ad=BAL9?JA׽RAd=٘i)I9j@Y{G JɼB=JJJJF8E&K Y]U~?y#vGA7Eb77W8)ܯBE[[鱇@[$ZV~?[׬[[[[BZYY i) TӼIi@/;= ))Ӡ@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032594.843165 s, next control iter: 1743032595.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032595.243165 s.3I~,`D$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743032595.243299F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzͷ@A2nzͷ@ARV~? AAcl&"AAiNA"AZAbAjArAzAAA= AcrA!ri@A?A̱=A(A'EۿAMAzsɼ*Aw9?2AlQ׽:Ae=BAw9?JAlQ׽RAe=٘i)I9ri@YG JZɼC=JJJJK8E&K YjT~?y}DGA7E77778)B[[G=@[PV~?[ײ[[[[BZYY i) ڼIi@<= cž))cžB_@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032595.263165 s, next control iter: 1743032595.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032595.663165 s.:I~,qD$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6094, header.stamp.nsec: 00 temperature: 13.388280* salinity: 33.391533, density: 1025.000000* values[0]: 0.693455F (some fields omitted in printout)Aη@A͍ͷ@AkV~? AWA/&"AAiNA"AZAbAjArAzAAAqǕvAQmrA h@AgA@=A>AzڿAQ`A̼*Aת9?2AC׽:A!=BAת9?JAC׽RA!=Y.@ya<=gٓH(ܿx?`;m ܿM:`@?).@ I٘i)I9h@Y G JʼJH<JJJQ8E&Kwx> YT~?y~FA7Eb77$8)BE[[ Ɉ@[8GV~?[縨[[[[BZYY i) 2Ii@ == [))[@PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032595.683165 s, next control iter: 1743032596.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032596.083165 s.DAI~,SE$AJ"J*J2J:J1?BJ1?nJ%:5vJARkη@A\mQη@AV~? A A&j&"AAuiNA"AZAbAjArAzAAA0* A8PnrAh@AơA=A1bAUٿAwAJѼ*Aq9?2AFֽ:A =BAq9?JAFֽRA =٘i)I9h@YC G JcμJJJJV8E&K YT~?ycSFA7Ej7j7+8*B)B[[T@[@>V~?[[[[[BZYY i+) Ii@Ti== d))dv@-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032596.123165 s, next control iter: 1743032596.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032596.503165 s.GI~,]4 E$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200682 time: 1743032596.503348F (some fields omitted in printout)Ap= η@Au:η@AV~? A٫AZ&"AA`iNA"AZAbAjArAzAAAP_D>FArAhg@AG?:AV=AGFA4ؿA Aؼ*AP9?2Aֽ:A=BAP9?JAֽRA=٘i)I9hg@Y G JԼJJJJ[8E&K Y"T~?yHEA7E{738)BE[[G@[5V~?[*Ũ[[[[ZZ¸BZYY i¸G=) ݼIis@>= c6))c6B@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032596.543165 s, next control iter: 1743032596.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6095, header.stamp.nsec: 00 temperature: 13.388599* salinity: 33.391514, density: 1025.000000* values[0]: 0.692244F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032596.923165 s.GNI~,;E$AJ"J*J2J:J61?BJ61?nJ95vJA(\BϷ@AF}(Ϸ@AZV~? AA`&"AA%KiNA"AZAbAjArAzAAAJOtA9ErAǰf@AA]&<AĶ=AAؿA"Ayܼ*A֜9?2A?,ֽ:Ak=BA֜9?JA?,ֽRAk=٘i)I9f@Yg G J1ڼJJJJa8E&K YT~?y-bEA7Eb77-:8)B[[k@[X-V~?[Z˨[[[[ZZBZYY i) QмIi@0>= + ))+ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032596.963165 s, next control iter: 1743032597.323188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743032597.343165 s. elevatorAngleAction: 0.082168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032597.763283F (some fields omitted in printout)Aз@AϷ@AV~? AAQ&"AAO#iNA"AZAbAjArAzAAAԂ}4]A;lrAe@A%/<A=AݒA`)jֿATA}*A9?2AVֽ:AbL<BA9?JAVֽRAbL YwT~?ySDAx ;D7E77{7H8)B)BE[[@[V~?[ר[[[[ZZBZYY i) MIiޕ@?= ))@y/= ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032597.783165 s, next control iter: 1743032598.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032598.183165 s.bI~,cE$AAQз@Akз@A]V~? AǩA&"AApiNA"AZAbAjArAzAAAk'̅ArA)d@A:AOw=AARտA@Aj*AZ9?2Aֽ:A1n<BAZ9?JAֽRA1n<٘i)I9)d@Y G JJJJJq8E&K YT~?yDA7EO8)BE[[` @[V~?[&ި[[[[ZZBZYY i) xIi@?= ))[/@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032598.223165 s, next control iter: 1743032598.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032598.603165 s.74iI~,E$AJ"J*J2J:JBJnJvJA= ףз@AEз@AV~? AϩA";&"AAFhNA"AZAbAjArAzAAAqAJAYp*rAjc@AAo3=A,<A@ԿA D ARͼ*A9?2Aֽ:Aiؼ;BA9?JAֽRAiؼ;٘i)I9jc@Yh G JJJJJv8E&K YڗT~?yսCA7EV8) B[[@[V~?[[[[[ZZBZYY i) IiF@nZ@= T))T@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032598.643165 s, next control iter: 1743032599.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6097 , header.stamp.nsec: 0 0 temperature: 13.389253 * salinity: 33.391518 , density: 1025.000000 * values[0]: 0.689364 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032599.023165 s.ZpI~,{E$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032599.023287F (some fields omitted in printout)A(\ѷ@A[Bѷ@A`|V~? AS֩A&"AAhNA"AZAbAjArAzAAATOSAÚrAb@AvA<AӟA`ӿAF?A ߥ*A9?2Asֽ:ABA9?JAsֽRA٘i)I9b@Y G JýJJJJ|8E&K Y T~?yƨMCA7E777^8(B)BE[[#@[ V~?[[[[[ZZBZYY i) *IIi@@= ())(E@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032599.043165 s, next control iter: 1743032599.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032599.443165 s.7vI~,>]E$AJ"J*J2J:JO0?BJO0?nJ85vJAzѷ@Aѷ@AqV~? AݩA?&"AAhNA"AZAbAjArAzAAAPɸA[h3rA~Lb@A?[A#(<Ap AҿA rA*A9?2A|ֽ:AlBA9?JA|ֽRAl٘i)I9Lb@Y G J.JJJJ8E&K YE$AA33333ҷ@A=#ҷ@ALgV~? AA;&"AAhNA"AZAbAjArAzAAA Y&}T~?y֨BAq7E77Yl8)BE[[U:@[U~?[[[[[ZZBZYY iXx=) $Ii)@|A= +Ά))+ΆP\@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032599.903165 s, next control iter: 1743032600.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032600.283165 s.6RI~,F$AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.060632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743032600.283276F (some fields omitted in printout)AQҷ@A ҷ@A}]V~? AA&"AAҼhNA"AZAbAjArAzAAAmf#b Ay i,rAɭa@A<;AAA@:ѿAAf*A9?2Aֽ:ABA9?JAֽRA٘i)I9a@YY G JJJJJ8E&K YvT~?yoߨBA7E{7{7s8)B[[Ŏ@[U~?[7[[[[ZZBZYY i|=) x^oIi@gfA= ))@i)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032600.303165 s, next control iter: 1743032600.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6099., header.stamp.nsec: 0.0 temperature: 13.389691.* salinity: 33.391483., density: 1025.000000.* values[0]: 0.687556.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032600.703165 s.ԺI~,-F$AAףp= ӷ@AVj-ҷ@A-TV~? AAak&"AAMhNA"AZAbAjArAzAAA$=; Aw2rA a@ACW<A AY0AUпAA *A9?2APֽ:AxüBA9?JAPֽRAxü٘i)I9a@YF G JJJJJ8E&K YnT~?yBA8E7777z8'B) E[[kQ@[WU~?[[[[[BZYY i) $p\Ii5@TA= q))qfs@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032600.723165 s, next control iter: 1743032601.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032601.123165 s.6I~,XGF$AJ"J*J2J:JBJnJvJA)\uӷ@Aѯ[ӷ@A\KV~? AA&"AAhNA"AZAbAjArAzAAA?ФX AirA9a@A[<A/ApAοA:)Ak;*A9?2A>ֽ:A%BA9?JA>ֽRA%༙٘i)I9Y JP7JJJJ8E&K YgT~?yCA8Eŧ7b7؁8)E[[܏@[U~?[F [[[[BZYY i) IIi@9A= D))D@yw=l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032601.163165 s, next control iter: 1743032601.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032601.543165 s.II~,bF$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071343< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743032601.543293F (some fields omitted in printout)A{Gӷ@A7n1ӷ@A CV~? AVAB&"AAhNA"AZAbAjArAzAAAz#! A~asA߫a@A;AUA#߿A?ͿAPA;*A9?2Aֽ:ABA9?JAֽRA٘i)I9a@YX G J2;JJJJ8E&K Y`T~?y CA 8E{7{78)[[h@[U~?[[[[[BZYY i) 6Ii@B= .|)).|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032601.563165 s, next control iter: 1743032601.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6100, header.stamp.nsec: 00 temperature: 13.389713* salinity: 33.391468, density: 1025.000000* values[0]: 0.687506F (some fields omitted in printout)`T~?) rAdjusting time to match Gazebo time: 1743032601.963165 s.yI~,}F$AJ"J*J2J:JBJnJvJALԷ@AK\Ǹ2Է@A9;V~? A A &"AA?hNA"AZAbAjArAzAAAff ApsAsa@AAMtAUܿA`1H˿A9tA/C/<*A9?2A6ֽ:A{BA9?JA6ֽRA{Y@2wܿyt/<ٓHKÿ`?2? W\ÿ ?`?pL?)@ I٘i)I9a@Y| G Jn <B=JJJJ8E&Kw> Y\T~?y]CAwܿ8E7777.8)B[[=@[U~?[f[[[[BZYY i0c=) "&Ii@B= w))w8@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032601.983165 s, next control iter: 1743032602.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032602.383165 s.إI~,F$AAQԷ@AdWZFԷ@A3V~? AAD&"AA{hNA"AZAbAjArAzAAARNL A # sA;b@AOA;AٿA@xɿA Ag<*A9?2Aս:ABA9?JAսRA٘i)I9;b@Y G JPI<C=JJJJ8E&K YDXT~?y CA8EY8)B[[t~@[KU~?[[[[[BZYY i) IiR@2A= ]{s))]{so@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032602.403165 s, next control iter: 1743032602.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6101", header.stamp.nsec: 0"0 temperature: 13.389617"* salinity: 33.391430", density: 1025.000000"* values[0]: 0.688022"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032602.803165 s.tAI~,ogF$AJ"J*J2J:J"0?BJ"0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055663< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743032602.803292F (some fields omitted in printout)Aq= #շ@A6u շ@A-V~? AA~&"AAphNA"AZAbAjArAzAAAD6A*CsAb@AknAΏALb׿AǿA ܵA ~<*A9?2Asֽ:ABA9?JAsֽRAI٘i)I9b@Y G J<JJJJ8E&K YST~?y6DA8E8)BE[[ @[U~?[%[[[[BZYY i) IiC@wA= m!o))m!o+@I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032602.823165 s, next control iter: 1743032603.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032603.223165 s.gI~,HF$AA(\շ@A3,[[[[BZYY iB=) ;Iib@A= j))j궫@yN d=o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032603.243165 s, next control iter: 1743032603.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743032603.643165 s.vйI~,*F$AJ"J*J2J:J\0?BJ\0?nJ85vJAGշ@A!%շ@A V~? AG*AL &"AA]hNA"AZAbAjArAzAAA0<[A*+sATc@A:A1AҿA`ÿA` Ar<*AA9?2A2ֽ:A6 BAA9?JA2ֽRA6 ٘i)I9c@Y G Jž<JJJJ8E&K YvKT~?y$DA&8E)7ŧ7٬8) B[[ @[JU~?[2[[[[BZYY i) ͻIi@J)B= %nf))%nfB@y}id=*YFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6102F, header.stamp.nsec: 0F0 temperature: 13.389414* salinity: 33.391441, density: 1025.000000* values[0]: 0.688912F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743032603.663165 s, next control iter: 1743032604.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032604.063165 s.I~,[ G$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743032604.063275F (some fields omitted in printout)Afffffַ@AO7PLַ@AV~? A02A &"AAiUhNA"AZAbAjArAzAAA!v$A oVsA0d@A@3<A헽ASϿA¿AL A<*A9?2A>׽:A[BA9?JA>׽RA[Y21@\nϿyV뗽|3<ٓHfe?b} \ j??h??)21@ I٘i)I90d@Y G J0<J JJJ8E&KFx> YJT~?yl- EAnϿ,8Eb778)B[[@[U~?[9[[[[BZYY i) ͦIi@bA= b))b̬@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032604.103165 s, next control iter: 1743032604.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032604.483165 s.t_I~,G$AJ"J*J2J:J0?BJ0?nJ95vJAַ@As'طַ@AV~? A!:A &"AAMhNA"AZAbAjArAzAAA'AyrS!sAGd@Aq<AA̿AAAo<*A=9?2A׽:ABA=9?JA׽RA٘i)I9d@Y4 G J<B=JJJJ8E&K YHT~?y86qEA18E)7ŧ7/8)B E[[,6@[U~?[3@[[[[BZYY i) `Ii@@= ]))]'X@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032604.523165 s, next control iter: 1743032604.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6103, header.stamp.nsec: 00 temperature: 13.389175* salinity: 33.391411, density: 1025.000000* values[0]: 0.690055F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032604.903165 s.I~,9G$AA ףp=׷@AH]#׷@AV~? ABA| &"AAFhNA"AZAbAjArAzAAA ʱ!ZA[hLc&sACe@A"0<A]AʿA tA3ANO<*AϾ9?2Aֽ:ABAϾ9?JAֽRA٘i)I9Ce@Y G JǤ<C=JJJEJ8E&K Y@GT~?y?EA78Eb7b7Y8)B[[i@[U~?[F[[[[BZYY i) ;fIik@@= cY))cYd@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032604.923165 s, next control iter: 1743032605.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032605.323165 s.vI~,%TG$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743032605.323262F (some fields omitted in printout)J"J*J2J:JBJnJvJA\׷@A$&ݎ׷@AV~? AJA &"AA@hNA"AZAbAjArAzAAAVA*pD+sAe@A2:AkA+ǿAUA"EA3<*Aj9?2Aֽ:ABAj9?JAֽRA٘i)I9e@Y G J<JJJJ8E&K YET~?yG=FA<8E77j78)B[[L@[]U~?[M[[[[BZYY i) w)Ii[@u@= = U))= Un@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032605.363165 s, next control iter: 1743032605.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6104*, header.stamp.nsec: 0*0 temperature: 13.572453** salinity: 33.374977*, density: 1025.000000** values[0]: 0.568902*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032605.743165 s.WI~,oG$AAGzط@A'e׷@A V~? ARAD &"AA;hNA"AZAbAjArAzAAAjqA(0sA`f@AQAi:A{ſA ATA'<*A9?2ABֽ:ABA9?JABֽRA٘i)I9`f@Y6 G J<JJJJ8E&K YqDT~?yPFAA8Eb778'B)BE[[ؕ@[U~?[ET[[[[BZYY i) ^ںIi{@@= P))P @ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032605.763165 s, next control iter: 1743032606.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032606.163165 s.x}I~,qG$AJ"J*J2J:JBJnJvJAط@Aeط@A@ V~? A$ZAէ &"AA?7hNA"AZAbAjArAzAAA/ݦAk m5sA f@A,mAБA¿A 1A`AK!<*A9?2A3ֽ:AmBA9?JA3ֽRAmYr@g¿y̑&mٓH ҋ???4=?J`?5?Zc?)r@ I٘i)I9f@Y G J <J;JJJ8E&Kx> YET~?ycYGAg¿G8E77778)B[["c@[U~?[Z[[[[BZYY i) b?Ii@?= UL))UL@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032606.183165 s, next control iter: 1743032606.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032606.583165 s.I~,SG$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743032606.583328F (some fields omitted in printout)ARط@A<-?pط@AV~? A0bA &"AA3hNA"AZAbAjArAzAAAAlO9sA:g@A@IAA迿A PƪA1kA<*A9?2Ahֽ:ABA9?JAhֽRA٘i)I9g@Y G JD<JJJJ8E&K Y`GT~?y.bgGAL8E778)B[[gȿ[U~?[a[[[[BZYY i) $.S9Ii@>= G))GG*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032606.603165 s, next control iter: 1743032606.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6105, header.stamp.nsec: 00 temperature: 13.572194* salinity: 33.374973, density: 1025.000000* values[0]: 0.569558F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032607.003165 s.{ I~,Y4G$AJ"J*J2J:JBJnJvJAp= Wٷ@A{<ٷ@AV~? A@jAzm&"AA0hNA"AZAbAjArAzAAAőCAu%>sAh@ASelAUA9AA1sAr<*A9?2Aֽ:A{BA9?JAֽRA{٘i)I9h@Y7 G Jâ<JJJJ8E&K YHT~?yjGAQ8Ej7j7/8)B[[Wƿ[DU~?[ah[[[[BZYY i) E:Ii@M>= WC))WCWCJ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032607.023165 s, next control iter: 1743032607.403182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032607.423165 s.uI~,G$AA(\ٷ@AHJzٷ@ArV~? ASrA&"AA.hNA"AZAbAjArAzAAA`ArgCsArh@A;A牽A,A A xAb<*Af9?2A`׽:AyABAf9?JA`׽RAyA٘i)I9h@Y G J*<JJJJ8E&K YPJT~?ys+HAW8E77{7Z8)BE[[ (Ŀ[U~?[o[[[[BZYY i) E;Iio@== ;@?));@?;@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032607.443165 s, next control iter: 1743032607.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6106", header.stamp.nsec: 0"0 temperature: 13.571937"* salinity: 33.374981", density: 1025.000000"* values[0]: 0.570193"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032607.843165 s.I~,G$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743032607.843284F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.ڷ@Auڷ@AV~? AfzAF2&"AAl-hNA"AZAbAjArAzAAAWAOAHsAKi@Ad<AAܷA6}A`a{Aӎ<*A9?2A:8׽:A*BA9?JA:8׽RA*𼙘٘i)I9i@Y G J><JJJJ8E&K YKT~?y|HA\8Eb778)߯B[[[U~?[u[[[[BZYY i) D;Iia@== :)):::*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032607.863165 s, next control iter: 1743032608.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032608.263165 s.I~,H$AAڷ@ALQ.ڷ@AV~? A{A&"AA,hNA"AZAbAjArAzAAAI0GAMsAzi@AX]<AsA^BA~,?A{A׋<*AW9?2A^׽:A!BAW9?JA^׽RA!Y洔@_ypu^<ٓH`?j? ؍ Ӹ? ? ʰ?`?@?)洔@ I٘i)I9zi@YG J<B=JOX<JJJ8E&K)x> YPT~?yEHA_a8E7778(B)ܯBE[[ʿ[KU~?[|[[[[BZYY i?=) 瘁;Iij@"<=  6)) 6 6&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032608.303165 s, next control iter: 1743032608.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 61072, header.stamp.nsec: 020 temperature: 13.5717242* salinity: 33.3749962, density: 1025.0000002* values[0]: 0.5707662F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032608.683165 s.l I~,V+H$AJ"J*J2J:JBJnJvJAQ۷@A ڷ@ArV~? AA&"AA[-hNA"AZAbAjArAzAAA^Ao4RsA&i@Aƫ;A?AෲA`J?A yA<*A9?2Aֽ:ApBA9?JAֽRAp񼙘٘i)I9i@YaG J<C=JJJJ8E&K  8YpTT~? 8yAIAg8E{7j78)دB[[󛽿[ U~?[6[[[[BZYY i) ˠ;Ii@A;=  (2)) (2 (2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032608.683165 s, next control iter: 1743032609.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743032609.103165 s.I~,FH$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032609.103283F (some fields omitted in printout)A= ףp۷@AfyV۷@AV~? AAY&"AA.hNA"AZAbAjArAzAAAKArWsA0ej@AA`A3A 2?AsAR<*A9?2AP~ֽ:ABA9?JAP~ֽRA٘i)I9ej@YG JW<JJJJ8E&K YXT~?yIAl8E)7ŧ7 8)կBE[[k['U~?[쉩[[[[BZYY i) ;Ii @7:= C-))C-C-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032609.143165 s, next control iter: 1743032609.503175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743032609.523165 s.I~,{aH$AJ"J*J2J:J/?BJ/?nJI5vJA(۷@Af?۷@AV~? AA&"AAz0hNA"AZAbAjArAzAAAjAAw\sADj@AVRA8AA@`?ARlA<*A9?2ANֽ:AƮBA9?JANֽRAƮ٘i)I9j@YG J\<JJJJ9E&K Y]T~?yaIAr8E77{7/8,B)[[#:[U~?[[[[[BZYY i) H4;Ii@Ae:= kd)))kd)kd)y v=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032609.563165 s, next control iter: 1743032609.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6108, header.stamp.nsec: 00 temperature: 13.571515* salinity: 33.374981, density: 1025.000000* values[0]: 0.571330F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032609.943165 s.^dI~,[]|H$AAzGܷ@A x-ܷ@A. V~? AA"&"AA:3hNA"AZAbAjArAzAAAWaAbasAOk@AjAⅽAA*?A`EbAN{<*A9?2A^ֽ:A/BA9?JA^ֽRA/٘i)I9Ok@Y7G J<JJJJ9E&K YmaT~?yPJAw8E77Z8)үB[[7[U~?[T[[[[BZYY i) l;Iic@:= %))%%;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032609.983165 s, next control iter: 1743032610.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032610.363165 s.%I~,}>H$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743032610.363281F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333ܷ@AQg!ܷ@A V~? AȪA&"AA6hNA"AZAbAjArAzAAA}AIfsAk@ASA ;AhA`?AUA=<*A9?2Aֽ:AS_BA9?JAֽRAS_Y@Vy9L/ٓH%?@?@沁 ~,&?(??]?)@ I٘i)I9k@Y}G Ju<J~oJJJ 9E&K;x> YhT~?yJAV|8E7ŧ78)ίBE[[ش[U~?[[[[[BZYY i) &"AA!;hNA"AZAbAjArAzAAA*A'D.ksA-6l@Ar;AAA@zӸ?AjFA<*A}9?2A׽:A^BA}9?JA׽RA^٘i)I96l@YG J<JJJJ9E&K YoT~?y!KA8E77j7&8)˯B[[o[MU~?[[[[[BZYY i) ^ elevatorAngleAction: 0.075470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743032611.623283F (some fields omitted in printout)A)\ݷ@A ګݷ@AV~? AªA&"AAAFhNA"AZAbAjArAzAAA!4(AJtsAm@A .o<AAedA`:?A4 AS<*A9?2A;׽:ABA9?JA;׽RA٘i)I9m@YLG J<JJJJ9E&K Y~T~?y,ʩKA8E77758)ůB[[]@[U~?[[[[[BZYY i) R= YT~?yکyLAQ8E77ZC8)B[[٩[`U~?[&[[[[BZYY i) \\ elevatorAngleAction: 0.075470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032612.883290F (some fields omitted in printout)AQ8߷@Ao%;߷@A&V~? AڪA%"AA\hNA"AZAbAjArAzAAABAGisA&n@A2AUA͘A@w?AA=<*A9?2ADֽ:A BA9?JADֽRA ٘i)I9n@Y-G J˚<JJJJ-9E&K YT~?y1LA8Ej7Z7J8/B)BE[[[U~?[ũ[[[[BZYY i) kA`ܟ?A@A<*A9?2A1ֽ:ABA9?JA1ֽRA٘i)I9o@YG J<JJJJ29E&K YȢT~?yq?MA8Eŧ7b7Q8)B[[o[V~?[F̩[[[[BZYY i4=) Ez elevatorAngleAction: 0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743032614.143290F (some fields omitted in printout)AGz@A-`@A;V~? AA%"AAyzhNA"AZAbAjArAzAAA_q AuGsA&p@A@A뙽A됿A Q?AtAݢ<*A9?2Aֽ:AHUBA9?JAֽRAHU٘i)I9&p@Y)G JϤ<JJJJ=9E&K YT~?yNA8Eb77`80B)B E[[[e V~?[X٩[[[[BZYY i) Y YT~?ynNAH8E{7{70g8)B[[ʞ[HV~?[ߩ[[[[BZYY i) 1׽:AmBA9?JA>׽RAm٘i)I96q@YG J@<JJJJH9E&K YT~?y NA8E777[n8)B[[a[V~?[:[[[[BZYY i)  elevatorAngleAction: 0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743032615.403284F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AJ[\@ASV~? AAO%"AA hNA"AZAbAjArAzAAAF{ A`6mRsAAq@AV<ABAAd?A`A鏧<*A9?2A׽:AsBA9?JA׽RAs٘i)I9q@Y"G JC<JJJJM9E&K YT~?y@OA8E7u82B)B$E[[Y[7#V~?[[[[[BZYY i) 6 elevatorAngleAction: 0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032616.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6115, header.stamp.nsec: 00 temperature: 13.569633* salinity: 33.375008, density: 1025.000000* values[0]: 0.575633F (some fields omitted in printout)A@A(@A^qV~? AAA%"AAehNA"AZAbAjArAzAAA/pSAtasA܆s@AWAfAhA'?AorA<*A(9?2A ֽ:AjBA(9?JA ֽRAjY@DycXٓH?@?v堿 ?Xг?F? $?)@ I٘i)I9s@Y7G J<J*JJJ]9E&Kw> YU~?y*PAD8Eŧ778)B[[[f elevatorAngleAction: 0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032617.923289F (some fields omitted in printout)A(\B@AN}(@AV~? A5A%"AAOhNA"AZAbAjArAzAAAAdsA4{u@A S8;A#AALrA_?A A<*A19?2Aֽ:ABA19?JAֽRA٘i)I9{u@YhG J<JJJJn9E&K Y%1U~?y0AQA8E7S785B)B.E[[[XV~?[b[[[[BZYY i) y YQU~?yORAyh8EZ7Z7ܮ86B)B1E[[ q[mV~?[[[[[BZYY i)  elevatorAngleAction: 0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032619.183290F (some fields omitted in printout)AQ@A k@AV~? A7JA\L%"AA4iNA"AZAbAjArAzAAAfRAJ浚sAuw@A<AwAcA?A 2A<*A 9?2Aֽ:ABA 9?JAֽRA٘i)I9uw@YG J<JJJJ~9E&K YbU~?yVBZYY i¸>) @]K$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082487< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032620.443281F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@AeN@AV~? A^A%"AAMsiNA"AZAbAjArAzAAAB>cAŠ~ sA=y@A?%oAoASA@,x?A ;VA=*A9?2Aս:ABA9?JAսRA٘i)I9y@YG J<JJJJ9E&K YU~?yMkTA8E7788B)kB8E[[~[V~?[6[[[[ZZZZBZYY i) ?7K$AA33333@AP@AV~? A3eA9%"AAziNA"AZAbAjArAzAAA?LeA7sA,z@A|8AuANAL??A Af=*A9?2A,ֽ:ADBA9?JA,ֽRADY=@}Ny 9ٓH??@64@ '?@`??r ?)=@ I٘i)I9z@YzG JF=J<JJJ9E&Krw> YvU~?yq UA}N9Eŧ7b789B)eB9E[[;z[V~?[Y<[[[[ZZZZBZYY i) A?A84A8<*A9?2Aeֽ:Ay";BA9?JAeֽRAy";٘i)I9|@YG J<JJJJ9E&K YU~?y=VA9E7{728)UB[['l[eV~?[M[[[[ZZZZBZYY i) ΜJJJ9E&Kx> Y-V~?y͐VAs49Eb7b78}@A♵A<AG6/A 2?AEA;*A9?2Aֽ:Aݨ<BA9?JAֽRAݨ<٘i)I9}@YzG J<C=JJJJ9E&K Y#V~?yVA"9E778=B)OBFE[[˰^[V~?[(^[[[[ZZZZBZYY ieɒ) hB)NBIE[[ Z[W~?[c[[[[BZYY i) L2UVdA1=Af$A@?AڝAT)*Aܢ9?2Aս:A<BAܢ9?JAսRA<٘i)I9}@Y J!kJJJJ9E&K YNV~?yVA-9E77 8)[[`U[@W~?[h[[[[BZYY i) KBsY,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032624.243165 s, next control iter: 1743032624.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032624.643165 s.J "J *J 2J :J ?BJ ?nJ 5vJ | I~, *)L$AAG@A1y@AW~? AA%"AAmjNA"AZAbAjArAzAAAHQ.?AsA!}@AArW=AA@?A HA*AZ9?2Aս:Ar<BAZ9?JAսRAr<٘i)I9}@YyG JJJJJ9E&K YpdV~?y|VA39E77728)PBLE[[;P['W~?[>n[[[[BZYY i) d/JJJ9E&Ku> Y{V~?y)VA89E77{7^8?B)SBOE[[ L[7W~?[ds[[[[BZYY i7e) }G J4JJJJ9E&K YV~?yTAM9E77778)dBZE[[?89[0{W~?[^[[[[BZYY i) ҿ;Iib:@5< y}=))y}=y}=yǛeѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032626.763165 s, next control iter: 1743032627.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032627.163165 s.w}2I~,qL$AJ"J*J2J:JBJnJvJA@Ale@A X~? AAf%"AAkNA"AZAbAjArAzAAAT>A?Az3 tA={@A(3A."=AϼA*?AEܿAC*A9?2Aiֽ:A=BA9?JAiֽRA=Yx@zy=3ٓH ?? ?޿b ?@=@jc`?)x@ I٘i)I9={@YG J~B=J =JJJ9E&K+u> YxV~?yĪvTAS9Eŧ7b74>8CB)iB]E[[74[W~?[[[[[BZYY i) I;Ii5@<  M=))z M= M=y;ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032627.203165 s, next control iter: 1743032627.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032627.583165 s.8I~, SL$AAR@A"t@AX~? AZAC2%"AA?kNA"AZAbAjArAzAAAkqco@AOtA z@AVBwA-=A~A?A`܀ۿA˦*A9?2ASֽ:AM.=BA9?JASֽRAM.=٘i)I9z@YG J C=JJJJ9E&K Y/ W~?y6ɪTAX9E77^E8)mB[[/[W~?[Đ[[[[BZYY i) j;Ii1@< `=)) `=`=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032627.603165 s, next control iter: 1743032627.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6126, header.stamp.nsec: 00 temperature: 13.567134* salinity: 33.375111, density: 1025.000000* values[0]: 0.580455F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032628.003165 s.u @I~,@4M$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743032628.003291F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A<@A4+X~? AūA%"AA^kNA"AZAbAjArAzAAAH@AנhtA&z@A9AΈ=AGAQ?AڿA*A 9?2AԽ:A<=BA 9?JAԽRA<=٘i)I9&z@Y@G JJJJJ9E&K Y"W~?yvͪSA]9EL8)rB`E[[K +[W~?[\[[[[BZYY i) qJ;Ii.@< ,=)),=,=9ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032628.043165 s, next control iter: 1743032628.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032628.423165 s.uFI~,M$AA(\@A0Bx@A@X~? AɫA{%"AAfkNA"AZAbAjArAzAAAy5*@AStAy@A%ٺAA=AA ?AٿA0*A 9?2AԽ:A =BA 9?JAԽRA =٘i)I9y@YG JOJJJJ9E&K Y;W~?yѪBSAc9Ej7j7S8EB)xBdE[[?@&[W~?[ߙ[[[[BZYY i)  ;Ii*@D< p> >))p> >p> >MЪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032628.443165 s, next control iter: 1743032628.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6127, header.stamp.nsec: 00 temperature: 13.567309* salinity: 33.375126, density: 1025.000000* values[0]: 0.579884F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032628.843165 s.LI~,5M$AJ"J*J2J:Js?BJs?nJ5vJAHz.@A$"@AVX~? AͫAQ$%"AA))>>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032628.863165 s, next control iter: 1743032629.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032629.263165 s.TI~,#PM$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032629.263311F (some fields omitted in printout)A@A @AlX~? A9ҫA{%"AAkNA"AZAbAjArAzAAAtSS@AtAdsx@Ar<Ax=A& ϾA?AfؿA]*A.9?2AԽ:A =BA.9?JAԽRA =Y$@~ξy[=}r<ٓHW[?y-?`Ʈ? ٿ{j?@` Y,B??)$@ I٘i)I9sx@Y7G J|J JJJ9E&Kt> YWnW~?yj٪yRA~ξn9Eb77 b8)B[[[W~?[[[[[BZYY i) 69Ii:#@ < Џ1>))EwЏ1>Џ1>sʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032629.283165 s, next control iter: 1743032629.663180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6128., header.stamp.nsec: 0.0 temperature: 13.567472.* salinity: 33.375114., density: 1025.000000.* values[0]: 0.579270.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032629.683165 s.lZI~,VkM$AJ"J*J2J:JBJnJvJAQ@A@A X~? A[֫AP}%"AA.kNA"AZAbAjArAzAAAfr @A|Ej$tAw@A R<A-=AfľAQ?A׿A$*A9?2Akս:A=BA9?JAkսRA=٘i)I9w@YG J٫JJJJ:E&K YPW~?yܪRAs9E77{73i8FB)BjE[[[WW~?[¦[[[[BZYY i) !Ii@< 0D>))΅0D>0D>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032629.683165 s, next control iter: 1743032630.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032630.103165 s.aI~,̚M$AA= ףp@AV@AX~? AXګA-%"AAKlNA"AZAbAjArAzAAAPӗ @A.Nl{tAXw@A;A1j=A A@(?AYֿA*A :?2A>Խ:A$<BA :?JA>ԽRA$<٘i)I9Xw@YG JcJJJJ :E&K YJW~?ySQAx9Eb7^p8)BmE[[ [CX~?[ܪ[[[[BZYY i) t˺Ii!@ϑ< 0X>)) 0X>0X>(êYFFF]Waiting for Gazebo time sync: latest Gz time: 1743032630.123165 s, next control iter: 1743032630.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032630.523165 s.gI~,{M$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032630.523281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A<@AX~? A0ޫAS%"AA'lNA"AZAbAjArAzAAAnf@A^A!tAav@A߻AC=AgAA?AտA*A :?2AԽ:AC<BA :?JAԽRAC<٘i)I9v@Y:G JϜJJJJ:E&K YDW~?yQQA~9E77w8)BpE[[*[%X~?[߮[[[[BZYY i) G"Ii@2'< k>))k>k>YZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032630.543165 s, next control iter: 1743032630.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6129, header.stamp.nsec: 00 temperature: 13.567649* salinity: 33.375118, density: 1025.000000* values[0]: 0.578682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032630.943165 s.fdnI~,}]M$AAzG@AB-@AX~? AAx%"AAJlNA"AZAbAjArAzAAA^8z@AR.$tAxWv@A\gA=A.A?A@տAr,*A:?2Alս:AzK<BA:?JAlսRAzK<٘i)I9Wv@YG JJJJJ:E&K Y?W~?y=PA9Eŧ7b7~8GB)BsE[[OE [;:X~?[ɲ[[[[BZYY i) q_Ii@A< 0*>))0*>0*>ʼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032630.963165 s, next control iter: 1743032631.343187 s, wait time: 0.380022 s*?W~?)*= rAdjusting time to match Gazebo time: 1743032631.363165 s.J "J *J 2J uI~:J?BJ?,u>M$AnJD5vJA3333@A!K@A+X~? AsAlP%"AAmlNA"AZAbAjArAzAAA ue@A@Z&tAu@A?fA7=AWA7?A=ԿA *A:?2Aս:AS(<BA:?JAսRAS(fٓH@yy?1 ?`:?ӿ?y@Onj C?)Y@ I٘i)I9u@YG JrJmYJJJ:E&Kdt> Y4W~?yPA/9EZ7Z7ޅ8)BvE[[n[NX~?[[[[[BZYY i#) Ii@)< xC>))xuxC>xC>YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032631.383165 s, next control iter: 1743032631.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6130&, header.stamp.nsec: 0&0 temperature: 13.567761&* salinity: 33.375156&, density: 1025.000000&* values[0]: 0.578162&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032631.783165 s.V{I~,M$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239719@ elevatorAngleAction: -0.075751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032631.783302F (some fields omitted in printout)AQ@A!w@AX~? AA6 %"AAlNA"AZAbAjArAzAAA{E.ش@AmYp(tAgu@AEA׻AX=ATAj?A`jcӿAS*A:?2Aս:AX<BA:?JAսRAX<٘i)I9gu@Y\G JʍB=JJJJ:E&K Y- X~?y8PA9E{7j7 8)B[[[cX~?[0[[[[BZYY i) &Ii @]< >)) Ä>> YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032631.823165 s, next control iter: 1743032632.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032632.203165 s.I~, N$AJ"J*J2J:JBJnJvJAףp=@Au(%p@AY~? AA%"AAlNA"AZAbAjArAzAAA¥3@Afm*tAt@A;Aʅ=A8ĆA?A=ҿAӍ*A':?2Aӽ:A ?<BA':?JAӽRA ?<٘i)I9t@YG JC=JJJJ$:E&K Y"'X~?y OA9Eb7748)ByE[[ B[fyX~?[[[[[BZYY i) MͻIi@< ݜ>)) ݜ>ݜ>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032632.243165 s, next control iter: 1743032632.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032632.623165 s.VI~,X'N$AA)\@AE`@A&Y~? A=A%"AAlNA"AZAbAjArAzAAAہu3@A;NT,tAyt@AS<A*=ApzA?AѿAξ*A':?2A ӽ:A[=BA':?JA ӽRA[=٘i)I9yt@YG JJJJJ*:E&K YBX~?yOA9Eŧ7^8IB)B}E[[%Z[6X~?[0[[[[BZYY i) oIi@ < Ŧ>))Ŧ>Ŧ>y YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032632.643165 s, next control iter: 1743032633.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6131 , header.stamp.nsec: 0 0 temperature: 13.567900 * salinity: 33.375172 , density: 1025.000000 * values[0]: 0.577684 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032633.043165 s.I~,BN$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032633.043293F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@Aa80G@A>Y~? A5AP%"AAelNA"AZAbAjArAzAAA3@A?$.tAt@Aq<A=AeA@?A пAR*A":?2A|0Խ:A=BA":?JA|0ԽRA=٘i)I9t@YG JwJJJJ/:E&K Y]X~?yb'OA9Eb78)BE[[b[^X~?[Ī[[[[BZYY i) -Ii@@< >))>>Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032633.063165 s, next control iter: 1743032633.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032633.463165 s.PI~,Ϥ]N$AA@A%@A\WY~? AA2%"AAC#mNA"AZAbAjArAzAAA?$H@A,V/tA/s@A<An=APA ?A3ϿA.*A@:?2AnԽ:A;2=BA@:?JAnԽRA;2=Y@7Py[m=JJ<ٓH`E??R;?LɿAV?@,q ?@?)@ I٘i)I9s@Y:G J`J:JJJ4:E&Ks> YxX~?y)NAP9E{7j78JB)BE[[͈׾[xX~?[Ǫ[[[[BZYY i) ]WIi?< 閺>))t閺>閺>ƻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032633.503165 s, next control iter: 1743032633.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6132, header.stamp.nsec: 00 temperature: 13.567987* salinity: 33.375183, density: 1025.000000* values[0]: 0.577195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032633.883165 s.yI~,4xN$AJ"J*J2J:JBJnJvJAQ8@A,A@AoY~? AAy%"AAgHmNA"AZAbAjArAzAAA!vmr@AXp}1tAs@AܺA6F=A;A@H?A οA.*A:?2Aս:AN=BA:?JAսRAN=٘i)I9s@YG JኼJJJJ::E&K YiX~?ypNA9Eŧ7b7߰8)BE[[;[X~?[ʪ[[[[BZYY i) $Ii0?< !>))!>!>FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032633.923165 s, next control iter: 1743032634.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032634.303165 s.SI~,jgN$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258030@ elevatorAngleAction: -0.075751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743032634.303274F (some fields omitted in printout)Aq= ף@A@AY~? A3Aݯ%"AAmmNA"AZAbAjArAzAAAIY@A!=3tArr@A9A=A&A@r?Aq)̿Aƈ*A1:?2A<Խ:Aw=BA1:?JA<ԽRAw=I٘i)I9r@YG JJJJJ?:E&K YX~?yNA9Ej7Z7 8)BE[[þ[X~?[ͪ[[[[BZYY i) o4Ii$?< >)) >>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032634.323165 s, next control iter: 1743032634.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6133., header.stamp.nsec: 0.0 temperature: 13.568088.* salinity: 33.375187., density: 1025.000000.* values[0]: 0.576760.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032634.723165 s.I~,HN$AJ"J*J2J:JBJnJvJA(\@AjIG@AY~? AAM%"AAmNA"AZAbAjArAzAAA @A~Ivt4tA/r@AruAL=ATA?AYeʿA5*A2:?2AaԽ:Ax=BA2:?JAaԽRAx=٘i)I9/r@YfG J~JJJJE:E&K YX~?y~MA9Eŧ7ŧ748)B[[[X~?[Ъ[[[[BZYY i) (CIi?O<  >)) > >ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032634.763165 s, next control iter: 1743032635.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032635.143165 s.T/I~,)N$AAGz@A$`@AʺY~? AAS%"AAimNA"AZAbAjArAzAAAb@A35tAq@AV 0A=AA w?AȿAWh*A-:?2AԽ:Aj=BA-:?JAԽRAj=٘i)I9q@YG JJJJJJ:E&K YiX~?yE]MA9Eb77_8)BE[[Y[Y~?[5Ӫ[[[[BZYY i) ĉSIi?f:<  >)) > >ȪY_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032635.163165 s, next control iter: 1743032635.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032635.563165 s.I~,J N$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032635.563280F (some fields omitted in printout)Affff@AbT@AY~? AA*%"AAmNA"AZAbAjArAzAAAkέ/@AO% 7tA;q@A NAŔ=AhӽA?A5ƿA9*A':?2AyԽ:A8 =BA':?JAyԽRA8 =Yv@dӽyŔ=NٓH?j?`v?\C?`{{`0Id?)v@ I٘i)I9;q@YG JB=Jk<JJJO:E&K s> YY~?y-LAӽ9Ej7j78)BE[[Q[.Y~?[ժ[[[[BZYY i) bIi?< >))ys>>̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032635.583165 s, next control iter: 1743032635.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6134, header.stamp.nsec: 00 temperature: 13.568179* salinity: 33.375195, density: 1025.000000* values[0]: 0.576304F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032635.983165 s.I~,N$AAQ@A7@A\Y~? AAq%"AAnNA"AZAbAjArAzAAA$c@ARM28tAOp@An<Aq=AʫA`?AſAN*A":?2A#Խ:A۶=BA":?JA#ԽRA۶=٘i)I9p@YG JC=JJJJU:E&K YY~?yLA9E{78)įBE[[3[FY~?[!ت[[[[BZYY i) qIi?~< >))ރ>>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032636.023165 s, next control iter: 1743032636.383195 s, wait time: 0.360030 s rAdjusting time to match Gazebo time: 1743032636.403165 s.&I~,O$AJ"J*J2J:Jx?BJx?nJ5vJA ףp@AkBZ@AZ~? AjA%"AAU,nNA"AZAbAjArAzAAAE@AtLA9tA,p@At<A鵘=AA@7 ?A# ÿA*Ad>:?2A ӽ:A<=BAd>:?JA ӽRA<=٘i)I9,p@Y-G J<JJJJZ:E&K Y;Y~?y1LA9Ej78RB)ѯBE[[[^Y~?[eڪ[[[[BZYY iV) 7IiǾ?2t< ?)) ??WҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032636.443165 s, next control iter: 1743032636.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6135", header.stamp.nsec: 0"0 temperature: 13.568306"* salinity: 33.375206", density: 1025.000000"* values[0]: 0.575774"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032636.823165 s.I~,)4O$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743032636.823332F (some fields omitted in printout)A\(@A,@Ai Z~? AA%"AASnNA"AZAbAjArAzAAA⮐!g @A 86:tARo@AfAK<A=A7AU!?AuTA *A@:?2A[ӽ:AYv=BA@:?JA[ӽRAYv=٘i)I9o@YG JRJJJEJ`:E&K YWY~?yKA9E{7{7 8)կBE[[[2wY~?[ܪ[[[[BZYY i) 5Ii?j<  ?)) ? ?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032636.863165 s, next control iter: 1743032637.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032637.243165 s.I~,mOO$AJ"J*J2J:JBJnJvJAGz@AQcz@A:Z~? AhA(%"AAynNA"AZAbAjArAzAAAA7!@Au'=;tAo@AmS^;AY=A@żA`5?A@A*A8:?2AKԽ:AX=BA8:?JAKԽRAX=٘i)I9o@YG JJJJJe:E&K YsY~?yjKA =D9Eŧ7b758)ٯBE[[Sx[Y~?[ު[[[[BZYY i)  ЏIi#?¼b<  ?)) ? ?ժYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032637.283165 s, next control iter: 1743032637.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032637.663165 s.I~,qjO$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6136, header.stamp.nsec: 00 temperature: 13.568455* salinity: 33.375217, density: 1025.000000* values[0]: 0.575188F (some fields omitted in printout)A@A\@ASZ~? AA%"AAѠnNA"AZAbAjArAzAAAZ>!@Ajj;tAn@A AS=AKA@G?A EAƤ*A/:?2Aq6ս:A`=BA/:?JAq6սRA`=Y@qy;=ٓH`?%}i?ʭ? n? :}? /#~?)@ I٘i)I9n@Y+G JJ&<JJJj:E&K3s> YY~?yKAq9E77_8)ݯBE[[+Yd[uY~?[W[[[[BZYY i) MIid?BV< ?))s??yTتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032637.683165 s, next control iter: 1743032638.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032638.083165 s.DI~,SO$AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJnJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.237858@ elevatorAngleAction: -0.084803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743032638.083330F (some fields omitted in printout)ARk@A.oQ@AmZ~? A Ap%"AAnNA"AZAbAjArAzAAA\ک;"@A%"AA=oNA"AZAbAjArAzAAA$@A[=tA?@l@A~;A=Au=AHz?A;A*A2:?2Aӽ:A=BA2:?JAӽRA=٘i)I9@l@YG JJJJJJ:E&K YZ~?yYIA9E77 8)BE[[[ Z~?[([[[[BZYY i) .DIi?:/< $?))$?$?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032639.363165 s, next control iter: 1743032639.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6138&, header.stamp.nsec: 0&0 temperature: 13.568755&* salinity: 33.375252&, density: 1025.000000&* values[0]: 0.574037&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032639.763165 s.4I~,O$AJ"J*J2J:J?BJ?nJ5vJA@A@AZ~? A A3%"AA3eoNA"AZAbAjArAzAAAԑd$@Afl3>tAk@AZ<A=A`=A?AyVA Ƽ*A*:?2A6Խ:A=BA*:?JA6ԽRA=٘i)I9k@YfG JJJJJ:E&K Y<Z~?yHA9E{7j758PB)BE[[k['Z~?[9[[[[BZYY i) lIir?J@(< x"*?))x"*?x"*?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032639.783165 s, next control iter: 1743032640.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032640.183165 s.I~, P$AAQ@Ah k@AZ~? A A=,%"AAoNA"AZAbAjArAzAAAtAj@Apo<AN=A=A?A@%Aʼ*A":?2A|Խ:A=BA":?JA|ԽRA=٘i)I9j@YG JȼJJJJ:E&K Yx9Z~?y HA9EZ7SI7`8)BE[[̽[AZ~?[![[[[BZYY i) 6?ļIi}?g"< dv/?))dv/?dv/?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032640.203165 s, next control iter: 1743032640.583187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743032640.603165 s.44 I~,&P$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032640.603283F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A@A [~? A A'%"AA&oNA"AZAbAjArAzAAAJ%@AL@w>tAIj@Ad<Ai=AZe >A?A@;qA*̼*A::?2Aս:A=BA::?JAսRA=٘i)I9Ij@YG J˼JJJJ:E&K YUZ~?yHA9E77{7#8OB)BE[[[\Z~?[[[[[BZYY i) ˼Iifv?< X4?))X4?X4? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032640.623165 s, next control iter: 1743032641.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6139 , header.stamp.nsec: 0 0 temperature: 13.568920 * salinity: 33.375259 , density: 1025.000000 * values[0]: 0.573356 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032641.023165 s.ZI~,|AP$AA(\@A<B@A#[~? A A&%"AAoNA"AZAbAjArAzAAAm3T&@ARzr>tAgi@AKAeʰ=AM!>A ?A ?Aze˼*A:?2AUֽ:AL=BA:?JAUֽRAL=٘i)I9i@Y/G J̼JJJJ:E&K YqZ~?yGA:E77*8)BE[[/n[vZ~?[n[[[[BZYY i%) F:ӼIip?!< ,:?)),:?,:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032641.063165 s, next control iter: 1743032641.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032641.443165 s.1I~,%]\P$AJ"J*J2J:J?BJ?nJ5vJAz@A0k@A=[~? A A(%"AA#pNA"AZAbAjArAzAAAKt ί)'@A|S>tAh@A]AA1=AH7>A@?Ak?A""˼*Al :?2Aֽ:A=BAl :?JAֽRA=٘i)I9h@Y G JQ˼JJJJ:E&K Y(Z~?y#HGA :E7718)B[['[Z~?[[[[[BZYY i) ڼIim? < b??))b??b??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032641.463165 s, next control iter: 1743032641.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6140, header.stamp.nsec: 00 temperature: 13.569118* salinity: 33.375282, density: 1025.000000* values[0]: 0.572644F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032641.863165 s.+I~,>wP$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743032641.863276F (some fields omitted in printout)A33333@A 6u@AW[~? A^ A".%"AA*pNA"AZAbAjArAzAAA "'@AF>>tABIh@AuAG=AWL>A y?A#?AK˼*A:?2A׽:A9=BA:?JA׽RA9=Yd@-J>y= vٓH @?^ɿPG?b? \?d?wzǢ@p?)d@ I٘i)I9Ih@Y_ G JʼJz<JJJ:E&K> YЩZ~?yhFAJ>:Ej7j7 98) BE[[[Z~?[ [[[[BZYY i) OIiY?y < ^D?))i^D?^D?NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032641.903165 s, next control iter: 1743032642.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032642.283165 s.A@o?A;?Aм*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9g@Y G JOͼJJJJ:E&K YvZ~?yVFA:E776@8NB)BE[[;[1Z~?[[[[[ZZ¸BZYY i¸(D=) ռIiH?MW< J?))J?J?yLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032642.303165 s, next control iter: 1743032642.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6141., header.stamp.nsec: 0.0 temperature: 13.569309.* salinity: 33.375298., density: 1025.000000.* values[0]: 0.571949.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032642.703165 s.ٺ*I~,P$AAףp= @A -@Aʋ[~? A% AB%"AAeypNA"AZAbAjArAzAAAxo)@Aܺ[=tA:f@AfgAL=As>A4g?AA?A ټ*A':?2AƂӽ:Au!=BA':?JAƂӽRAu!=٘i)I9f@Y G JԼJJJJ:E&K YZ~?yEA:E77{7aG8MB)BE[[<[Z~?[[[[[ZZBZYY i) ɼIi8?; jvO?)) jvO?jvO?yO 7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032642.723165 s, next control iter: 1743032643.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032643.123165 s.;1I~,mP$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083138< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032643.123292F (some fields omitted in printout)A)\u@AV)[@A[~? AI AQ%"AApNA"AZAbAjArAzAAA 7)@A AW?Aõ?A4X*A&:?2AA wH?A 9[?A*A2:?2Aӽ:A:<BA2:?JAӽRA:<٘i)I96e@Y G JR JJJJ:E&K Yl[~?yzDA$:E{7U8LB)#B¹E[[J=[[~?[5[[[[ZZBZYY i) ˱Ii?f; EZ?))EZ?EZ?y =a۪Yv YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032643.563165 s, next control iter: 1743032643.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6142, header.stamp.nsec: 00 temperature: 13.569535* salinity: 33.375298, density: 1025.000000* values[0]: 0.571131F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032643.963165 s.{>I~,P$AJ"J*J2J:JBJnJvJAL@Av2@AM[~? AAx%"AApNA"AZAbAjArAzAAAf`*@A;tAfUd@A )><AG=A>Al7?A?A*An9:?2AjdԽ:Aj,<BAn9:?JAjdԽRAj,ylE=><ٓH'?@ҿ51?`P??Uu}?@ć?b?)^W= I٘i)I9Ud@Y G J JvJJJ:E&Kp> Yr3[~?yDA>):E\8))BŹE[[건=[a/[~?[[[[[ZZBZYY i) _vIi< ?U; _?))R,x_?_?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032643.983165 s, next control iter: 1743032644.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032644.383165 s.EI~,4Q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242357> elevatorAngleAction: 0.083138< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743032644.383305F (some fields omitted in printout)AQ@AȚA@A[~? AA%"AAqNA"AZAbAjArAzAAAʜTt+@AmQ:tAc@A;At;=AD>A$?A[?A,ټ*A~<:?2Aս:A$;BA~<:?JAսRA$;٘i)I9c@Y| G JMJJJJ:E&K YwN[~?yR?DA/:E77 d8)/B[[=[ J[~?[[[[[ZZBZYY i) i!Ii>jߝ; e?)) e?e?rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032644.403165 s, next control iter: 1743032644.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6143", header.stamp.nsec: 0"0 temperature: 13.569831"* salinity: 33.375328", density: 1025.000000"* values[0]: 0.570155"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032644.803165 s.uALI~,sg3Q$AJ"J*J2J:JBJnJvJAq= #@A @A \~? ANA%"AAA@?AI?A覮*AT:?2A<ӽ:AkѺBAT:?JA<ӽRAkѺ٘i)I9b@Y G JȼJJJJ:E&K Y{i[~?yCA4:Eb776k8KB)4BȹE[[5>[d[~?[[[[[ZZBZYY i) ̏Ii{>); j?))j?j?%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032644.843165 s, next control iter: 1743032645.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032645.223165 s.gSI~,HNQ$AA(\@AoDu@A&\~? AA]%"AAcqNA"AZAbAjArAzAAA,l1V,@AS8tA_b@Aŗ~A;<A>A K?A!?A*A_O:?2AaԽ:A~BA_O:?JAaԽRA~٘i)I9_b@Y G J-JJJJ:E&K Y[~?y+CA9:E777ar8HB)5BʹE[[>[[~?[[[[[ZZBZYY i) wIi>s;  p?)) p? p?͌YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032645.243165 s, next control iter: 1743032645.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032645.643165 s.vYI~,*iQ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083138< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032645.643279F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A `@A?\~? AA%"AAGqNA"AZAbAjArAzAAA``nD-@AY7tA9a@AiAӎA>A _?A@?A8*AD:?2A0Խ:AiBAD:?JA0ԽRAi٘i)I9a@Y G JfJJJJ:E&K Y[~?y=CA?:E77y8GB)7B͹E[[} 2>[Ś[~?[&[[[[ZZBZYY i) DrIi>U; u?))u?u?7(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032645.663165 s, next control iter: 1743032646.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6144, header.stamp.nsec: 00 temperature: 13.570020* salinity: 33.375336, density: 1025.000000* values[0]: 0.569495F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032646.063165 s.`I~,c Q$AAfffff@AWL@AX\~? AAZ%"AAqNA"AZAbAjArAzAAA )-@A)d~6tAa@A.AI̚A,S>AG?AӺ?AW*A7:?2A:ս:ABA7:?JA:սRAY`6>a>y˚؜ٓHˀ?ؿ`>"@??]?+``(Y? }wf?)`6> I٘i)I9a@Yc G JB=JFJJJ:E&Ktt> Y[~?y,WCAa>D:E{7{78FB)8BйE[[] H>[w[~?[[[[[ZZBZYY iTr=) j`Ii>2L'; {?)))z{?{?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032646.103165 s, next control iter: 1743032646.463180 s, wait time: 0.360015 s[~?), rAdjusting time to match Gazebo time: 1743032646.483165 s.o_gI~,xQ$AJ"J*J2J:J?BJ?nJ5vJA@AKз@Aq\~? AA7%"AAqNA"AZAbAjArAzAAA_v.@A35tAa@Ab;ApA>A?A?Aͱ/*A(:?2Aս:AмBA(:?JAսRAм٘i)I9a@YN G JC=JJJJ:E&K Y[~?yqCAI:E778)9BӹE[[5M^>[A[~?[[[[[ZZBZYY itN=) MIi#D>P: Q?)) Q?Q?.*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032646.523165 s, next control iter: 1743032646.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6145, header.stamp.nsec: 00 temperature: 13.570060* salinity: 33.375343, density: 1025.000000* values[0]: 0.569203F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032646.903165 s.mI~,͹Q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069974< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743032646.903303F (some fields omitted in printout)A ףp=@A]X#@A\~? AAb%"AAqNA"AZAbAjArAzAAASc/@ABS3tAa@A^<A1AW>AY?A`z?AƦ;*Ac7:?2AԽ:A BAc7:?JAԽRA 弙٘i)I9a@YL G JJJJJ:E&K Y[~?yYCAO:EZ7SI7 8)[[t>[&[~?[ު[[[[BZYY i) ;Ii2 >: >?))>?>?n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032646.943165 s, next control iter: 1743032647.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032647.323165 s.ttI~,Q$AJ"J*J2J:J?BJ?nJ5vJA\@AJގ@A\~? AA%"AA"rNA"AZAbAjArAzAAAQl^ߤ/@AS2tAa@Avk<AiWA4>A]?A>?A;*A/:?2A1ս:ABA/:?JA1սRA٘i)I9a@Y\ G JX;JJJJ:E&K Y\~?yުCAT:Ej7j778EB)7BֹE[[ߘ>[\~?[ܪ[[[[BZYY i) ̐)Ii_=z`: %?))%?%?y=P*YL YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032647.363165 s, next control iter: 1743032647.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6146*, header.stamp.nsec: 0*0 temperature: 13.569939** salinity: 33.375385*, density: 1025.000000** values[0]: 0.569265*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032647.743165 s.W{I~,iQ$AAGz@Ac@A\~? A{A%"AAdHrNA"AZAbAjArAzAAA@f&Y0@Af¾0tAa@A;Aa wA7>AV7?A?A&@&<*Ag):?2AGս:AbBAg):?JAGսRAb٘i)I9a@Y~ G Js<JJJJ:E&K Y "\~?y۪CAZ:Eb7b7a8DB)5BٹE[[>[!\~?[jڪ[[[[BZYY i) dIi2=+9 ˆ?))ˆ?ˆ?(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032647.763165 s, next control iter: 1743032648.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032648.163165 s.t}I~,q R$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069974< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743032648.163274F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ae@A\~? AAX%"AAmrNA"AZAbAjArAzAAAI?g0@A!/tA ;b@AekAB.AH>A ?AW_?Aa<*A#:?2AAս:AABA#:?JAAսRAAY`>>y.jkٓH`p?޿@Ů{?@<? = ? lm?)`> I٘i)I9;b@Y G JA<B=JJJJ:E&Kt> Y:\~?yOתDA>_:E778CB)1BܹE[[{ >[;\~?[ת[[[[BZYY iP2h=) II?iżFb} ?))|~??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032648.183165 s, next control iter: 1743032648.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032648.583165 s.I~,S%R$AAR@A½2o@A{\~? AA,%"AAʒrNA"AZAbAjArAzAAA=鮖0@AJO-tAգb@AQA&ۑA0b?A t?A`>?A<*A^:?2AmQս:A~BA^:?JAmQսRA~٘i)I9b@Y G Jy<C=JJJJ:E&K YS\~?yӪvDAd:Eb7b78BB)-B߹E[[_k>[U\~?[7ժ[[[[BZYY i) GI\I?i^ BF?)) BF?BF?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032648.603165 s, next control iter: 1743032648.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6147, header.stamp.nsec: 00 temperature: 13.569690* salinity: 33.375381, density: 1025.000000* values[0]: 0.569674F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032649.003165 s.w I~,H4@R$AJ"J*J2J:JBJnJvJAp= W@Aa<@A]~? AAe%"AArNA"AZAbAjArAzAAAR@M0@AW‹t+tAu c@AW{A.Ay ?A?A%?A<*A!2:?2AuԽ:ABA!2:?JAuԽRA٘i)I9 c@Y; G JX<JJJJ:E&K Yl\~?yΪDAj:E)78?B)&B޹E[[Ͳ>[p\~?[OҪ[[[[BZYY i) ;qѻIv I?iP ᴺ u ?))u ?u ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032649.023165 s, next control iter: 1743032649.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032649.423165 s.uI~,[R$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743032649.423331F (some fields omitted in printout)A(\@A |@A]~? AA%"AArNA"AZAbAjArAzAAAyC1@Á)tAުc@A^!AAk?A?A ?A9<*AH6:?2A ս:A$cBAH6:?JA սRA$c٘i)I9c@Y G JŤ<JJJJ;E&K YZ\~?yʪ-EAo:Eb7 8>B)!BE[[SC>[\~?[3Ϫ[[[[BZYY i) TI I?iI<Y ٓ?))ٓ?ٓ?yjyh=*YN%YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032649.443165 s, next control iter: 1743032649.823181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6148", header.stamp.nsec: 0"0 temperature: 13.569340"* salinity: 33.375423", density: 1025.000000"* values[0]: 0.570305"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032649.843165 s.ݜI~,uR$AJ"J*J2J:JBJnJvJAHz.@Ai@A]5]~? AIA-%"AA>sNA"AZAbAjArAzAAA_1@AQw'tA6;d@A[L:AA?AT?A@-?AU<*AS::?2A{ս:AV BAS::?JA{սRAV ٘i)I9;d@Y G Jի<JJJJ;E&K Y.\~?y~ƪEAt:E77789B)BE[[>[_\~?[˪[[[[BZYY iy=) 8II?icë ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032649.883165 s, next control iter: 1743032650.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032650.263165 s.I~,0ؐR$AA@AD@AL]~? AA$%"AA$sNA"AZAbAjArAzAAA{D1@Ax6ltV%tAd@A)4<A@A?A` ?AO?A<*A >:?2A=|ֽ:ABA >:?JA=|ֽRAYa>uI?y=/4<ٓH[? ã1?j?L_ C?瀆?@H?)a> I٘i)I9d@Y@ G J <J JJJ ;E&Kv> Y\~?yEAI?z:E77{7b88B)BE[[3>[E\~?[kȪ[[[[BZYY i) #jII?i˒0; {p?)){p?{p?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032650.303165 s, next control iter: 1743032650.663178 s, wait time: 0.360013 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 61496, header.stamp.nsec: 060 temperature: 13.5689566* salinity: 33.3754046, density: 1025.0000006* values[0]: 0.5710616F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032650.683165 s.lI~,xR$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251441> elevatorAngleAction: 0.066150< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743032650.683297F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A$@A3d]~? A(A8j%"AAGsNA"AZAbAjArAzAAAѐ2@AC#tA[e@AR|<AH<A?A ?A?A ,<*A=:?2A#ֽ:ABA=:?JA#ֽRAI٘i)I9[e@Y G Jk<JJJJ;E&K Y\~?yWFA:Ej7Z78) B[[>[ \~?[Ī[[[[BZYY i) -I3H?iHa ;?)) ;?;?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032650.683165 s, next control iter: 1743032651.083180 s, wait time: 0.400015 s rAdjusting time to match Gazebo time: 1743032651.103165 s.I~,R$AA= ףp@AˢV@AA{]~? A_ܫA%"AAjsNA"AZAbAjArAzAAAj_2@A} tAe@A7A<A 1A#?A`~?A`v?A,<*A7K:?2Aս:ABA7K:?JAսRA٘i)I9e@Y G Jԧ<JJJJ;E&K Y#\~?yFA:Eb7b787B)BE[[N>[\~?[[[[[BZYY i) 1IH?ieɾ䀻 :?)):?:?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032651.143165 s, next control iter: 1743032651.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032651.523165 s.I~,{R$AJ"J*J2J:JBJnJvJA(@Ay@A]~? AqثA%"AAsNA"AZAbAjArAzAAAM#2@AgtAuf@A!;AA(?Au?A&F?A'<*AJ:?2Aս:AhBAJ:?JAսRAh٘i)I9uf@YC G J<JJJJ;E&K Yu\~?y&GA:E77j786B)BE[[>[ ]~?[ż[[[[BZYY i) RUIH?i޾Ǭ 2?))2?2?yBv=*YEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032651.563165 s, next control iter: 1743032651.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6150, header.stamp.nsec: 00 temperature: 13.568568* salinity: 33.375412, density: 1025.000000* values[0]: 0.571824F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032651.943165 s.TdI~,1]R$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066150< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032651.943297F (some fields omitted in printout)AzG@AS$AJ"J*J2J:J{?BJ{?nJ5vJA3333@A'@A]~? A*ЫAr%"AAsNA"AZAbAjArAzAAA/hN,3@AUOmZtAg@AvAAP2?A?A!?A& <*AnH:?2Aս:AN BAnH:?JAսRAN Y8>53?y̩vٓH-j?`p" Đ?`C~? 9ڱ?`!?)8> I٘i)I9g@Y G Ja<B=J9W<JJJ&;E&Kv> Ye(]~?yGA53?:Ej7j788)B[[I?[>]~?[[[[[BZYY i) d:IH?iʭ ^?))^?^?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032652.403165 s, next control iter: 1743032652.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6151&, header.stamp.nsec: 0&0 temperature: 13.568176&* salinity: 33.375454&, density: 1025.000000&* values[0]: 0.572579&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032652.783165 s.VI~,2S$AAQ@A0@A]~? A˫A%"AA~sNA"AZAbAjArAzAAAbi9o3@AtKtAh@AMYALBA38?Ad?A`ǯ?Aˋ<*AF:?2A<ֽ:A)BAF:?JA<ֽRA)٘i)I9h@YC G J<C=JJJJ,;E&K Y=]~?yVNHA:Eŧ7b7b81B)BE[[ ?[W]~?[a[[[[BZYY i) ;IH?iRu! t?))t?t?8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032652.823165 s, next control iter: 1743032653.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032653.203165 s.I~,MS$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066150< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032653.203293F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@A|/p@A]~? AUǫAE%"AAtNA"AZAbAjArAzAAA\+3@AxtAgh@AГAA[=?Au?A` }?A:<*AD:?2A;ֽ:ATBAD:?JA;ֽRAT٘i)I9h@Y G J<B=JJJJ1;E&K YS]~?yHA:E7780B)BE[[s?[sp]~?[[[[[BZYY i) u?;IYH?i ͻ U?))U?U?ɻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032653.223165 s, next control iter: 1743032653.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032653.623165 s.QI~,CgS$AA)\@A@A ^~? A«A%"AA[5tNA"AZAbAjArAzAAA=G3@A~c$tAi@A$;;AXAKC?A .?A@H?A<*AB:?2A<׽:ABAB:?JA<׽RA٘i)I9i@Y G Je<C=JJJJ7;E&K  8Y0i]~? 8yIA:Ej7j78)B[["c?[ڈ]~?[r[[[[BZYY i) |;I/H?i*Mڻ  elevatorAngleAction: 0.066150< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743032654.463275F (some fields omitted in printout)A@Arf@A)^~? AAPX%"AA\utNA"AZAbAjArAzAAAh:oq4@AZ@ tArj@Al<ATA.M?AY?A1?A˳<*A>:?2AIk׽:A'BA>:?JAIk׽RA'YC?q\M?ygQAm<ٓH@w2? ѡ?b8?)? ؗ??)C? I٘i)I9j@YoG J<C=J07<JJJA;E&Ky> Yq]~?yIA\M?:E7{78+B)ۯBE[[TI%?[]~?[Ś[[[[BZYY i>Q=) {;I?H?i@^z  ?)) ? ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032654.483165 s, next control iter: 1743032654.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6153, header.stamp.nsec: 00 temperature: 13.567477* salinity: 33.375477, density: 1025.000000* values[0]: 0.573937F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032654.883165 s.yI~,/S$AJ"J*J2J:JBJnJvJAQ8 @A: @Af>^~? A A%"AAtNA"AZAbAjArAzAAA! 4@Ag0tAyj@A;A|AIR?AXN?A@2?A߈<*A;:?2AD)׽:ABA;:?JAD)׽RA󼙘٘i)I9yj@YG J<JJJJG;E&K Y]~?y!JA:E̒8888)ׯB[[A+?[]~?['[[[[BZYY i) r;I9H?iL+ ?))??ʹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032654.923165 s, next control iter: 1743032655.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032655.303165 s.WI~,{gS$AAq= ף @Ao  @AR^~? A宫A%%"AAktNA"AZAbAjArAzAAA 4@A] tA5j@AAZ҄AW?A ?AgN?A<*A4:?2A&ֽ:A$BA4:?JA&ֽRA$٘i)I9j@YG Jz<JJJJL;E&K Y]~?yR~zJA:Ej7Z7c8*B)үBE[[C1?[]~?[U[[[[BZYY i) ;IH?iZW ޻?))޻?޻?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032655.323165 s, next control iter: 1743032655.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6154*, header.stamp.nsec: 0*0 temperature: 13.567165** salinity: 33.375465*, density: 1025.000000** values[0]: 0.574562*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032655.723165 s.I~,HS$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743032655.723306F (some fields omitted in printout)A(\ @A;4,F @AQf^~? AA%"AAtNA"AZAbAjArAzAAAdh(5@A tA_k@AVAbۅAu\?A`?A?A-<*A,:?2Aֽ:ABA,:?JAֽRA٘i)I9_k@YAG J<JJJJQ;E&K Y\]~?ywJA:Eŧ7b7%8)ϯB[[sN7?[]~?[O[[[[BZYY i) b# *sA&Jl@AsAS`AUg?A ?A&7?A<*A:?2A׽:ARwBA:?JA׽RARwY3f/?~g?y^ٓHU?L#D?@?`(?f 9?)3f/? I٘i)I9Jl@YG Jn<B=JSJJJ\;E&Kx> Yx]~?yjKA~g?:E7)738$B)¯BE[[9fC?[)^~?[|[[[[BZYY i) L,T$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032656.983282F (some fields omitted in printout)AQ @A7 @A^~? AA%"AAN)uNA"AZAbAjArAzAAA"E|5@A<ǂ\sAl@Af:ANjAȿl?A@?Aۏ?A,<*A;:?2Ad׽:A&,BA;:?JAd׽RA&,٘i)I9l@YG J<C=JJJJb;E&K Y^~?ycKA >D:E{7j7;8)B[[ wI?[3?^~?[;v[[[[BZYY i) h; elevatorAngleAction: 0.077303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743032658.243311F (some fields omitted in printout)AGz @A!kz @A[^~? AyA%"AA{uNA"AZAbAjArAzAAAnH\x6@A!sA|n@A6<A*AQ|?AJ?A:?A|<*A!:?2A_׽:Ao BA!:?JA_׽RAo ٘i)I9n@YG J$<B=JJJJr;E&K YU8^~?y OLA:Eŧ7b7P8B)BE[[-[?[|^~?[~a[[[[BZYY i) Gdj YpG^~?yGaMAʀ?:Eb77W8)B[[a?[[^~?[KZ[[[[BZYY i) y elevatorAngleAction: 0.077303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743032659.503301F (some fields omitted in printout)Ap= @A @A_~? AtA|%"AAuNA"AZAbAjArAzAAAD 7@AcsA8o@AxAFAr܅?A?A@Hu?Ah<*A9?2Ayֽ:ABA9?JAyֽRA٘i)I9o@YG J3<JJJJ;E&K Ye^~?y8-NA:E{7j7f8)B[[In?[ߵ^~?[YK[[[[BZYY i) I~,T$AJ"J*J2J:JBJnJvJA(\B@A'c|(@A_~? AnAa%"AAouNA"AZAbAjArAzAAA!FܰWA7@ABv5sACDp@ARAA~?AuX?Aۿ?AX<*A`9?2Aֽ:AUBA`9?JAֽRAU٘i)I9Dp@Y;G Jܭ<JJJJ;E&K Yt^~?yJ1NA:E7779m8B)BE[[L}t?[^~?[C[[[[BZYY i>=) uKI~,<0U$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032660.763280F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AE.8@A6_~? AgaA%"AAwvNA"AZAbAjArAzAAA~7@As\Q^sAEgq@A;AA?A+?AP?Af<*A9?2A$n׽:A=BA9?JA$n׽RA=Yc?*؍?y;ٓHz?ฤ`|?@؇??}?`?)c? I٘i)I9gq@YG Jϫ<JJJJ;E&Kx> Yy^~?y!dOA؍?;E{7{8B)BE[[r?[^~?[3[[[[BZYY i) { elevatorAngleAction: 0.086722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032662.023279F (some fields omitted in printout)A(\@A1 B@A`_~? AMA1%"AARvNA"AZAbAjArAzAAA]8g8@AFyTsAs@AU;A?As?A*X?A?A^<*A9?2Aֽ:AYBA9?JAֽRAY٘i)I9s@YG J<C=JJJJ;E&K YE^~?yY PA;E)7ŧ78B)zBE[[Љ?[_~?[[[[[BZYY i) <ܸ]U$AJ"J*J2J:J6?BJ6?nJi5vJAz@A˙@Am_~? AFA%"AA~fvNA"AZAbAjArAzAAAg$.G8@Aab5sAs@AA0A6?Aइ?A@:S?A<*A9?2Aֽ:A& BA9?JAֽRA& ٘i)I9s@YTG J<JJJJ;E&K Y^~?yyQA;E7777:8)uB[[a?[-'_~?[Y[[[[BZYY i) PU$AA33333@AO'@Az_~? A?Ak%"AAMzvNA"AZAbAjArAzAAAV n8@AuwsA&Zt@AV\Aq­A?A ?A?A<*A9?2ACֽ:Ad3BA9?JACֽRAd3Y}?ߚ?yh\"]ٓH?^#ȥ??`"?`?)}? I٘i)I9Zt@YG Jq<B=J݂JJJ;E&Kx> Y^~?y>QAߚ?;Ej7j7e8)pB[[?[4_~?[ [[[[BZYY i) ; elevatorAngleAction: 0.086722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743032663.283291F (some fields omitted in printout)AQ@AcD@A_~? A7Aa%"AAkvNA"AZAbAjArAzAAA>d&8@A,5usA`u@A}uAޯA.Q?A@?A ?A<*A9?2AQֽ:AWBA9?JAQֽRAW٘i)I9u@YG J<C=JJJJ;E&K Y^~?yQA ;E77778B)jBE[[6?[A_~?[[[[[BZYY i) 1?))n>?n>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032663.743165 s, next control iter: 1743032664.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743032664.123165 s.7I~,]V$AJ"J*J2J:JBJnJvJA)\u@Ag[@Ac_~? A)A1%"AAvNA"AZAbAjArAzAAA=,8@AYsA0_v@A;ACAs?A`E"?A4?A-<*A9?2A׽:A6TBA9?JA׽RA6T٘i)I9_v@YG J<C=JJJJ;E&K Y^~?yRA+;E{78)\B[[?[Y_~?[ [[[[BZYY i) `h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032664.143165 s, next control iter: 1743032664.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032664.543165 s.II~,"V$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032664.543280F (some fields omitted in printout)A{G@A:#/@AP_~? A6"A*%"AAvvNA"AZAbAjArAzAAAָ߉K8@AV+sAl w@A/B<AlAr?A'@?A(h?AA<*Aڰ9?2A,b׽:A%BAڰ9?JA,b׽RA%٘i)I9 w@Y\G JH<JJJJ;E&K Y^~?yT٩YSA0;Eb778 B)UBE[[?[d_~?[[[[[BZYY i) d?A]?A?A8<*Ad9?2A[׽:AZ(BAd9?JA[׽RAZ(Y#ދ?s?y8p{<ٓH R?Rd?`MM? I @Ͷ?M?`{?)#ދ? I٘i)I9w@YG JJ<J)JJJ;E&Kpx> Y^~?yЩSA?5;E{7{7:8)PB[[П?[n_~?[ܩ[[[[BZYY i) XBZYY i¸>q) B?A?=*A9?2A1/ֽ:A;üBA9?JA1/ֽRA;ü٘i)I9z@YG JU =JJJJ;E&K Y_~?yծUAK;Eŧ7b78B)0BE[[v?[_~?[R[[[[ZZZZBZYY i)  Y6_~?y!VA?P;E8))B[[?['_~?[ȭ[[[[ZZZZBZYY i) JJJJ;E&Kw> Y0_~?yzHWA?k;E777 8B)BE[[)?[_~?[f}[[[[ZZZZBZYY il) t&"AA@fwNA"AZAbAjArAzAAAE!e6:@A!SOi:@AVcsA}@ASh;A0h=Am?AN?A@f[?ABb*Ay9?2AD>ֽ:A =BAy9?JAD>ֽRA =Yڲ??yg=ih;ٓHM hA??1<?鰿m? ?)ڲ? I٘i)I9}@YnG JBJ=JJJ Y5_~?yuNVA?;E7.8B)BE[[|]?[|_~?[L[[[[BZYY i=d) *Aʧ9?2Aս:A=BAʧ9?JAսRA=٘i)I9S}@Y/G JHyJJJJ_~?[%[[[[BZYY i)) P;I!E?iӮ_ ކ@))ކ@ކ@"ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032672.963165 s, next control iter: 1743032673.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032673.363165 s.I~,>WX$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:J< rudderAngleAction: -0.261799BJ@ elevatorAngleAction: -0.065021nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743032673.363286F (some fields omitted in printout)A3333@Ax!@A=`~? A}AE&"AAxvwNA"AZAbAjArAzAAA˜Q:@AxJsA1{@At6Aɗ=A; ?AiAy?A O*A9?2A׽:Ax=BA9?JA׽RAx=Y?#?y9Ǘ=R6ٓH ¿@Qsא? I¿S?@u yΆ ?)? I٘i)I91{@YG JJ<JJJ3 YA,_~?y"TA?;ESI787R8B)&BE[[?[K_~?[k[[[[BZYY i) w ;IdE?iI8_ s @))s @s @ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032673.383165 s, next control iter: 1743032673.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6172&, header.stamp.nsec: 0&0 temperature: 13.562803&* salinity: 33.375603&, density: 1025.000000&* values[0]: 0.583774&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032673.783165 s.YI~,rX$AAQ@An@A`~? AuA8&"AAZvwNA"AZAbAjArAzAAA3=EP:@AxEsAz@AA9=A#?A aAux?Aa*A9?2A-׽:An=BA9?JA-׽RAn=٘i)I9z@YG JJJJJ9 Y_~?y/RA?;Ej7gv8);B[[?[y_~?[[[[[BZYY i) !9I ;E?i9M &'@))&'@&'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032675.503165 s, next control iter: 1743032675.863181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6174, header.stamp.nsec: 00 temperature: 13.563350* salinity: 33.375599, density: 1025.000000* values[0]: 0.582460F (some fields omitted in printout)"_~?)"/ rAdjusting time to match Gazebo time: 1743032675.883165 s.y=I~,@X$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032675.883293F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@Aףp=@A&`~? ATMA &"AAiwNA"AZAbAjArAzAAAl,2:@A[9-sAqw@AR^<A=Aeu?AA@9L?A*A9?2Akֽ:A<BA9?JAkֽRA<٘i)I9w@YG JJJJJS Y^~?y̨PA?;Eŧ7=8B)QB E[[6?[D_~?[[[[[BZYY i) ID?i򍿉5 /@))/@/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032677.583165 s, next control iter: 1743032677.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6176, header.stamp.nsec: 00 temperature: 13.384674* salinity: 33.391605, density: 1025.000000* values[0]: 0.705061F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032677.983165 s._I~,~Y$AAQ @A"07 @AG_~? A%A &"AAFIwNA"AZAbAjArAzAAA-9@AQsAu@AjAeǁ=A?ABſA?A<*A49?2A6ֽ:A@Y<BA49?JA6ֽRA@Y<٘i)I9u@YG JwJJJJn4@))@>4@@>4@lYFFF]Waiting for Gazebo time sync: latest Gz time: 1743032678.863165 s, next control iter: 1743032679.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032679.243165 s.sI~,mY$AJ"J*J2J:JBJnJvJAGz!@Alscz!@A\_~? A#A&"AA[,wNA"AZAbAjArAzAAA 4@9@A:ħsALht@A}<A+=A%@AʿA1?AT*A9?2A=Wֽ:A$=BA9?JA=WֽRA$=٘i)I9ht@YG JJJJJ~ I/D?iu  5@))5@5@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032679.283165 s, next control iter: 1743032679.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032679.663165 s.zI~,qY$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743032679.663278F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6178, header.stamp.nsec: 00 temperature: 13.385081* salinity: 33.391644, density: 1025.000000* values[0]: 0.703211F (some fields omitted in printout)A"@A!@A_~? AjAa&"AA-!wNA"AZAbAjArAzAAA$W 9@AUsAs@Ae|<Ap=Az@A̿A^?AbB*AV9?2AMֽ:A;=BAV9?JAMֽRA;=Yw?b@yܿ=D<ٓHۿ`k!?ۿ4?@԰ y?`?)w? I٘i)I9s@Y{G JJ;JJJ Yܻ^~?y£4OA@;E778)dB[[X@[^~?[<[[[[BZYY i) ̉IND?io9M ^M7@))^M7@^M7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032679.683165 s, next control iter: 1743032680.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032680.083165 s.DI~,RZ$AJ"J*J2J:J4?BJ4?nJ<5vJARk"@AK %vQ"@A_~? AAT&"AA9wNA"AZAbAjArAzAAA٤M9@A GBrAGs@AAf=A@A`kοA 7?A *A9?2A׽:AuR=BA9?JA׽RAuR=٘i)I9s@Y6G JIJJJJ8B)iBE[[A@[#^~?[A[[[[BZYY i) ")IۘD?ig, 8@))8@8@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032680.103165 s, next control iter: 1743032680.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032680.503165 s.I~,L4 Z$AAp= "@A[w"@A_~? A A&"AAwNA"AZAbAjArAzAAA-g9@AIrAs@A=A4ʊ=A,@AпAW?A*A9?2AI׽:AO=BA9?JAI׽RAO=٘i)I9s@YG J|JJJJ Y{^~?y|hMA@ @))>@>@[ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032681.803165 s, next control iter: 1743032682.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032682.183165 s.ˢI~,Z$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083044< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032682.183303F (some fields omitted in printout)AQ$@A\pk$@AB_~? AA٩A&"AAvNA"AZAbAjArAzAAA8n8@AѢim`rA>q@Aw<A=AI @ALӿA%S?A*A9?2ADֽ:A\=BA9?JADֽRA\=I٘i)I9>q@YG JߕC=JJJJ8 B)BE[[;@[^~?[b[[[[BZYY i) ߂ItZD?iy']ֻ JA@))JA@JA@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032682.623165 s, next control iter: 1743032683.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6181 , header.stamp.nsec: 0 0 temperature: 13.385758 * salinity: 33.391697 , density: 1025.000000 * values[0]: 0.700263 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032683.023165 s.ZI~,{Z$AA(\%@AQiB%@A_~? AʩA&"AA{vNA"AZAbAjArAzAAAVS8@A/,rA0p@ALX<Av=A @A@WտA` ?A&Ф*AS9?2A=[ֽ:A=BAS9?JA=[ֽRA=٘i)I90p@Y/G JJJJJMw8@A)I"rAo@AÃ;AZ$AA33333&@A~$&@Av_~? A|As &"AAvNA"AZAbAjArAzAAAyzV_8@AXrAo@AA'=A@A@ ׿A .r?AԽ*Ay9?2A%׽:Av=BAy9?JA%׽RAv=Y.@T@yz&=ٓH x VȄD?*?`}@}o?).@ I٘i)I9o@YG JIB=JA<JJJ  8Y.^~? 8yWrKA@'8)B[[(@[^~?[;[[[[BZYY i) 쯼Im2D?in JG))JGJ@ Y]~?yi5MIA@B))>S@YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6186, header.stamp.nsec: 00 temperature: 13.387180F* salinity: 33.391720, density: 1025.000000* values[0]: 0.694136F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743032687.663165 s, next control iter: 1743032688.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032688.063165 s.I~,R \$AAfffff*@A6TL*@Aj^~? AzA&"AAuNA"AZAbAjArAzAAAI 6@Aۮ}rAh@AA =A6@A`޿A?Am;Ǽ*AE9?2Ai(׽:A=BAE9?JAi(׽RA=Y @@yO=OٓH)\?F@?}j?) @ I٘i)I9h@Y G JǼJZ;JJJ Ys]~?y GA@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032688.103165 s, next control iter: 1743032688.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032688.483165 s.v_I~,\$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743032688.483280F (some fields omitted in printout)J"J*J2J:JBJnJvJA*@Ayvַ*@A&^~? AtA&"AA uNA"AZAbAjArAzAAAٿȳe6@AOarA#h@A3AY=A@A ކ߿A`&\?AS˼*Ae9?2Aֽ:AA=BAe9?JAֽRAA=٘i)I9#h@YH G JȼJJJJA: 8))8,\Y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032689.343165 s, next control iter: 1743032689.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6188*, header.stamp.nsec: 0*0 temperature: 13.387818** salinity: 33.391750*, density: 1025.000000** values[0]: 0.690644*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032689.743165 s.WI~,Xo\$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743032689.743258F (some fields omitted in printout)AGz,@Ai+@A^~? A2cA&"AA >uNA"AZAbAjArAzAAAI|5@A䣎PrAe@A<~<A9A=A @A/A]?A9*A]9?2Aս:A&=BA]9?JAսRA&=٘i)I9e@Y G JDJJJJ=E&K Y]~?y,)EAr; BV7))BV7sZ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032689.763165 s, next control iter: 1743032690.143174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743032690.163165 s.t}"I~,q\$AJ"J*J2J:JBJnJvJA,@Aƨke,@AS^~? A]AX&"AA!uNA"AZAbAjArAzAAA4)5@ArA*e@A\N<Ab=A"@AAf?Aj*A9?2Aֽ:A<BA9?JAֽRA Y]~?y"DA"@w,5; g5))g5N6\@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032690.183165 s, next control iter: 1743032690.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032690.583165 s.(I~,S\$AAR,@A1zn,@A6s^~? A*XA&"AABuNA"AZAbAjArAzAAApvN5@AeU7rA8d@A6;A{=AnX#@A jAnW?A!U*A̠9?2AZֽ:Ax<BA̠9?JAZֽRAx<٘i)I98d@Y G JJJJJ=E&K Y\~?yXDA| V; m}4))m}4H]@yX=fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032690.623165 s, next control iter: 1743032690.983177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6189 , header.stamp.nsec: 00 temperature: 13.388235* salinity: 33.391762, density: 1025.000000* values[0]: 0.689761F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032691.003165 s. 0I~,n4\$AJ"J*J2J:J0?BJ0?nJ'95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743032691.003300F (some fields omitted in printout)Ap= W-@A*<-@A_^~? ARA.&"AA tNA"AZAbAjArAzAAA[lq5@AҏeSrAZwc@A`_A28=A$@AAˡ?Aϼ*A¨9?2Apֽ:A z;BA¨9?JApֽRA z;٘i)I9wc@Yp G JmB=JJJJ=E&K Y\~?yCA[[[[ZZBZYY i) 9$Ig8D?i>k{; k3))k3J _@y8r=;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032691.023165 s, next control iter: 1743032691.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032691.423165 s. u6I~,\$AA(\-@A]~-@AK^~? AMA+&"AAHtNA"AZAbAjArAzAAAvg4@A%rAb@AA,V<Ak%@A A 4?A䧼*A9?2A`ֽ:A~BA9?JA`ֽRA~٘i)I9b@Y G JC=JJJJ=E&K Yi\~?yCAD?i>; 1))1v`@I#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032691.463165 s, next control iter: 1743032691.823184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6190, header.stamp.nsec: 00 temperature: 13.388588* salinity: 33.391754, density: 1025.000000* values[0]: 0.688181F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032691.843165 s.<I~,\$AJ"J*J2J:J,0?BJ,0?nJ85vJAHz..@A#M.@A7^~? AHA&"AAtNA"AZAbAjArAzAAA6y4@A rADVb@A\yA<<AF'@A`ZA,?A`e*A9?2ASֽ:ABA9?JASֽRA٘i)I9Vb@Y G J'JJJJ =E&K YC\~?yCA elevatorAngleAction: 0.081749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743032692.263320F (some fields omitted in printout)A.@A.@AB#^~? ACA[&"AA5tNA"AZAbAjArAzAAAXs\4@AZrA)a@A1ZڻAmAw(@AA`~l?A:*A9?2Akֽ:AvBA9?JAkֽRAvYƌ@(@ymZڻٓH ߿6?A?p?8K{?)ƌ@ I٘i)I9a@Y G JdJ]CJJJ%=E&Kw> Y\~?y$CA(@I~MD?i?; .)).Fc@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032692.303165 s, next control iter: 1743032692.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 61912, header.stamp.nsec: 020 temperature: 13.3888222* salinity: 33.3917812, density: 1025.0000002* values[0]: 0.6871922F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032692.683165 s.lJI~,c+]$AJ"J*J2J:J/?BJ/?nJw85vJAQ/@Al .@Ao^~? A>A&"AAmtNA"AZAbAjArAzAAAPh4@ArAa@A;A@ᗼA)@A A@է?A*A9?2Aֽ:A~BA9?JAֽRA~٘i)I9a@Y] G JJJJJ+=E&K Yx\~?ygݧ*CA elevatorAngleAction: 0.071501< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032693.523296F (some fields omitted in printout)J"J*J2J:JBJnJvJA(/@A?/@A]~? A5A,s&"AA-tNA"AZAbAjArAzAAAyJ3@A'GlrAa@AXpx<AXB,A;,@A 7~A?A:*A9?2Aֽ:AܼBA9?JAֽRAܼ٘i)I9a@YF G J?ٹJJJJ5=E&K YJG\~?yԧ5CAa@Aώ<ARA-@AAL?Av;*AC9?2Aֽ:ABAC9?JAֽRA٘i)I9a@YW G J};JJJJ;=E&K Y.\~?yЧ;CA]$AJ"J*J2J:JBJnJvJA33330@A+-#0@A]~? A,A/ &"AAsNA"AZAbAjArAzAAAM3@Av f=}rA7a@ASA\rA /@AA?A)<*A9?2Avֽ:ABA9?JAvֽRAY !@0/@y rqSٓH`WMٿ-???ud{8L?Zbj ?) !@ I٘i)I9a@Yy G J3<B=JJJJJ@=E&Kv> Y\~?y ͧCA/@ elevatorAngleAction: 0.055618< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743032694.783295F (some fields omitted in printout)AQ1@AK1@Aʡ]~? A(Ar &"AAwsNA"AZAbAjArAzAAAo.2@A?zrA3b@AlVAAFN0@A`~>A#?Ac<*A9?2Aս:ACBA9?JAսRAC٘i)I93b@Y G JD<C=JJJJE=E&K Y[~?yɧCAID?ii?< ~&))~&Ӡk@õ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032694.803165 s, next control iter: 1743032695.183182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032695.203165 s.sI~,]$AJ"J*J2J:JBJnJvJAףp=1@Ad elevatorAngleAction: 0.065096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743032696.043298F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga2@AY2G2@AW]]~? A AY!&"AA]csNA"AZAbAjArAzAAAy2@A~srAc@A19AAE4@AA`-?A<*A9?2Aֽ:AZ BA9?JAֽRAZ ٘i)I9c@Y G Jh<JJJJV=E&K Y[~?yDA Yʑ[~?yz8EA5@ @D< !))!q@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032696.503165 s, next control iter: 1743032696.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6195, header.stamp.nsec: 00 temperature: 13.388665* salinity: 33.391758, density: 1025.000000* values[0]: 0.688312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032696.883165 s.yI~,M8^$AJ"J*J2J:JBJnJvJAQ83@AN+@3@Ay.]~? A As!&"AAsNA"AZAbAjArAzAAAmbv1@A9orAd@A<AhA6@A@[A@p?Av<*A"9?2A!׽:AtBA"9?JA!׽RAt٘i)I9d@Y. G J<JJJJ`=E&K Yv[~?yֹEA elevatorAngleAction: 0.065096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032697.303291F (some fields omitted in printout)Aq= ף3@Ab3@A]~? AA&"&"AArNA"AZAbAjArAzAAAʝP.1@A5:mrA8e@A%P<A2A<8@A@ČA?Alr<*AA9?2Aֽ:ABAA9?JAֽRA٘i)I98e@Y G Jۣ<JJJJf=E&K Y[[~?y2FA elevatorAngleAction: 0.065096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032698.563311F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff4@AشR4@A-\~? A A"&"AAtrNA"AZAbAjArAzAAAޅ mR0@A8grAf@AڎA8A[<@AA?AP<*A9?2Aֽ:ABA9?JAֽRAY~.@<@y$4ٓHCɿ@?1?WUMdB?"?)~.@ I٘i)I9f@Y G J<J/;JJJv=E&Kw>  8Y` [~? 8y%2GA<@@AbA@@?A0<*A9?2Asֽ:ABA9?JAsֽRA٘i)I9g@Y2 G J<JJJJ=E&K YZ~?yGA elevatorAngleAction: 0.065096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200852 time: 1743032699.823419F (some fields omitted in printout)A\(6@Ae6@A\~? ARAr#&"AA~rNA"AZAbAjArAzAAA;m6.@AΒ%/crA h@A`$;A ,A@@AA`g?A <*A9?2AA׽:A BA9?JAA׽RA ٘i)I9h@Y G J<B=JJJJ=E&K YaZ~?yӪYHAB)BE[[tI@[;Z~?[է[[[[BZYY i) J;IueE?i?U< 3g))3g{@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032699.863165 s, next control iter: 1743032700.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032700.243165 s.J "J *J 2J :J 1?BJ 1?nJ 95vJ I~,_$AAGz6@AQcz6@Aj\~? A A#&"AAqNA"AZAbAjArAzAAA{eK.@AV&RarAMh@Aq<An+A\A@AA !?A]ގ<*A9?2A0׽:ABA9?JA0׽RA9٘i)I9h@Y G J<C=JJJJ=E&K YZ~?y HA YZ~?y*IAB@ elevatorAngleAction: 0.075346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743032701.083293F (some fields omitted in printout)ARk7@AHN&nQ7@A8\~? A6AX#&"AAaqNA"AZAbAjArAzAAA_pD-@AM@[ymZ~?[֧[[[[BZYY i) ;I!E?i?O< o))oF@ȵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032701.103165 s, next control iter: 1743032701.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032701.503165 s.I~,r4`_$AAp= 7@A;7@A\~? AA$&"AAqNA"AZAbAjArAzAAAH1,@AbVi^rA\j@AuA䄽A/E@AAc?AVx<*AV9?2Aoֽ:ABAV9?JAoֽRA٘i)I9\j@YG J0<JJJJ=E&K YfGZ~?ycIA=E{7Z728)BE[[{N@[TZ~?[Rק[[[[BZYY i) I;IE?iB? < C\))C\a@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032701.523165 s, next control iter: 1743032701.903186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6200, header.stamp.nsec: 00 temperature: 13.387719* salinity: 33.391743, density: 1025.000000* values[0]: 0.693065F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032701.923165 s.6I~,{_$AJ"J*J2J:JBJnJvJA(\B8@Az(8@A\~? AA1$&"AAW\qNA"AZAbAjArAzAAAZIN+@Ayu]rA j@AZA7A)sF@AA 2$?Aˌ<*A9?2A5ֽ:A8BA9?JA5ֽRA8٘i)I9j@YG J<JJJJ=E&K YJ+Z~?y$JA =E77798CB)BE[[MO@[G elevatorAngleAction: 0.075346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032702.343301F (some fields omitted in printout)AHz8@A;8@A[~? AAN$&"AA5qNA"AZAbAjArAzAAAaWH+@A4z\rA/Hk@AƵA AG@A)AW?A3<*A-9?2A'?ֽ:A5BA-9?JA'?ֽRA5٘i)I9Hk@Y2G J<JJJJ=E&K Y-Z~?yJA=Ej7Z7A8DB)BE[[P@[ $Z~?[ا[[[[BZYY i) +;IE?ia@S< '))'G@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032702.383165 s, next control iter: 1743032702.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6201&, header.stamp.nsec: 0&0 temperature: 13.387561&* salinity: 33.391727&, density: 1025.000000&* values[0]: 0.693917&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032702.763165 s.=I~,8ذ_$AJ"J*J2J:JBJnJvJA9@AG8@A7[~? ANAh$&"AAqNA"AZAbAjArAzAAA,*@AW[rAok@AÃ&AHA IA<A ?AG<*A9?2Aֽ:A1BA9?JAֽRA1Y;@}IyF&ٓH""?@ ?WJʿ?`Є@?);@ I٘i)I9k@YzG J<JCJJJ=E&K;x> YY~?yJAI=Ej7BH8)B[[N:R@[ Z~?[٧[[[[BZYY i)  elevatorAngleAction: 0.075346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032703.603294F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף9@Al9@A[~? ASA$&"AApNA"AZAbAjArAzAAAv8s)@Aa(ZrAl@Ac=<A<A5ZFAZA?AD<*Ak9?2A8׽:AmBAk9?JA8׽RAm٘i)I9l@YG J2<JJJJ=E&K YkY~?yKA#=E{7{7V8CB)ޯBE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #29q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) ,<)t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032703.643165 s, next control iter: 1743032704.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6202 , header.stamp.nsec: 0 0 temperature: 13.387391 * salinity: 33.391754 , density: 1025.000000 * values[0]: 0.694765 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032704.023165 s.ZI~,|`$AA(\:@AOjB:@A[~? AA$&"AAUpNA"AZAbAjArAzAAA?"(@A{;\1ZrAm@AR<AݍAEAeA`pr?Ao<*A9?2A">׽:AMBA9?JA">׽RAM٘i)I9m@YIG J<JJJJ=E&K Y-Y~?yKA(=E)7b7]8)ۯBE[[U@[Y~?[ݧ[[[[BZYY i) ;K7`$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032704.863275F (some fields omitted in printout)A33333;@A= $;@AP[~? AAg$&"AAJpNA"AZAbAjArAzAAAxoR'@AC$LYrAn@A ;A- ARSCA`A ?A<*A:?2AsĽ:A BA:?JAsĽRA Y^@@5VCy !;ٓH@9`B? YeY~?yoLAVC3=E777l8)ԯB|E[[}_X@[zY~?[ [[[[BZYY i) YZ=E)7ŧ7mz8)̯BvE[[Z@[fY~?[[[[[BZYY i=) 3 y elevatorAngleAction: 0.084518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743032706.123323F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u<@A[<@Ac[~? A5A$&"AAoNA"AZAbAjArAzAAAQO%@AWZYrAo@ANoArnA?A`9AuAO<*A+:?2AH˽:AMBA+:?JAH˽RAM٘i)I9o@YG J<C=JJJJ=E&K YhY~?y˧MAC=E7778)ȯB[[\@[FOY~?[ [[[[BZYY i) %AAA<*A3x:?2Abν:ATBA3x:?JAbνRAT٘i)I9$p@Y'G J<JJJJ=E&K YFX~?y3NAH=E7È8)ïBsE[[U3]@[8Y~?[@[[[[BZYY i) Nj=A #A@Ann<*Ak:?2Anн:A|BAk:?JAnнRA|YF@F=yRq;ٓH^?nݲ?`^ǿ t`?}?y??)F@ I٘i)I9p@Y{G J<J5,JJJ=E&Kf> YX~?y1NAF=N=E7b78)BpE[[g^@[8"Y~?[[[[[BZYY i) J elevatorAngleAction: 0.084518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743032707.383273F (some fields omitted in printout)AQ=@A,?=@A(Z~? AA $&"AA`]oNA"AZAbAjArAzAAA)u#@Ag#QYrA5q@AI's<AힽA;AACA<*Ar_:?2Aҽ:A(BAr_:?JAҽRA(٘i)I95q@YG JP<JJJJ=E&K YĽX~?yΫOAS=E{7{78EB)BmE[[Қ_@[ Y~?[[[[[BZYY i) ̚@AU >@A#Z~? AA$&"AA5oNA"AZAbAjArAzAAAI~H#@A>`>ZrA q@A4~<A+A:A4uA I At<*AbS:?2Aӽ:ABAbS:?JAӽRA٘i)I9q@Y"G J<JJJJ=E&K YX~?ykmOAX=ES77C8)BjE[[`@[X~?[[[[[BZYY i) 3P@A'Gu>@A*Z~? AoAǣ$&"AAoNA"AZAbAjArAzAAANL[1"@AP>[ZrAOr@A<A{ARB9AhA³Aov<*AG:?2AEԽ:AeBAG:?JAEԽRAe٘i)I9Or@YzG JR<JJJJ=E&K YBX~?yOA^=E77m8)BgE[[a@[9X~?[d[[[[BZYY i) ҩ elevatorAngleAction: 0.084518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032708.643287F (some fields omitted in printout)J"J*J2J:JBJnJvJAG>@A/ >@A@fZ~? A\Ar$&"AA2nNA"AZAbAjArAzAAAv"@A^ .G[rAr@Ak;rAA57AZA`VxA<*A=:?2A'Խ:ABA=:?JA'ԽRA٘i)I9r@YG J<JJJJ=E&K YjX~?y>PAc=E8DB)BeE[[!'c@[X~?[3[[[[BZYY i) U< ;i));i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032708.663165 s, next control iter: 1743032709.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6207, header.stamp.nsec: 00 temperature: 13.386440* salinity: 33.391708, density: 1025.000000* values[0]: 0.699567F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032709.063165 s.PI~,k Da$AAfffff?@A3OL?@AhLZ~? AqA$&"AAnNA"AZAbAjArAzAAAXq!@A*l2[rAs@A<]AAI6AHAd/A <*A3:?2Anս:A;BA3:?JAnսRA;YqM@6yO^ٓH! 6?@dw?`8ҿn҅?>\? 𰋿?)qM@ I٘i)I9s@Y8G J1<J鎼JJJ=E&KI|> YsOX~?y"PA6h=Eŧ7b7ó8)BbE[[Vd@[mX~?[([[[[BZYY i) ԣE&K Yc4X~?y$QAn=Eb778)B[[4e@[GX~?[9[[[[BZYY i) @< ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032709.503165 s, next control iter: 1743032709.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6208, header.stamp.nsec: 00 temperature: 13.386232* salinity: 33.391708, density: 1025.000000* values[0]: 0.700736F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032709.903165 s.]I~,ya$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032709.903274F (some fields omitted in printout)A ףp=@@A[#@@AZ~? AAO$&"AAqnNA"AZAbAjArAzAAA#m9 @Am`aL]rAt@A+AٛA4AAH[AT&<*A!:?2A=ֽ:ABA!:?JA=ֽRA٘i)I9t@YG J<JJJJ>E&K YVX~?y QAs=E77j78)B_E[[f@[qX~?[d[[[[BZYY i) AE&K YGW~?y RAy=E77C8)B\E[[@g@[vX~?[[[[[BZYY i) <AHMAR1A\Aa)ſAS7<*AC:?2A>o׽:A]BAC:?JA>o׽RA]٘i)I9-v@YG J<JJJJ>E&K Y9W~?y}RA~=Eb77n8)BYE[[i@[bX~?[[[[[BZYY i)  elevatorAngleAction: 0.084518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743032711.163275F (some fields omitted in printout)J"J*J2J:JBJnJvJAA@ATrNeA@AY~? ALA5#&"AAmNA"AZAbAjArAzAAA@A5`rAwv@Aԅ<AA/A SA ǿA<*AI :?2Al׽:A%BAI :?JAl׽RA%YyT@0y䴲lW<ٓHz \o? ? Bؿ >@?`[O? a? ?)yT@ I٘i)I9v@Y<G J<J>JJJ>E&Kz> Y#W~?yvRA0=E78)BVE[[?0j@[NX~?[ [[[[BZYY i) @ASarAw@AL<AA.A!AkȿA<*A:?2AMT׽:ABA:?JAMT׽RA٘i)I9w@YG J<JJJJ>E&K YW~?yçlSA=E77778)BSE[[TZk@[:X~?[! [[[[BZYY i=)  IE&K YW~?y'ǧSA=Eŧ7b78)B[[l@['X~?[[[[[ZZZZ¸>BZYY i¸>fT) TFE&K YzW~?yʧ\TA=E778CB)|BPE[[ϩm@[X~?[[[[[ZZZZBZYY i) QBE&K Y`W~?yͧTA=ED8)uBME[[n@[X~?[z[[[[ZZZZBZYY i) 9@E&K^x> YGW~?yҧ;UA)=ESI7Z7n8)nBKE[[o@[W~?[}[[[[ZZZZBZYY i) ڕE&K  8Y /W~? 8y+֧UA=E77778BB)gBHE[[q@[W~?[ [[[[ZZZZBZYY i) E&K Y(W~?yTڧ VA=Ej7Z7 8)aB[[Br@[WW~?[$[[[[ZZZZBZYY i) @E&K YFV~?y}ާpVA=E{7{78)[BEE[[fs@[tW~?[ )[[[[ZZZZBZYY i) ^E&K YdV~?yVA=Ej78)WBBE[[t@[W~?[`-[[[[ZZZZBZYY i) b$AJ"J*J2J:JS5?BJS5?nJ">5vJA3333E@A.2E@AEX~? AA!&"AA"lNA"AZAbAjArAzAAAϺA@A߉:qrAu}@A<Ap;A: #Ap&AvԿA1<*A:?2Aֽ:A7<BA:?JAֽRA7JJJM>E&Krx> YV~?yVA #=E)7)7D8AB)TB?E[[xu@[lW~?[1[[[[ZZZZBZYY iy) xE&K YwV~?yVA=E77o&8)RB[[v@[BW~?[m6[[[[ZZZZBZYY ii) O fE&K YV~?yyVA AD=Eb7-8)PB=E[[w@[mrW~?[;[[[[BZYY i) $SE&K YV~?ykVA=E777748@B):E[[y@[aW~?[?[[[[BZYY i) ?@A׿Aۻ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9}@YG JތJJJJb>E&K YoV~?y\VA=E7;80B)@B7E[[ 8z@[QW~?[D[[[[BZYY i) X-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032717.083165 s, next control iter: 1743032717.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032717.463165 s.XI~,]c$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.071776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743032717.463300F (some fields omitted in printout)AG@A DG@A$fX~? A?-Ar &"AA"kNA"AZAbAjArAzAAAZM@Ad}rA}@A:Aw=A֋A`A`OؿA0*AL9?2AOֽ:Ar=BAL9?JAOֽRAr=Yg@yw=:ٓH@`?_x I`뮿߰_? ?)g@ I٘i)I9}@YhG J J5>JJJh>E&Kw> YbYV~?y\VA=E{7{7C8)BB[[Z{@[AW~?[oI[[[[BZYY ie) &t5vJAQ8H@A+<H@APX~? A1A &"AAkNA"AZAbAjArAzAAA@AkrAn[}@AP<A_b=A@JA gA sٿAzk*A?9?2Ao7ֽ:A=BA?9?JAo7ֽRA=٘i)I9[}@Y3G JLJJJJm>E&K YCV~?yVA=Eb77DJ8/B)DB4E[[{|@[>2W~?[eN[[[[BZYY i) j ڿA^*Aw9?2A.ֽ:A%=BAw9?JA.ֽRA%=٘i)I9|@YG J]JJJJr>E&K Y-V~?yM UA=E77oQ8)GB0E[[}@["W~?[lS[[[[BZYY i) C\;Ii9~@ٳ"= sĿ))sĿ~@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032718.343165 s, next control iter: 1743032718.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6217., header.stamp.nsec: 0.0 temperature: 13.384718.* salinity: 33.391594., density: 1025.000000.* values[0]: 0.708547.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032718.723165 s.I~,Hc$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056044< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743032718.723315F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\I@A)JH@A$X~? A:Ar&"AAxkNA"AZAbAjArAzAAA5΅>@A燅rAn|@A"I<A U=AA 6AV ۿA=*A49?2A{ֽ:Aʸ=BA49?JA{ֽRAʸ=٘i)I9n|@YG JkJJJJx>E&K YLV~?ybUA=E77X8)LB1E[[~@[W~?[X[[[[BZYY i) ;Ii@$= D¿))D¿~@yzeΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032718.743165 s, next control iter: 1743032719.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032719.143165 s.U/I~,*c$AAGzI@Ag`I@AX~? AJ?A&"AABXkNA"AZAbAjArAzAAAg?AihrAt{@A1:A?=A2SAA+ۿAT*Ae9?2A ֽ:Ac =BAe9?JA ֽRAc =٘i)I9{@YPG JGJJJJ}>E&K YV~?yUA=E77{7_8)PB.E[[@[vW~?[][[[[BZYY i) Mл;Ii*@&=  )) m @ykeѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032719.163165 s, next control iter: 1743032719.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032719.563165 s.I~,R c$AJ"J*J2J:JBJnJvJAffffI@AO7PI@AW~? A$DA&"AAn8kNA"AZAbAjArAzAAAzֆ?Á^rA[{@AE&Kyx> YU~?yTA=Ef8.B)TB+E[[{@[V~?[b[[[[BZYY i) X;Ii@'= c˽))c˽@yiҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032719.603165 s, next control iter: 1743032719.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6218, header.stamp.nsec: 00 temperature: 13.384942* salinity: 33.391571, density: 1025.000000* values[0]: 0.707667F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032719.983165 s.I~,c$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032719.983289F (some fields omitted in printout)AQJ@A7J@AmW~? AIAZ&"AAkNA"AZAbAjArAzAAAL%/u3?AZ4?irAz@A XA =AAWA ]ݿAM*A49?2Ao׽:A =BA49?JAo׽RA =٘i)I9z@YG JiB=JJJJ>E&K Y)U~?y3$ATA=E)7)7n8)XB[[< @[ V~?[:h[[[[BZYY i) ~;Iiʃ@(= ))7,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032720.023165 s, next control iter: 1743032720.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032720.403165 s.&I~,d$AJ"J*J2J:J 5?BJ 5?nJ=5vJA ףpJ@AkBZJ@ABW~? AE&K YsU~?y*SA=E777Eu8)\B(E[[ᘁ@[[V~?[m[[[[BZYY i) lB;Ii@*= S))Sܺ@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032720.423165 s, next control iter: 1743032720.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6219, header.stamp.nsec: 00 temperature: 13.385189* salinity: 33.391586, density: 1025.000000* values[0]: 0.706691F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032720.823165 s. I~,)4d$AA\(K@A[^K@AmW~? AySA^&"AAjNA"AZAbAjArAzAAA7#X4>?AhrAy@AsAD=AA`A޿A*AH9?2Aֽ:A8=BAH9?JAֽRA8=٘i)I9y@YG JJJJJ>E&K YU~?y0tSA=E{7j7p|8/B)aB)E[[ '@[V~?[s[[[[BZYY i) (;Ii(@ += W))WI@SЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032720.863165 s, next control iter: 1743032721.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032721.243165 s.I~,qOd$AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743032721.243281F (some fields omitted in printout)AGzK@AzCnzK@AW~? AXA,&"AAjNA"AZAbAjArAzAAAҨ?Au GrAE(y@A<A*p=AAwkAM߿Aܭ*Af9?2Akxֽ:A=BAf9?JAkxֽRA=٘i)I9(y@YG J;B=JJJJ>E&K YU~?y7 SA>E778.B)eB&E[[@[V~?[x[[[[BZYY i) 5:Ii@-= 崿))崿֛@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032721.263165 s, next control iter: 1743032721.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032721.663165 s.I~,qjd$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6220, header.stamp.nsec: 00 temperature: 13.385455* salinity: 33.391575, density: 1025.000000* values[0]: 0.705708F (some fields omitted in printout)AL@A2RK@A͗W~? AP^AC&"AA̠jNA"AZAbAjArAzAAA?A8G#XrAx@A<A5 =AˑAkA>A߭*A9?2A^Sֽ:A=BA9?JA^SֽRA=Y{t@yv=K<ٓH?7@`]\>??){t@ I٘i)I9x@YLG J>C=JJJJ>E&KXx> YpU~?y=RA >Eb77Ɗ8)iB#E[[C@[GV~?[~[[[[BZYY i) H9Ii-@IO.= _))_e@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032721.683165 s, next control iter: 1743032722.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032722.083165 s.D!I~, Sd$AJ"J*J2J:JBJnJvJARkL@AqQL@AW~? AcA+V&"AA jNA"AZAbAjArAzAAAݘQCk?AqyÞrA+x@A |<AB=ABAAuA6p*A9?2Am|ֽ:AS=BA9?JAm|ֽRAS=٘i)I9x@YG JYJJJJ>E&K Y|U~?yDHRA>Eŧ7b78)nB[[+у@[ݧV~?[[[[[BZYY i) AIi@C/= r))r&@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032722.123165 s, next control iter: 1743032722.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032722.503165 s.'I~,r4d$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032722.503289F (some fields omitted in printout)Ap= L@AL@ArW~? AiA&"AAgjNA"AZAbAjArAzAAA;R*?AArAyw@Aԩ;Ai=A AmA`A>*A<9?2Aֽ:A<BA<9?JAֽRA<٘i)I9yw@YG J'JJJJ>E&K YOkU~?yKQA>E7778-B)qB E[[^@[̛V~?[h[[[[BZYY i) ۺIiډ@at0= ;));@ªYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032722.523165 s, next control iter: 1743032722.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6221, header.stamp.nsec: 00 temperature: 13.385682* salinity: 33.391563, density: 1025.000000* values[0]: 0.704697F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032722.923165 s.8.I~,d$AJ"J*J2J:JBJnJvJA(\BM@A!(M@A`W~? AwoAw&"AA6LjNA"AZAbAjArAzAAA瀧DAACVѥrAv@A׬A܊=A7 A@ZA #AWŗ*A9?2ArA׽:AR<BA9?JArA׽RAR<٘i)I9v@YNG JB=JJJJ>E&K YYU~?yRQA>Eŧ7b7F8.B)vB!E[[C@[V~?[%[[[[BZYY i) j*Ii@1= s))s>@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032722.963165 s, next control iter: 1743032723.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032723.343165 s.<5I~,d$AAHzM@AM@ANW~? AjuA &"AA+1jNA"AZAbAjArAzAAAտAsrA6yv@AqAԈ=A/7 A'r߿A wA4*A{9?2A`u׽:A<BA{9?JA`u׽RA<٘i)I9yv@YG J6C=JJJJ>E&K Y-HU~?yYQA>E777p8-B)zBE[[x@[V~?[ꔨ[[[[BZYY i) )gIiD@@3= ө))ө욞@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032723.363165 s, next control iter: 1743032723.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6222&, header.stamp.nsec: 0&0 temperature: 13.385909&* salinity: 33.391533&, density: 1025.000000&* values[0]: 0.703773&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032723.763165 s.=;I~,8d$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032723.763287F (some fields omitted in printout)J"J*J2J:JBJnJvJAN@AiM@A=W~? Az{A؎&"AAjNA"AZAbAjArAzAAA"A|1&rAv@A%A S=AAa޿A AE*A9?2Ab׽:A <BA9?JAb׽RA E&Kox> Y8U~?y`PA$>Ej7Z78)}B[[@[yV~?[Ț[[[[BZYY iz) Ii@G 4= )){(@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032723.783165 s, next control iter: 1743032724.163183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032724.183165 s.BI~,g e$AAQN@AzkN@A,W~? AA&"AAiNA"AZAbAjArAzAAAA2$.rA^u@ASA-=AA ݿAjAts*Ah9?2Ad׽:A<BAh9?JAd׽RA<٘i)I9u@YrG JJJJJ>E&K Y)U~?yghjPA*>E77ŵ8)BE[[Г@[nV~?[[[[[BZYY i) ]$Ii=@4= ?h))?h˵@縪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032724.203165 s, next control iter: 1743032724.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032724.603165 s.84II~,&e$AJ"J*J2J:J3?BJ3?nJ<5vJA= ףN@A6N@AvW~? A뇩A#&"AAiNA"AZAbAjArAzAAAJ<%"AKnrAu@A%;A1=ABaA BݿAhcAL*A 9?2Aֽ:Aێ<BA 9?JAֽRAێ<٘i)I9u@Y+G JߋJJJJ>E&K YzU~?yoPA/>E77{78)B[[ @[~dV~?[[[[[BZYY i) LѻIi@5= 4))4B@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032724.643165 s, next control iter: 1743032725.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6223 , header.stamp.nsec: 0 0 temperature: 13.386121 * salinity: 33.391521 , density: 1025.000000 * values[0]: 0.702974 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032725.023165 s.ZPI~,|Ae$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743032725.023327F (some fields omitted in printout)A(\O@AHzBO@Aq W~? AKA"&"AAiNA"AZAbAjArAzAAAhAlrAt@AV<A-=AAܿAoA%%*A9?2A4jֽ:A=BA9?JA4jֽRA=٘i)I9t@YG JƌJJJJ>E&K Y> U~?y>wOA4>Eb778)BE[[@[sZV~?[[[[[BZYY i) [wIi@6= k))kϠ@y`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032725.043165 s, next control iter: 1743032725.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032725.443165 s.2VI~,)]\e$AJ"J*J2J:J3?BJ3?nJ<5vJAzO@A gO@AV~? AĔAn&"AA iNA"AZAbAjArAzAAA%6'At÷͕rA)t@A~<A1 =AAzۿAAc*A9?2Aiֽ:A ;=BA9?JAiֽRA ;=٘i)I9)t@YG J@JJJJ>E&K YT~?y~YOA:>E777F8)B[[9@[PV~?[[[[[BZYY i) Ii@l8= О))О[@鹪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032725.463165 s, next control iter: 1743032725.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6224, header.stamp.nsec: 00 temperature: 13.386316* salinity: 33.391518, density: 1025.000000* values[0]: 0.702164F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032725.863165 s.+]I~,>we$AA33333P@AhP@AV~? AUA/&&"AAiNA"AZAbAjArAzAAA>,AbyJrAs@AS$?<AK[=A/A pڿA V=AT*A9?2Aϯֽ:A=BA9?JAϯֽRA=YҀ@ptyX=?<ٓHܿ`b?`ֱ``Mܿ@@f? K?)Ҁ@ I٘i)I9s@YRG JJ:JJJ>E&K[x> YGT~?yNAt?>E)7ŧ7q8)BE[[wƈ@[cGV~?[˸[[[[BZYY i) ]IiN@8= ))r@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032725.903165 s, next control iter: 1743032726.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032726.283165 s.3RdI~,e$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743032726.283298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQP@AAΡP@AV~? AA&"AAiNA"AZAbAjArAzAAA6ibPArA1=s@A9A=A&A+ڿA`7Ay*Ay9?2A_׽:A-=BAy9?JA_׽RA-=٘i)I9=s@Y G J0JJJJ>E&K YT~?ycNAD>E7778)B[[S@[Z>V~?[[[[[BZYY i) &Ii@k;9= ;k));k u@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032726.323165 s, next control iter: 1743032726.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6225., header.stamp.nsec: 0.0 temperature: 13.386536.* salinity: 33.391506., density: 1025.000000.* values[0]: 0.701381.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032726.703165 s.ҺjI~,e$AAףp= Q@AI+P@AV~? AA"&"AAniNA"AZAbAjArAzAAA oA=2nrAr@Ats4Ad=AAf[ٿA A&*A9?2A-i׽:A:u=BA9?JA-i׽RA:u=٘i)I9r@YG JkJJJJ>E&K YT~?y@FNAJ>E778.B)BE[[߉@[5V~?[!Ũ[[[[BZYY i) v6IiM@39= {9)){9|@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032726.723165 s, next control iter: 1743032727.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032727.123165 s.=qI~,ve$AJ"J*J2J:Jt3?BJt3?nJ,<5vJA)\uQ@AGɫ[Q@AV~? AAU&"AAYiNA"AZAbAjArAzAAA0ABrAYXr@Ax6A(=AA`VؿAmAOB*A9?2Awv׽:A=BA9?JAwv׽RA=٘i)I9Xr@YG JJJJJ>E&K YT~?yMAO>E8-B)BE[[k@[X-V~?[Y˨[[[[BZYY i) @FIi@:= 7 ))7 @ĪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743032727.143165 s, next control iter: 1743032727.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032727.543165 s.IxI~,e$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032727.543304F (some fields omitted in printout)A{GQ@AZh4Q@AnV~? AA&"AADiNA"AZAbAjArAzAAAcKAԆ2rA.q@A\A=Ab\Aն׿AFAI%*A(9?2A7׽:A=BA(9?JA7׽RA=٘i)I9q@Y8G JtJJJJ>E&K YXT~?yMAT>Eb7b78)B[[Q@[b%V~?[Ѩ[[[[BZYY i) UIi @4<= ;ړ));ړL@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032727.583165 s, next control iter: 1743032727.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6226, header.stamp.nsec: 00 temperature: 13.386715* salinity: 33.391472, density: 1025.000000* values[0]: 0.700593F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032727.963165 s.}~I~,e$AJ"J*J2J:JBJnJvJALR@AZ2R@AV~? AAǎ&"AA 1iNA"AZAbAjArAzAAAp=AXMzrAgq@AWRAV=AA`ֿA{A=*A9?2Aֽ:Aۗ =BA9?JAֽRAۗ =Y`@y$=LRٓH ֿ?|@ֿawAjc?)`@ I٘i)I9gq@YG JߒJIj<JJJ>E&K7x> Y?T~?y2,MAZ>Ej7Z7F8)B[[a@[V~?[ר[[[[BZYY i) dIi@D<= ))\@w̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032727.983165 s, next control iter: 1743032728.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032728.383165 s.؅I~,f$AAQR@AC 8R@A V~? AĩA&"AAiNA"AZAbAjArAzAAAK^AE2rAp@A<A=A\A@ֿA@ƻA#*A?9?2A_ֽ:A{=BA?9?JA_ֽRA{=٘i)I9p@YG JJJJJ>E&K Y%T~?ykLA_>E7{7q8.B)BE[[c@[vV~?[>ި[[[[BZYY i) tIiQ@;<= y))y^1@ϪYFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743032728.403165 s, next control iter: 1743032728.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6227", header.stamp.nsec: 0"0 temperature: 13.386915"* salinity: 33.391483", density: 1025.000000"* values[0]: 0.699789"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032728.803165 s.vAI~,wg3f$AJ"J*J2J:J%3?BJ%3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743032728.803297F (some fields omitted in printout)Aq= #S@AG S@A V~? A˩Ay&"AA. iNA"AZAbAjArAzAAA\S7At[4/rAZp@A4<AŮ=AA`8տA:A*A9?2A6ֽ:A=BA9?JA6ֽRA=٘i)I9Zp@YIG JGB=JJJJ>E&K  8Y T~? 8ydLAe>E7)78)B[[S@[V~?[[[[[BZYY i) Ii@== 3J))3JN@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032728.843165 s, next control iter: 1743032729.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032729.223165 s.gI~,HNf$AA(\S@A;4,FuS@AV~? A өAO&"AAOhNA"AZAbAjArAzAAAK KAfrAo@A{v<Aޙ=A/4A]ԿA$)A*A 9?2Aaֽ:A=BA 9?JAaֽRA=٘i)I9o@YG J#C=JJJJ>E&K YT~?yƨLAj>E{7{7 8)B[[&@[V~?[[[[[BZYY i) 9IiU@== ))H@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032729.243165 s, next control iter: 1743032729.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032729.643165 s.tЙI~,)if$AJ"J*J2J:JBJnJvJAGS@A DOS@AqyV~? A]کA@_&"AA)hNA"AZAbAjArAzAAA [qArA?o@Ap;A,=AA`}ӿA]A}{*A9?2Awֽ:A=BA9?JAwֽRA=٘i)I9?o@YG JJJJJ?E&K Y؉T~?yϨKAo>E7778-B)BE[[O@[V~?[o[[[[BZYY i) wՐIi@>= C))CJԦ@gժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032729.663165 s, next control iter: 1743032730.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6228, header.stamp.nsec: 00 temperature: 13.387148* salinity: 33.391476, density: 1025.000000* values[0]: 0.698867F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032730.063165 s.I~,R f$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032730.063295F (some fields omitted in printout)AfffffT@A~*OLT@AnV~? AA&"AAhNA"AZAbAjArAzAAAA%@rAAn@A ǻA?=AA'ҿAA㣼*A9?2A^6׽:A=BA9?JA^6׽RA=Y W@y?='ȻٓHпE?@匿 п<]`x?) W@ II٘i)I9n@YHG J2J#<JJJ ?E&Kfx> Y{T~?yר3KAu>E78.B)BE[[=@[U~?[[[[[BZYY i) ZTIi@>= ׿))׿_@yqݭ4تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032730.103165 s, next control iter: 1743032730.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032730.483165 s.w_I~,f$AJ"J*J2J:JBJnJvJAT@AyvַT@AdV~? A1A?&"AAhNA"AZAbAjArAzAAAiA(rA*n@AuA=AAȴѿAwA*A9?2Aj׽:Av=BA9?JAj׽RAv=٘i)I9*n@YG JJJJJ?E&K Y{T~?yJAz>E7777G!8)B[[Ɏ@[]U~?[c[[[[BZYY i) ӟIi @>= O))O@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032730.503165 s, next control iter: 1743032730.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6229, header.stamp.nsec: 00 temperature: 13.387372* salinity: 33.391476, density: 1025.000000* values[0]: 0.697888F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032730.903165 s.ȭI~,͹f$AA ףp=U@A1Z#U@A:[V~? AA&"AA*hNA"AZAbAjArAzAAA9A A(N~rAm@AzAW =AxAпAAR*Aj9?2AJ׽:Ab=BAj9?JAJ׽RAb=٘i)I9m@YG JJJJJ?E&K YsT~?y`JA>Eŧ7ŧ7r(8)B[[U@[6U~?[[[[[BZYY i) rRIiG@I?= 'c))'cw@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032730.943165 s, next control iter: 1743032731.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032731.323165 s.wI~,)f$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743032731.323335F (some fields omitted in printout)A\U@AlЗގU@A%RV~? AEA&"AAhNA"AZAbAjArAzAAAۇ-*z A]|SrA6m@AE< A'==AJAϿA@A*A9?2Aֽ:A(=BA9?JAֽRA(=٘i)I9m@YGG JJJJJ?E&K YclT~?yIA>E777/8,B)įBE[[~@[kU~?[q [[[[BZYY i) YЮIi@?= 5))5y@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032731.343165 s, next control iter: 1743032731.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6230*, header.stamp.nsec: 0*0 temperature: 13.387598** salinity: 33.391426*, density: 1025.000000** values[0]: 0.696935*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032731.743165 s. WI~,f$AAGzV@A.nU@AIV~? AA&"AAhNA"AZAbAjArAzAAAVļ A\:rAvl@A_;Ae3=A wAgοA@;Au*A49?2Adֽ:Ag=BA49?JAdֽRAg=٘i)I9vl@YG JB=JJJJ?E&K YeT~?yIA>Eb7b768)ɯB[[k@[U~?[[[[[BZYY i) OIiL@b@= |))|@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032731.783165 s, next control iter: 1743032732.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032732.163165 s.r}I~,q g$AJ"J*J2J:JI2?BJI2?nJ:5vJAV@AeV@AwAV~? AAl&"AAhNA"AZAbAjArAzAAAYIH A~sAk@A^<A=AGݿA E̿A`F`Aļ*AԦ9?2Aֽ:Ao=BAԦ9?JAֽRAo=Y@ݿy⫫=_<ٓH!Ŀ6?@x)Ŀ@ o؋?y?)@ I٘i)I9k@YG JʿC=Jo<JJJ$?E&Kx> Yw`T~?yAIAݿ>E77=8)ίB[[@[U~?[[[[[BZYY i) Ii@?= w))w@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032732.183165 s, next control iter: 1743032732.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032732.583165 s.I~,S%g$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743032732.583313F (some fields omitted in printout)ARV@A\mV@A9V~? AIA.Z&"AAhNA"AZAbAjArAzAAAl2 A`_sA.k@A<Aٛ=ApeۿACtʿA$Al3ʼ*A9?2Aֽ:A5=BA9?JAֽRA5=٘i)I9.k@Y"G JǼJJJEJ)?E&K Y[T~?y HA>Eŧ7b7E8)ӯB[[=@[3U~?[,[[[[BZYY i) ļIiޕ@X?= ]s))]s8@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032732.623165 s, next control iter: 1743032732.983182 s, wait time: 0.360017 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6231 , header.stamp.nsec: 0 0 temperature: 13.387841 * salinity: 33.391441 , density: 1025.000000 * values[0]: 0.695876 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032733.003165 s.x I~,L4@g$AJ"J*J2J:J$2?BJ$2?nJ:5vJAp= WW@A/Eb77HL8)دBE[[ @[U~?[%[[[[BZYY i) Y6̼Ii@?= 5o))5o/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032733.023165 s, next control iter: 1743032733.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032733.423165 s.uI~,[g$AA(\W@A#fyW@A6,V~? AA*&"AAnohNA"AZAbAjArAzAAA0sKAmIsAoi@A޹A]=AտA޺ƿA Adʼ*A49?2Aֽ:AL=BA49?JAֽRAL=٘i)I9i@YRG Je˼JJJJ4?E&K YRT~?yLGA>E77rS8)ݯB[[ݘ@[U~?[n,[[[[BZYY i) AӼIi+@k7@= j))jغ@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032733.463165 s, next control iter: 1743032733.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6232, header.stamp.nsec: 00 temperature: 13.388125* salinity: 33.391426, density: 1025.000000* values[0]: 0.694691F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032733.843165 s.I~,ug$AJ"J*J2J:J1?BJ1?nJz:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743032733.843298F (some fields omitted in printout)AHz.X@AT:XX@A)&V~? A&A &"AAehNA"AZAbAjArAzAAAub['A>ޫsA.i@A!>A#=ABӿAĿAAFɼ*A#9?2A@׽:AiB=BA#9?JA@׽RAiB=٘i)I9.i@Y G JɼJJJJ9?E&K Y>NT~?y$LGA>Eb77Z8+B)B E[[#@[8U~?[3[[[[BZYY i) JڼIi@@= Of))OfE@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032733.883165 s, next control iter: 1743032734.243177 s, wait time: 0.360012 s>NT~?)$ rAdjusting time to match Gazebo time: 1743032734.263165 s.I~,ؐg$AAX@AX@A V~? A.A~ &"AA ]hNA"AZAbAjArAzAAAn~&dAdV*|sAMh@AA^=ApпA¿A VAʼ*A99?2AI׽:A]=BA99?JAI׽RA]=Ytڍ@Uпy=ٓH® ?l? @?R[`?)tڍ@ I٘i)I9h@Y G JɼJ+ <JJJ??E&K\x> YLT~?y-FAп>E777a8)B[[@[U~?[9[[[[BZYY i) Ii@"@= a))aѬ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032734.303165 s, next control iter: 1743032734.663174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 62332, header.stamp.nsec: 020 temperature: 13.3884132* salinity: 33.3914112, density: 1025.0000002* values[0]: 0.6935222F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032734.683165 s.lI~,Vg$AJ"J*J2J:JBJnJvJAQY@A>[X@AV~? A6A5^ &"AAUhNA"AZAbAjArAzAAAˀJ~A{єQsARg@AhyTA|=A οAA@5Aϼ*A|9?2Aֽ:Az=BA|9?JAֽRAz=٘i)I9g@Y G J̼JJJJD?E&K YJT~?y6\FA>E)7b7h8)B E[[C:@[ U~?[e@[[[[ZZ¸BZYY i¸H=) ռIi͕@ݾ?= ]))]>\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032734.683165 s, next control iter: 1743032735.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743032735.103165 s.I~,Țg$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083005< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743032735.103285F (some fields omitted in printout)A= ףpY@A#.VY@A%V~? Av>AR &"AAMhNA"AZAbAjArAzAAAGW&%A+$sA/(g@AD A=A3˿ApA d$A׼*A9?2A*ֽ:A=BA9?JA*ֽRA=٘i)I9(g@Y G JҼJJJJI?E&K Y#IT~?yO?EA>E77{7p8)B[[Ŕ@[U~?[G[[[[ZZBZYY i) ^ɼIi@–?= MBY))MBY@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032735.123165 s, next control iter: 1743032735.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032735.523165 s.I~,{g$AJ"J*J2J:JBJnJvJA(Y@ATbY@A,V~? AoFA' &"AAZGhNA"AZAbAjArAzAAAubVPUA2 )sA^f@A<A7=A}ɿArA]3AH*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9^f@Y5 G JJJJJO?E&K YpGT~?yHlEA>E77Hw8)B[[P@[UU~?[M[[[[ZZBZYY i) IIi@[?= T))Tr@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032735.543165 s, next control iter: 1743032735.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6234, header.stamp.nsec: 00 temperature: 13.396526* salinity: 33.394398, density: 1025.000000* values[0]: 0.687638F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032735.943165 s.WdI~,>]g$AAzGZ@A=-Z@AV~? AmNA &"AAAhNA"AZAbAjArAzAAAid 5AV-sAg~e@A{<AΗ=AtƿAA`BA *A9?2A ֽ:AO<BA9?JA ֽRAO<٘i)I9~e@Y G JJJJJT?E&K YET~?yPDA BD>E777s~8)BE[[8ܕ@[U~?[xT[[[[ZZBZYY i) :Ii@?= =P))=P3@yya=sҪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743032735.963165 s, next control iter: 1743032736.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032736.363165 s.I~,>h$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083005< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743032736.363329F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333Z@A,"Z@A V~? ApVA &"AA*Ao9?2A4ֽ:Aq<BAo9?JA4ֽRAq YFT~?yYDAÿ>E778)B[[g@[U~?[-[[[[[ZZBZYY i) IiQ@ ?= 2L))2L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032736.383165 s, next control iter: 1743032736.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6235&, header.stamp.nsec: 0&0 temperature: 13.572595&* salinity: 33.374985&, density: 1025.000000&* values[0]: 0.568607&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032736.783165 s.Z I~,2h$AAQ[@An[@A_ V~? Aw^AGS &"AA8hNA"AZAbAjArAzAAA< A@ 7sAc@Au;Ah-=ABAѮA]AYμ*AԹ9?2AZֽ:At;BAԹ9?JAZֽRAt;٘i)I9c@Y G JJJJJ_?E&K Y HT~?yzbQDA>E77{7Ȍ8) B[[{rȿ[U~?[a[[[[ZZBZYY i) yIi֔@Y>= G))GGsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032736.803165 s, next control iter: 1743032737.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032737.203165 s.I~,!Mh$AJ"J*J2J:Jq?BJq?nJ5vJAףp=[@AD.p[@A}V~? AfAS&"AAm5hNA"AZAbAjArAzAAAA|ǒEŧ7b78)B[[)Cƿ[HU~?[h[[[[ZZBZYY i) ;Ii@ ">= wvC))wvCwvCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032737.223165 s, next control iter: 1743032737.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032737.623165 s.YI~,egh$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083005< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743032737.623296F (some fields omitted in printout)A)\[@A^i[@A!V~? AnA&"AA2hNA"AZAbAjArAzAAAךWA˅AsAb@AA <AA`)IAnAo*A9?2Ab=ֽ:A_(BA9?JAb=ֽRA_(٘i)I9b@Y G J]JJJJj?E&K Y_JT~?ytCA>Ej7j78)BE[[Ŀ[U~?[Wo[[[[ZZBZYY i) NIim@== ?))??TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032737.643165 s, next control iter: 1743032738.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6236 , header.stamp.nsec: 0 0 temperature: 13.572926 * salinity: 33.374973 , density: 1025.000000 * values[0]: 0.567742 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032738.043165 s. I~,Âh$AJ"J*J2J:JBJnJvJA{Ga\@A@5G\@AKV~? AvA{&"AA<1hNA"AZAbAjArAzAAA5>pAIOtFsA%tb@AATmApA` AssAk *A9?2Aj8ֽ:ABA9?JAj8ֽRA٘i)I9tb@Y G JoNJJJJo?E&K YKT~?y|\CA>E77{7I8)B[[[U~?[v[[[[ZZBZYY i) ߅sIi@>= C:))C:C: )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032738.063165 s, next control iter: 1743032738.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032738.463165 s.Y'I~,h$AA\@A]7\@AV~? A~A$&"AAV0hNA"AZAbAjArAzAAAH\AQaKsAh=b@AA AӶA ~EAPuAI*A9?2Afֽ:A)BA9?JAfֽRA)Y@Y@'ζy ٓH0?@?u?+?ۖ??` ?)@Y@ I٘i)I9=b@Y G JPJkDJJJt?E&Kw> YOT~?yzCAζ>E{7t8)B[[ٴ[[U~?[|[[[[ZZBZYY io=) {aIi@== Y6))Y6Y6)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032738.483165 s, next control iter: 1743032738.863182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6237, header.stamp.nsec: 00 temperature: 13.573125* salinity: 33.374977, density: 1025.000000* values[0]: 0.567268F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032738.883165 s.y-I~,Uh$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743032738.883308F (some fields omitted in printout)AQ8]@AF[D]@A8V~? AƆA@&"AA@0hNA"AZAbAjArAzAAAdPA_NPsA#b@A;A4 A-A ?A`StA`Vº*A9?2Aֽ:A)ԼBA9?JAֽRA)Լ٘i)I9#b@Y G JvJJJJz?E&K YST~?y^CA>E778,B)BE[[a[U~?[[[[[BZYY i#ڍ=) :pOIi@*<= 1))11:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032738.923165 s, next control iter: 1743032739.283181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032739.303165 s.Y4I~,gh$AAq= ף]@Aנ/]@AV~? A׎A&"AA0hNA"AZAbAjArAzAAAsaAHPi;UsA'b@A8Dg<A]%9A{A[-?A`pAP;*A9?2Atֽ:AbBA9?JAtֽRAb漙٘i)I9'b@Y G J#:JJJJ?E&K YWT~?yCA>Eb77ȷ8)E[[S[AU~?[6[[[[BZYY i) f=Ii@;= [-))[-[-x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032739.343165 s, next control iter: 1743032739.703182 s, wait time: 0.360017 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6238*, header.stamp.nsec: 0*0 temperature: 13.573195** salinity: 33.374981*, density: 1025.000000** values[0]: 0.567136*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032739.723165 s.;I~,Hh$AJ"J*J2J:JBJnJvJA(\^@A0E]@AHV~? A斪A}&"AA2hNA"AZAbAjArAzAAA3JA7?V 'ZsAIb@A҆<A]A䮿A a?AjA;*A9?2AJֽ:A'KBA9?JAJֽRA'K٘i)I9Ib@Y G J;JJJJ?E&K Y[T~?y֟CA>E7)78)B[[ [U~?[[[[[BZYY i) U\+Ii>@1;= 2)))2)2)y>s=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032739.763165 s, next control iter: 1743032740.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032740.143165 s.S/BI~,) i$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743032740.143273F (some fields omitted in printout)AGz^@A`^@A V~? AA(h&"AA4hNA"AZAbAjArAzAAAJ'A '_sADžb@A|#<AD|AVAL?AJbAG2<*Az9?2Aֽ:A6BAz9?JAֽRA6٘i)I9b@Y G J8<B=JJJJ?E&K Y_T~?yCA>E778)B[[K[U~?[[[[[BZYY i) QIi$@;= $))$$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032740.163165 s, next control iter: 1743032740.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032740.563165 s.HI~,V $i$AJ"J*J2J:J5?BJ5?nJB5vJAffff^@A&P^@As V~? AA &"AA7hNA"AZAbAjArAzAAA1A| 9csAb@A̔A]JA(֩A?AJWAl<*A9?2A2ֽ:Ac<BA9?JA2ֽRAc<YI@ҩyMJf$ٓH?o ?`?@?E?`^Q?)I@ I٘i)I9b@Y G J4M<C=J"JJJ?E&Kfw> YyfT~?yLDAҩ>E777I8)BE[[ [U~?[I[[[[BZYY i!Tg=) N Ii"@T9= ?n ))?n ?n *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032740.583165 s, next control iter: 1743032740.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6239, header.stamp.nsec: 00 temperature: 13.573101* salinity: 33.374985, density: 1025.000000* values[0]: 0.567335F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032740.983165 s.OI~,>i$AAQ_@A&k7_@APV~? AA7.&"AA;hNA"AZAbAjArAzAAAtAhhsAOIc@A=RA/{AUAX?A IA#<*A9?2Afս:ABA9?JAfսRA٘i)I9Ic@YT G J3<JJJJ?E&K YMmT~?yDA?Eb77t8)B[[ [yU~?[[[[[BZYY i) PIiP@8= 7 ))7 7 G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032741.023165 s, next control iter: 1743032741.383182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743032741.403165 s.&VI~,Yi$AJ"J*J2J:JK?BJK?nJZ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743032741.403290F (some fields omitted in printout)A ףp_@A\_@AV~? AA&"AA@hNA"AZAbAjArAzAAAf ZA-W9msATc@A0AwUA=ƤAa?AH:A<*A9?2Aս:ABA9?JAսRA٘i)I9c@Y G J<JJJJ?E&K Y!tT~?y6©EA?E778-B)BE[[[[sU~?[[[[[BZYY i) ջIi@7= k))kkz*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032741.423165 s, next control iter: 1743032741.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6240, header.stamp.nsec: 00 temperature: 13.572906* salinity: 33.374966, density: 1025.000000* values[0]: 0.567827F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032741.823165 s.\I~,Gti$AA\(`@Aw*`@AV~? AA&"AA FhNA"AZAbAjArAzAAA +A%K5rsAXd@AKAƛAA+?A`j(A<*A9?2A@.ֽ:AnBA9?JA@.ֽRAn٘i)I9Xd@Y G J<JJJJ?E&K YzT~?yʩcEA ?Eŧ7b78) B[[K([U~?[:[[[[BZYY i) JIi7@Q7= @))@@yqg= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032741.843165 s, next control iter: 1743032742.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032742.243165 s.cI~,ui$AJ"J*J2J:Jq?BJq?nJ5vJAGz`@A \kz`@AV~? AƪA Z&"AAQLhNA"AZAbAjArAzAAA4Aκ/{wsAHd@AAΛAdhA?AAG<*AK9?2Aֽ:AA BAK9?JAֽRAA ٘i)I9d@YS G J<JJJJ?E&K YȁT~?yOөEA?E778.B)BE[[C[U~?[ٸ[[[[BZYY iЫ=) Ii@6= ))A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032742.263165 s, next control iter: 1743032742.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032742.663165 s.jI~,qi$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743032742.663275F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6241, header.stamp.nsec: 00 temperature: 13.572603* salinity: 33.375000, density: 1025.000000* values[0]: 0.568495F (some fields omitted in printout)Aa@AWZF`@AV~? AΪA&"AAgShNA"AZAbAjArAzAAAE"|sAԜQ|sAe@A-<AZ,A䯜A ?AA<*A9?2A ׽:AvBA9?JA ׽RAvYCښ@ʜy!*Z5.<ٓHբ? 2?`,@?90?@?Ƕ?W?)Cښ@ I٘i)I9e@Y G J<J5JJJ?E&K?x> YZT~?y۩'FAʜ?Eŧ7b78)B[[=é[U~?[h[[[[BZYY i) sIiō@w5= v ))v v *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032742.683165 s, next control iter: 1743032743.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032743.083165 s.DqI~, Si$AJ"J*J2J:JBJnJvJARka@AmQa@Ax%V~? A֪Ay$&"AAJ[hNA"AZAbAjArAzAAA1qA+"sAf@A^^<A䗽AA ?A`=A<*Az9?2A?*׽:AmBAz9?JA?*׽RAm٘i)I9f@Y G J<JJJJ?E&K YT~?yFA?E77j7I8/B)BE[[?[U~?[ũ[[[[BZYY i) 6Iinj@"24= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032743.103165 s, next control iter: 1743032743.483175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032743.503165 s.wI~,P4i$AAp= a@A#a@Ay+V~? AުA%"AAchNA"AZAbAjArAzAAA~\AsAf@Aj<AAqA}?A:A<*A[9?2A%ֽ:AhRBA[9?JA%ֽRAhR٘i)I9f@YZ G J<JJJJ?E&K YT~?y&FA ?E77t8)B[[}[[V~?[̩[[[[BZYY i) Ii@(3= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032743.543165 s, next control iter: 1743032743.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6242, header.stamp.nsec: 00 temperature: 13.572312* salinity: 33.374989, density: 1025.000000* values[0]: 0.569547F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032743.923165 s.9~I~,i$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743032743.923285F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Bb@A=y(b@A1V~? AqA%"AAjmhNA"AZAbAjArAzAAA՗_ҷ Ak/sA)g@A;A[AXA@z?AAM<*A9?2Awֽ:AaJBA9?JAwֽRAaJ٘i)I9)g@Y G J+<JJJJ?E&K  9YT~? 9yn^GA&?E77O9)BE[[w%[V~?[ ө[[[[BZYY i) xIiX@.\2= &v))&v&vyө=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032743.963165 s, next control iter: 1743032744.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032744.343165 s.<I~,j$AAHzb@A8b@A9V~? A8AIY%"AAwhNA"AZAbAjArAzAAA8d Av&[7ssAbg@AUAKސA&qAXK?AAL<*A9?2AO?ֽ:A%BA9?JAO?ֽRA%٘i)I9g@Y G J"<B=JJJJ?E&K YT~?yGA+?E)7ŧ790B)B E[[K[ V~?[٩[[[[BZYY i)  Ii@1= v))vv{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032744.363165 s, next control iter: 1743032744.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6243&, header.stamp.nsec: 0&0 temperature: 13.572021&* salinity: 33.374977&, density: 1025.000000&* values[0]: 0.569884&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032744.763165 s.8I~,#0j$AJ"J*J2J:J?BJ?nJ5vJAc@Afb@A@V~? AA%"AAhNA"AZAbAjArAzAAAmA& ] AB3C:+sACh@A2Ak-A菿A`?AfA1<*A 9?2Aֽ:A BA 9?JAֽRA Y@hÏy(ꃼٓH@??@` N?ɱ?o?r6?)@ I٘i)I9Ch@Y\ G JH<C=Jd<JJJ?E&K0x> YݽT~?y%HAÏ0?Eb7z 9)B[[k[|V~?[ߩ[[[[BZYY i) n:Ii@20= ))辩*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032744.803165 s, next control iter: 1743032745.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032745.183165 s.˒I~,xKj$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743032745.183312F (some fields omitted in printout)AQc@A2: kc@AHV~? AAH+%"AA^hNA"AZAbAjArAzAAAz> AۘsAih@AAbAJA ?A @Aڡ<*A9?2AGֽ:A 6BA9?JAGֽRA 6٘i)I9h@Y G J#<JJJJ?E&K YT~?y HA6?E779)B[[[V~?[f[[[[BZYY i) :Iig@i.= ߾))߾߾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032745.223165 s, next control iter: 1743032745.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032745.603165 s.84I~,fj$AJ"J*J2J:J?BJ?nJ)5vJA= ףc@A\c@AQV~? ACA%"AAhNA"AZAbAjArAzAAAw` AmdsAXSi@AAA؛A?A@A><*Al9?2Aֽ:ABAl9?JAֽRA٘i)I9Si@YG JE<JJJJ?E&K YQT~?yHA;?E{7j792B)B$E[[K[i#V~?[[[[[BZYY i) "6;Iim@)Y-= ׾))׾׾a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032745.643165 s, next control iter: 1743032746.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6244 , header.stamp.nsec: 0 0 temperature: 13.571705 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.570578 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032746.023165 s.ZI~,|j$AA(\d@ABd@AZV~? A A1%"AA(hNA"AZAbAjArAzAAAsyG A#sAi@A9;AA凿A L?AAď<*A|9?2A ׽:ABA|9?JA ׽RA򼙘I٘i)I9i@YMG J<JJJJ?E&K YT~?yxCIA@?E)7)7:9)B[[[r+V~?[/[[[[BZYY i) 7yt;Ii@V,= v'ξ))v'ξv'ξ`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032746.063165 s, next control iter: 1743032746.423184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743032746.443165 s.5æI~,5]j$AJ"J*J2J:J%?BJ%?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743032746.443296F (some fields omitted in printout)Azd@AUh d@AcV~? AZAm%"AA3hNA"AZAbAjArAzAAA. ALsATFj@A]t<Az AO6A ?A Aj<*A#9?2AB׽:A7BA#9?JAB׽RA7٘i)I9Fj@YG JB<JJJJ?E&K YT~?yh$IAF?Eb7b79)߯B[[֕[3V~?[[[[[BZYY i澘=) (;Ii @X+= ;ž));ž;ž7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032746.483165 s, next control iter: 1743032746.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6245, header.stamp.nsec: 00 temperature: 13.571431* salinity: 33.375004, density: 1025.000000* values[0]: 0.571202F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032746.863165 s.+I~,>j$AA33333e@A< e@AmV~? AA%"AAhNA"AZAbAjArAzAAAA^g5GsA[j@A<AvAIA%?A`AN8<*Av9?2A 1׽:As>BAv9?JA 1׽RAs>Y]@fy1<ٓH"?D?` }`;@?????)]@ I٘i)I9j@YG J<J?<JJJ?E&K+x> YT~?y+IAK?E7e9)ݯB'E[[[ elevatorAngleAction: 0.074583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032747.703280F (some fields omitted in printout)Aףp= f@Ax0e@A3V~? A*A%"AAhNA"AZAbAjArAzAAAm AؼAsA!k@A4&AЄA{A`QJ?A,A<*A9?2A}ֽ:A\tBA9?JA}ֽRA\t٘i)I9k@YbG J<B=JJJJ?E&K Y U~?y:JAV?Eb77#94B)ׯB+E[[(["OV~?[D [[[[BZYY i) ;Ii@܀&= V))VVy=ʴ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032747.723165 s, next control iter: 1743032748.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032748.123165 s.J "J 7I~*J2J:Jp?,]k$ABJp?nJ5vJA)\uf@A׼[f@AV~? A1A,%"AAhNA"AZAbAjArAzAAA ŸA{ήsAO l@AYAAGvA@"?AlA<*Aj9?2A6ֽ:ABAj9?JA6ֽRA٘i)I9 l@YG J,<C=JJJJ?E&K Y)U~?yuBKA[?E77%'9)ԯB[[錿[XV~?[s[[[[BZYY i) + elevatorAngleAction: 0.074583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743032748.963311F (some fields omitted in printout)ALg@AB#ظ2g@AV~? A @A%"AAiNA"AZAbAjArAzAAAAwjAi fsA6l@A]BAAϛkA?AAx݌<*A9?2ADֽ:AXBA9?JADֽRAXYҟ@gkyBٓHZ?v?ӟ`dE`?@? ?K?)ҟ@ I٘i)I9l@Y8G Jt<JJJJ?E&K(x> YIU~?yPKAgkf?E7)7P.96B)ίB/E[[m[mV~?[[[[[BZYY i) ._* elevatorAngleAction: 0.074583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032750.223300F (some fields omitted in printout)A(\h@A;4,Fuh@AV~? ATA${%"AA[UiNA"AZAbAjArAzAAA^8ZAS՘MsANRn@A77<AiAw[A PO?A@AA<*A9?2AVP׽:ABA9?JAVP׽RA٘i)I9Rn@Y G J<JJJJ @E&K Y }U~?yeLAv?Eb7b799)ůB5E[[[V~?[0[[[[BZYY i蒫=) 4XA"<*A 9?2Aֽ:A:h BA 9?JAֽRA:h Y%@]QyKX;ٓH?X?AI)?@v? ?`k?`?)%@ I٘i)I9Co@YG J*<J]JJJ@E&Kw> Y|U~?ylsMA]Q?EZ7Z7;@99B)B9E[[?Iz[ߧV~?[G<[[[[BZYY i) w elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743032751.483322F (some fields omitted in printout)J"J*J2J:JBJnJvJAi@A&kԷi@AV~? AhA%"AAiNA"AZAbAjArAzAAAӫfA.OsA8o@AA֗AKSLA?AA<*A9?2A7ֽ:ABA9?JA7ֽRA٘i)I9o@YG JΙ<JJJJ@E&K Y˴U~?yyMA?Eŧ7)7C9:B)B elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743032752.743298F (some fields omitted in printout)AGzk@Acj@A*W~? A{Ax%"AA_iNA"AZAbAjArAzAAAon"AjsAiq@A̻AA <A?A@"A<*A9?2AZֽ:AQBA9?JAZֽRAQ٘i)I9iq@YG J*<JJJJ+@E&K YU~?yOA?E77j7N9)B[[ h[V~?[R[[[[BZYY i) K YV~?y咪OAI7?Eb77&R9 elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032754.003284F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= Wl@AB)BIE[[ǵU['W~?[h[[[[BZYY i)  elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198162 time: 1743032755.263279F (some fields omitted in printout)Am@Am@A>W~? AZA:%"AA}jNA"AZAbAjArAzAAAgiR?A=sAu@A,`AT˯AA?A`A@q<*AG9?2Aս:A#BAG9?JAսRA#Y9d@uDyǯeaٓH ? ay?hͯ`?S ???)9d@ I٘i)I9u@YG J<JUlJJJL@E&Kw> Y>pV~?yQAD?EZ7d9?B)BOE[[+zL[\6W~?[r[[[[BZYY i) _ elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032756.523297F (some fields omitted in printout)J"J*J2J:JBJnJvJA(n@An@AqW~? AuA%"AAjNA"AZAbAjArAzAAAJh?AQyVftAFw@A9AA A?A޿A;@<*Ay9?2A ս:A*BAy9?JA սRA*٘i)I9w@YbG J<JJJJ\@E&K YfV~?yGSA?E{7Z7n9BB)BVE[[s>[gW~?[恪[[[[BZYY iܽ=) Ww@A"@<A*,AXA J?A ]ݿA<*A 9?2Aoֽ:ABA 9?JAoֽRA٘i)I9w@YG J<JJJJa@E&K YtV~?yYêSA?E77fr9)B[[g9[xW~?[[[[[BZYY i) Wm$AJ"J*J2J:JBJnJvJA3333o@A/h!o@AW~? AA̸%"AAkNA"AZAbAjArAzAAA=??A:GǑ tAnx@Ank<A~@A A ڕ?A@͛ܿAUd<*A9?2Aֽ:A}%BA9?JAֽRA}%Y(@ly9<ٓH`?@KX?O߿@?ќ?@_?7M? z?)(@ I٘i)I9nx@Y4G J)<J]JJJf@E&Kv> YV~?yǪTAl?E777u9)BZE[[-5[BW~?[t[[[[ZZZZ¸>BZYY i¸> ) t))0>0>y~e;*Y,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032758.663165 s, next control iter: 1743032759.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6257 , header.stamp.nsec: 0 0 temperature: 13.567372 * salinity: 33.375122 , density: 1025.000000 * values[0]: 0.579773 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032759.043165 s.¨pI~,m$AJ"J*J2J:Jk?BJk?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083030< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743032759.043300F (some fields omitted in printout)A{Gaq@A/Gq@ALX~? A5̫AG%"AAtkNA"AZAbAjArAzAAAЖ׀M@AtA{@A炼A=wA Y޾A ?A ٿAΝ<*A9?2A,Խ:AjQ|BA9?JA,ԽRAjQ|٘i)I9{@YG J=JJJJ|@E&K YLGW~?yتUA?E{7{7Q9EB)hBdE[[F"[ZW~?[[[[[ZZZZBZYY i) ))P'>P'>ߪ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032759.063165 s, next control iter: 1743032759.443188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743032759.463165 s.SwI~,ۤm$AAq@AX歺q@AbX~? AЫA%"AApkNA"AZAbAjArAzAAA 0a@AwtA~Z|@A\eA2APӾA?AؿA3<*A$9?2ALLս:AABA$9?JALLսRAAY4Ӵ@5Ӿy2eٓH+G??@␡ǭٿK??@T?\ g?)4Ӵ@ I٘i)I9Z|@YG J(<B=J=JJJ@E&Ks> Y6aW~?y|ܪ%VAӾ?Ej7Z79)cBgE[[/[KW~?[ˡ[[[[ZZZZBZYY i0) ))?cz.>.>w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032759.503165 s, next control iter: 1743032759.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6258, header.stamp.nsec: 00 temperature: 13.566867* salinity: 33.375114, density: 1025.000000* values[0]: 0.580853F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032759.883165 s.y}I~,Mm$AJ"J*J2J:JBJnJvJAQ8r@A;r@AxX~? AԫAÝ%"AAkNA"AZAbAjArAzAAA! { @Aw/&tA|@A AּA[ɾA)?Aw׿Aê<*A9?2AWս:Aճ:BA9?JAWսRAճ:٘i)I9|@YG J<C=JJJJ@E&K Y{W~?yaVA?E7)7|9FB)^BjE[[[W~?[[[[[ZZZZBZYY i) U)) A>A>6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032759.903165 s, next control iter: 1743032760.283183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032760.303165 s.SI~,jgn$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073822< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032760.303277F (some fields omitted in printout)Aq= ףr@Ah<ĉr@A\X~? AثA$M%"AAkNA"AZAbAjArAzAAA:⛥ @AKMtA~}@A'<ADAA@k?A׿Av<*A?9?2AԽ:Ar<BA?9?JAԽRAr<٘i)I9~}@YIG J<JJJJ@E&K YW~?yVA?E77j79)ZBmE[[[W X~?[[[[[ZZZZBZYY i) ('@< QT>))QT>QT>^])YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032760.343165 s, next control iter: 1743032760.703175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6259., header.stamp.nsec: 0.0 temperature: 13.566451.* salinity: 33.375141., density: 1025.000000.* values[0]: 0.581744.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032760.723165 s.I~,H.n$AJ"J*J2J:J?BJ?nJ)5vJA(\s@AFr@AX~? AܫA5%"AAlNA"AZAbAjArAzAAA @A!tAc}@A&H<A9;AA ?ASֿA$(<*A9?2A?Խ:A%~<BA9?JA?ԽRA%~<٘i)I9}@Y~G JP<JJJJ@E&K YW~?yVA?E7779)WB[['[m!X~?[[[[[ZZZZBZYY i) Sx))g>g>yܖY`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032760.743165 s, next control iter: 1743032761.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032761.143165 s.Z/I~,*In$AAGzs@AԜ`s@AX~? AxA%"AA:lNA"AZAbAjArAzAAAuq@A<|P#tA ~@A-<A<AݪA?A` տAF;*A9?2A"Խ:A<BA9?JA"ԽRA<٘i)I9 ~@YG J;JJJJ@E&K YW~?yWA@E77<9)VBpE[[_M [5X~?[[[[[ZZZZBZYY i) (b)) {> {>yf(שYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032761.163165 s, next control iter: 1743032761.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032761.563165 s.I~,N dn$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083003< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032761.563285F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffs@A%Ts@AZX~? AAk%"AA]lNA"AZAbAjArAzAAAiO<@Aj%tAy!~@AZ<A=AnA`%?AԿA:*A 9?2A ս:A K<BA 9?JA սRA KJJJ@E&K1t> YW~?y^VAM@Eŧ7b7љ9GB)sE[[[PJX~?[[[[[BZYY ik) DsQ))w > >y\ 0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032761.583165 s, next control iter: 1743032761.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6260, header.stamp.nsec: 00 temperature: 13.566191* salinity: 33.375141, density: 1025.000000* values[0]: 0.582147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032761.983165 s.I~,~n$AAQt@A+7t@AX~? AA%%"AAlNA"AZAbAjArAzAAAd?/@Av_'tA!~@AAϻ/=AɕAI?A0ӿA%*A9?2Aս:A\<BA9?JAսRA\<٘i)I9~@YG JC=JJJJ@E&K YW~?yVA @E77f9IB)XBwE[[[%_X~?[][[[[BZYY i^}) "?))腾ΐ>ΐ>yϩ pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032762.023165 s, next control iter: 1743032762.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032762.403165 s.&I~,͙n$AJ"J*J2J:JBJnJvJA ףpt@A[t@AY~? AA<%"AAǤlNA"AZAbAjArAzAAA-iO@AN; )tA~@AŰhA)) >>y[d1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032762.443165 s, next control iter: 1743032762.803179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6261, header.stamp.nsec: 00 temperature: 13.566095* salinity: 33.375145, density: 1025.000000* values[0]: 0.582254F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032762.823165 s.I~,Sn$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032762.823297F (some fields omitted in printout)A\(u@Au@AuY~? AAz%"AAlNA"AZAbAjArAzAAA7q@Aaig+tA}@AцA=u=Ar*A Ю?AҿAQ#*AF9?2AԽ:AB=BAF9?JAԽRAB=٘i)I9}@YwG JvB=JJJJ@E&K Y4X~?yfVA@Eb7b79)[B}E[[[X~?[^[[[[BZYY i)  ))1a>1a>y_'YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032762.843165 s, next control iter: 1743032763.223178 s, wait time: 0.380013 s4X~?) rAdjusting time to match Gazebo time: 1743032763.243165 s.I~,\n$AJ"J*J2J:J ?BJ ?nJG5vJAGzu@A/dzu@A3Y~? A#Af%"AA@lNA"AZAbAjArAzAAAYs@AKx~|-tAz}@AYS"A$1=A9nA 3?A&4ѿA[*A9?2AԽ:A> =BA9?JAԽRA> =٘i)I9z}@YFG JS=C=JJJJ@E&K YrOX~?y=;VA@E{7{7'9)]B[[}[џX~?[ê[[[[BZYY i)  ))9@>9@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032763.263165 s, next control iter: 1743032763.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743032763.663165 s.I~,qn$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6262, header.stamp.nsec: 00 temperature: 13.566078* salinity: 33.375168, density: 1025.000000* values[0]: 0.582064F (some fields omitted in printout)Av@Aƨku@AKY~? AA,%"AAmNA"AZAbAjArAzAAA0d`@A N@/tA}@A;A=A]ZA@S?A5WпA*A 9?2AԽ:A|=BA 9?JAԽRA|=Y:@99Zy=1;ٓH2? ?@,?˿mF?F=s`?~?):@ I٘i)I9}@YG JsJP=JJJ@E&Ks> YkX~?yUA9Z"@E77779)aBE[[ ھ[X~?[ƪ[[[[BZYY i j) N;Ii @Dl< >)) v>>ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032763.683165 s, next control iter: 1743032764.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032764.083165 s.DI~,So$AJ"J*J2J:J?BJ?nJ?5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240279@ elevatorAngleAction: -0.057351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743032764.083282F (some fields omitted in printout)ARkv@AdpQv@AadY~? AAc%"AA6mNA"AZAbAjArAzAAAAJ@Aa0tA!|@AR<Al֗=AGcFA-?AοAҜ*A!9?2AԽ:A$=BA!9?JAԽRA$=٘i)I9|@YG J摼JJJJ@E&K YX~?yxUA'@E{7{7Q9JB)eBE[[Mо[X~?[ɪ[[[[BZYY i) ;Ii@< >))8>>ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032764.103165 s, next control iter: 1743032764.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032764.503165 s.I~,P4 o$AAp= v@AUv@A }Y~? AYAE%"AA#\mNA"AZAbAjArAzAAAeO @A 62tA|@A<A@כ=Ah2A9X?A;ͿA*A9?2A7ӽ:A =BA9?JA7ӽRA =٘i)I9|@YhG JJJJEJ@E&K YBX~?yUA,@Ej7j79)iBE[[=hƾ[WX~?[̪[[[[BZYY i) 6;Ii@ڤ< y>)) y>y>֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032764.523165 s, next control iter: 1743032764.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6263, header.stamp.nsec: 00 temperature: 13.566164* salinity: 33.375191, density: 1025.000000* values[0]: 0.581619F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032764.923165 s.:I~,;o$AJ"J*J2J:JBJnJvJA(\Bw@A{Fw(w@AY~? AA"%"AAmNA"AZAbAjArAzAAA8G>@A/3tAx{@AH<AI=A'A|?A]W˿A8*A:?2Agӽ:AI=BA:?JAgӽRAI=٘i)I9x{@YG JʱJJJJ@E&K YݽX~?yTA2@Eŧ77|9)nBE[[p[6X~?[Ϫ[[[[BZYY i) ;Ii?@Z< >))>>y"kתY!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032764.943165 s, next control iter: 1743032765.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032765.343165 s.<I~,Uo$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032765.343282F (some fields omitted in printout)AHzw@APR`w@AY~? AAa%"AAdmNA"AZAbAjArAzAAA\m@A7&`5tAz@A:A=AA?A@KɿA0ٳ*AY :?2AԽ:AwP =BAY :?JAԽRAwP =٘i)I9z@YG J JJJJ@E&K YyX~?yTTA7@E)7b79)sBE[[i[gY~?[iҪ[[[[BZYY i) {;IiX?Ua< >))>>֪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032765.363165 s, next control iter: 1743032765.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6264*, header.stamp.nsec: 0*0 temperature: 13.566335** salinity: 33.375198*, density: 1025.000000** values[0]: 0.581003*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032765.763165 s.7I~,po$AJ"J*J2J:JBJnJvJAx@A9 Qw@AY~? A/A6%"AA_mNA"AZAbAjArAzAAAI4@A49ݫ6tAJz@A9 /A=AAo?AǷǿAƯ*A:?2A9}ս:AJ=BA:?JA9}սRAJ=٘i)I9Jz@YVG JJJJJ@E&K YX~?yjSA<@E{7{79)xBE[[T['Y~?[Ԫ[[[[BZYY i) >;Ii?< >))>>ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032765.783165 s, next control iter: 1743032766.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032766.183165 s.I~,oo$AAQx@ANkx@AIY~? A&A%"AAmNA"AZAbAjArAzAAA+@AG{7tAUy@AɉAn=AfA ?A ſAz*A3:?2Aֽ:A<BA3:?JAֽRA<٘i)I9y@YG J$JJJJ@E&K YY~?yFSAB@E7777<9)|BE[[Y4[?Y~?[oת[[[[BZYY i) F;Iir? < ]>))]>]>DϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032766.203165 s, next control iter: 1743032766.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032766.603165 s.74I~,o$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743032766.603320F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףx@A(x@AY~? AA%"AAnNA"AZAbAjArAzAAAQ?@A J8tAE*y@AJgAH6=A' A?AĿA*AC:?2A+ֽ:A!<BAC:?JA+ֽRA!<٘i)I9*y@YG JJJJJ@E&K YH,Y~?y#1SAG@EZ7Z79)B[[e [WY~?[٪[[[[BZYY i) :Ii?< Q>))Q>Q>ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032766.643165 s, next control iter: 1743032767.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6265 , header.stamp.nsec: 0 0 temperature: 13.566478 * salinity: 33.375210 , density: 1025.000000 * values[0]: 0.580413 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032767.023165 s.ZI~,{o$AA(\y@A֪]By@A1Z~? AA%"AA@nNA"AZAbAjArAzAAAI}Q @AP=9tAx@A伄Aoj=AdSAE?A,¿A*A-:?2Aֽ:A"<BA-:?JAֽRA"<٘i)I9x@YQG JܥJJJJ@E&K YGY~?y RAM@Eb77g9)BE[[։[oY~?[۪[[[[BZYY i) xF8Ii?ߑ< z$?))z$?z$?y#ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032767.043165 s, next control iter: 1743032767.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032767.443165 s.;I~,O]o$AJ"J*J2J:JBJnJvJAzy@A9Zy@A-Z~? AA,%"AA?gnNA"AZAbAjArAzAAAzLS @ARǮ:tAx@AeU<Ajō=A9#A g'?ALSA)*A:?2Agս:AOE<BA:?JAgսRAOE<٘i)I9x@YG JCJJJJ@E&K Y~cY~?y nRAR@E79)BE[[<[0Y~?[ݪ[[[[BZYY i) 7\ZIi?Ǜ< @ ?))@ ?@ ?_êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032767.463165 s, next control iter: 1743032767.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6266, header.stamp.nsec: 00 temperature: 13.566648* salinity: 33.375244, density: 1025.000000* values[0]: 0.579849F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032767.863165 s.+I~,y>o$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743032767.863283F (some fields omitted in printout)A33333z@A.2z@AGZ~? AjA%"AA nNA"AZAbAjArAzAAAַ,T!@A/;tAw@Al8<A0=A>FA`N;?A뼿A^*A:?2Aս:A۰<BA:?JAսRA۰ YY~?y RAa4W@Eb79)BE[[>k[)Y~?[ߪ[[[[BZYY i) Ii:? c< *@?))Hg*@?*@?ӿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032767.883165 s, next control iter: 1743032768.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032768.283165 s.9RI~,p$AJ"J*J2J:J^?BJ^?nJ5vJAQz@A,'z@AIaZ~? A Au%"AA"nNA"AZAbAjArAzAAA!@A=hY~?y' VQAb@E779)BE[[B[ Y~?[[[[[BZYY i) VOpIiC?< _?)) _?_?칪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032768.723165 s, next control iter: 1743032769.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032769.123165 s.8I~,aGp$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032769.123270F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u{@Aѩ[{@AZ~? Aj AM%"AAoNA"AZAbAjArAzAAA*#@AYTr=tAv@A7ѸA=AF=A?n?A`OuAO*AG:?2Aӽ:A <BAG:?JAӽRA <٘i)I9v@YG JeC=JJJJ@E&K YzY~?y@ PAg@Eŧ7b7R9IB)BE[[cJ.[Y~?[g[[[[BZYY i) Ii ?u< B}?))B}?B}?KYt,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032769.163165 s, next control iter: 1743032769.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032769.543165 s.II~,bp$AA{G{@A23/{@AZ~? A A>%"AA*oNA"AZAbAjArAzAAAH<#@A=tA^u@A1uA=AҌ=AFx?AgAN*AF:?2AԽ:A<BAF:?JAԽRA<٘i)I9u@YwG JOJJJJAE&K YY~?yY PAm@Ej7j79)BE[[#[Z~?[[[[[BZYY imN)  Ii?m< ң"?))ң"?ң"?Y1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032769.563165 s, next control iter: 1743032769.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6268, header.stamp.nsec: 00 temperature: 13.566875* salinity: 33.375256, density: 1025.000000* values[0]: 0.578775F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032769.963165 s.wI~,}p$AJ"J*J2J:JBJnJvJAL|@A2|@AZ~? A A3%"AALRoNA"AZAbAjArAzAAAY f$@Aѝ@>tA%u@ABA3΃=AC =A?AA:σ*A7D:?2Aս:AM <BA7D:?JAսRAM Y Z~?y BPA=r@E{7}9)B[[KL[Z~?[[[[[BZYY i) DhջIi?:a< ȼ'?))d6tȼ'?ȼ'?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032770.003165 s, next control iter: 1743032770.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032770.383165 s.%I~,+p$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238489@ elevatorAngleAction: -0.075833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743032770.383272F (some fields omitted in printout)AQ|@AʡE|@A)Z~? A AK*%"AAyoNA"AZAbAjArAzAAAl%@Ajߚ}x>tAt@AƒAW=A=A?AWA\*A=:?2AQս:A<BA=:?JAQսRA<٘i)I9t@YG JC=JJJJ AE&K Y)Z~?y OAw@E77{79)BE[[y[5Z~?[[[[[BZYY i) SIi?U< ,?))=@,?,?.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032770.403165 s, next control iter: 1743032770.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6269", header.stamp.nsec: 0"0 temperature: 13.566962"* salinity: 33.375263", density: 1025.000000"* values[0]: 0.578346"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032770.803165 s.vA,I~,wgp$AJ"J*J2J:J?BJ?nJ?5vJAq= #}@A`" }@A=Z~? A( A$%"AADoNA"AZAbAjArAzAAAY`&%@A˹^>tAGt@A$ 9;AQЅ=AȪ>A׉?A`ABB*A\W:?2A+ӽ:A=BA\W:?JA+ӽRA=٘i)I9Gt@YG J;JJJJAE&K Y+EZ~?y OA}@E)7ŧ79PB)BE[[6[NZ~?[[[[[BZYY i)  Ii?K< 2?)) 2?2?y9xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032770.823165 s, next control iter: 1743032771.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032771.223165 s.g3I~,Hp$AA(\}@A ƈDu}@AS[~? A0 Aq"%"AAoNA"AZAbAjArAzAAASpW@&@A./H>tAs@AZ<A=Aq>Ac?A r?A5*AV:?2Aӽ:A=BAV:?JAӽRA=٘i)I9s@YfG JCJJJJAE&K YOaZ~?yB9OA@E{7Z7=9OB)BE[[H[@hZ~?[%[[[[BZYY i) HIi?DyB< F7?))F7?F7?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032771.263165 s, next control iter: 1743032771.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032771.643165 s.w9I~, *p$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743032771.643309F (some fields omitted in printout)J"J*J2J:JBJnJvJAG}@Ah }@Ai1[~? A A#%"AAUoNA"AZAbAjArAzAAAo&@A G>tA[s@AW<A沉=A{*>AL?A -:?AA*AtP:?2Aڮӽ:A=BAtP:?JAڮӽRA=٘i)I9[s@YG JJJJJAE&K Yv}Z~?y|NA@E)7ŧ79)BE[[L{H[(Z~?[[[[[BZYY i) He)Ii?k:< &|'@AM[>tAr@A=<AË=A'?>Aă?Ah?Al*AI:?2A؋Խ:AE=BAI:?JA؋ԽRAE=Y @ ?>y='9><ٓH]?ǿ`Գ? ?#q?MU?t@׸?@b?) @ I٘i)I9r@YG J{J<JJJ#AE&Kr> Y7Z~?yNA?>@Eŧ7b7h9NB)BE[[[țZ~?[[[[[BZYY i) 8Ii?.< ڹA?))tڹA?ڹA?GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032772.103165 s, next control iter: 1743032772.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032772.483165 s.w_GI~,q$AJ"J*J2J:JBJnJvJA~@A6ٷ~@Ae[~? AV A-%"AAZ?pNA"AZAbAjArAzAAA((@AI3>tAhr@Ach9A=A)T>A|?A?AᎼ*AB:?2AVս:A(l=BAB:?JAVսRA(l=٘i)I9hr@YG JҏJJJJ(AE&K YZ~?y3%NA@E779)BE[[/[Z~?[[[[[BZYY i) QHIi|~?"< F?))񽄾F?F?RêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032772.523165 s, next control iter: 1743032772.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6271, header.stamp.nsec: 00 temperature: 13.567146* salinity: 33.375305, density: 1025.000000* values[0]: 0.577438F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032772.903165 s.MI~,9q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259262@ elevatorAngleAction: -0.075833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032772.903284F (some fields omitted in printout)A ףp=@A^#@A[~? A A8%"AAfpNA"AZAbAjArAzAAAG(@A8X9=tA+q@Aq8Av=A|i>A"u?ABY?Ac*A[:?2A)Խ:AT=BA[:?JA)ԽRAT=٘i)I9q@Y@G JJJJJ-AE&K YZ~?yMA@E)7ŧ79MB)BE[[L<[Z~?[[[[[BZYY i) JWIin?< N@L?)) N@L?N@L?ƪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743032772.943165 s, next control iter: 1743032773.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032773.323165 s.uTI~,!Tq$AJ"J*J2J:J?BJ?nJ5vJA\@Aٵݎ@A[~? A AE%"AA5pNA"AZAbAjArAzAAAAi?A?Aȯ*AY:?2AԽ:A=BAY:?JAԽRA=٘i)I9xq@YG J'JJJJ3AE&K YxZ~?yiMA@E77(9)¯B[[t+=[Z~?[[[[[BZYY i) :gIi`?<< Q?))Q?Q?]ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032773.343165 s, next control iter: 1743032773.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6272*, header.stamp.nsec: 0*0 temperature: 13.567240** salinity: 33.375313*, density: 1025.000000** values[0]: 0.576971*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032773.743165 s.W[I~,ioq$AAGz@Abod@Ao[~? A A V%"AApNA"AZAbAjArAzAAA,fa)@A :Al[?Aȯ?A[*AS:?2AYԽ:A3 =BAS:?JAYԽRA3 =٘i)I9p@YG JJJJJ8AE&K  9Y9[~? 9yG MA@E79)ůBE[[4]=[q[~?[[[[[BZYY i) vIiPT?< .V?)).V?.V?ΪY(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032773.763165 s, next control iter: 1743032774.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032774.163165 s.{}bI~,qq$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032774.163300F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A[e@AI[~? AAi%"AApNA"AZAbAjArAzAAA*@Ayu;tAy{p@ADAa=AA>AJ?A@5X?Aȟ*AL:?2AԽ:Ar =BAL:?JAԽRAr =Yɋ=#>y_a=)EٓH N? i'ҿ@??`|?`?` h@L?)ɋ= I٘i)I9{p@Y]G JJp<JJJ=AE&Ks> YN#[~?yLA#>@Ej7j7R9LB)ȯB¹E[[T=[[~?[[[[[BZYY i) 炼IiZA?~; r:\?))lvr:\?r:\?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032774.183165 s, next control iter: 1743032774.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032774.583165 s.hI~,Rq$AAR뀸@Aawр@A[~? AAY%"AAqNA"AZAbAjArAzAAAu;++@Av<;tAo@Aph<A"ؚ=A?6>Aa7?A??Az*AA:?2Aս:AY#=BAA:?JAսRAY#=٘i)I9o@Y G JJJJJCAE&K Yc>[~?yI>LA@E779)̯BŹE[[J=[8[~?[K[[[[BZYY i) wIi"0?ps; a?))𖅾a?a?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032774.603165 s, next control iter: 1743032774.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6273, header.stamp.nsec: 00 temperature: 13.567368* salinity: 33.375336, density: 1025.000000* values[0]: 0.576475F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032775.003165 s.u pI~,@4q$AJ"J*J2J:JBJnJvJAp= W@Ah<@A\~? A@A6%"AA*qNA"AZAbAjArAzAAAt%+@ADT3_:tAdo@Aم<A:=A>A#?A@l?A*ABT:?2A^ӽ:A=BABT:?JA^ӽRA=٘i)I9do@YG JrJJJJHAE&K YtY[~?yKA@E{7Z7} 9KB)ЯBȹE[[1=[KS[~?[i[[[[BZYY i) 'Ii ?; f?)) f?f?ỹتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032775.023165 s, next control iter: 1743032775.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032775.423165 s.uvI~,q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032775.423280F (some fields omitted in printout)A(\@A@AX\~? AA.%"AAQqNA"AZAbAjArAzAAAo##b,@Ai9tAn@Aؐv<A,?=AE>A ?A7?AFN*AL:?2A"ӽ:A/=BAL:?JA"ӽRA/=٘i)I9n@YZG JJJJJNAE&K Yt[~?yKrKA DD@E77{79JB)ԯB˹E[[uP >[m[~?[Z[[[[BZYY i) Ii?/; cl?))cl?cl?6ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032775.443165 s, next control iter: 1743032775.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6274, header.stamp.nsec: 00 temperature: 13.567485* salinity: 33.375332, density: 1025.000000* values[0]: 0.575913F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032775.843165 s.|I~,q$AJ"J*J2J:JBJnJvJAHz.@Ah.@A3\~? AA2%"AA}xqNA"AZAbAjArAzAAA|,@Aw>[8tA]=n@Ag;A=A>Ai?A@: ?A& *A'C:?2AԽ:AU=BA'C:?JAԽRAU=٘i)I9=n@YG J㰼JJJJSAE&K Y[~?y KA@E{7j79)دB[[)#>[[~?[[[[[BZYY i) $Ii)?x;  q?)) q? q?ߪYYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743032775.863165 s, next control iter: 1743032776.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032776.263165 s.I~,#r$AA@AA?A ?A'*AR9:?2Aս:A&*=BAR9:?JAսRA&*=Y,>̏>yʥ=*λٓHΆ?;ؿM???Z? w*y?),> I٘i)I9m@YG JJ`<JJJXAE&Kt> Y[~?yyJA>@E77=9GB)گB͹E[[8>[ڢ[~?[[[[[BZYY i) WIi=>CF; Aw?))΄xAw?Aw?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032776.283165 s, next control iter: 1743032776.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6275., header.stamp.nsec: 0.0 temperature: 13.567735.* salinity: 33.375343., density: 1025.000000.* values[0]: 0.574995.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032776.683165 s.lI~,Z+r$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242694@ elevatorAngleAction: -0.085264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032776.683302F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A;s 낸@Aof\~? AA %"AAaqNA"AZAbAjArAzAAA \Q0.@A Z5tAm@AxAԨ=A>A?A ?AG=*A/:?2Amֽ:A=BA/:?JAmֽRA=٘i)I9m@YJG JJJJJ^AE&K Y[~?y%-JA@E77779FB)ޯBйE[[N>[G[~?[[[[[BZYY i) 篼Ii>; >|?)) >|?>|?YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032776.683165 s, next control iter: 1743032777.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743032777.103165 s.I~,Fr$AA= ףp@A<͌V@A\~? AAI%"AAqNA"AZAbAjArAzAAA'Nw.@A{J4tAzl@APA=A>A@?A`?A7:*A?:?2AԽ:A=BA?:?JAԽRA=٘i)I9zl@YG JJJJJcAE&K Y[~?yIA@Eb77h9)BӹE[[d>[[~?[R[[[[BZYY i) HIiЩ>\Y; ?))??`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032777.123165 s, next control iter: 1743032777.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032777.523165 s.I~,{ar$AJ"J*J2J:J2?BJ2?nJY5vJA(܃@Ar&ƒ@Ay\~? AsAzv%"AAtrNA"AZAbAjArAzAAA_/@A*3tAk@A AtҮ=A\>A o?Ayf?A/¼*A#8:?2AԽ:A\=BA#8:?JAԽRA\=٘i)I9k@YG JJJJJhAE&K Y[~?y}NIA@Eb7!9EB)BֹE[[5z>[c[~?[Xު[[[[BZYY i) [Ii>o7; ރ?))ރ?ރ?"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032777.543165 s, next control iter: 1743032777.923181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6276, header.stamp.nsec: 00 temperature: 13.567802* salinity: 33.375366, density: 1025.000000* values[0]: 0.574684F (some fields omitted in printout)&[~?)&} rAdjusting time to match Gazebo time: 1743032777.943165 s.XdI~,B]|r$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743032777.943322F (some fields omitted in printout)AzG@A`-@AB\~? AA%"AA'7rNA"AZAbAjArAzAAAps/@A}1tA4k@Ai;AO=A/y>AJ?A@#?A~̼*A/:?2AԽ:AJt=BA/:?JAԽRAJt=I٘i)I94k@Y&G JƼJJJJnAE&K Y>\~?y)HA@E{7{7%9DB)BٹE[[~>[ \~?[-ܪ[[[[BZYY i) s ƼIiq>; ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032777.963165 s, next control iter: 1743032778.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032778.363165 s.I~,y>r$AJ"J*J2J:J?BJ?nJ-5vJA3333@AUO@A\~? AFAA%"AA\rNA"AZAbAjArAzAAAԨE0@AY0tAj@Aa<A2=Ah>A"?A ?AS6ռ*A(:?2AԽ:Ai% =BA(:?JAԽRAi% =YՉ>>y.=rb<ٓH&?@lݿi?:?oF?y?@^c2??)Չ> I٘i)I9j@YG JмJ<JJJsAE&Ku> Y'+\~?y ުgHA>@E77()9)B[[+>[-'\~?[٪[[[[BZYY i) >ͼIi*>: 8i?)) ~{8i?8i?1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032778.383165 s, next control iter: 1743032778.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6277&, header.stamp.nsec: 0&0 temperature: 13.567985&* salinity: 33.375389&, density: 1025.000000&* values[0]: 0.573989&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032778.783165 s.XI~,r$AAQ@A#H@AR\~? AvA %"AÁrNA"AZAbAjArAzAAAh5MÏ0@AYJ.tA>i@AM<Aq=A?A@b?Ac?A~ڼ*A :?2ANս:A5 =BA :?JANսRA5 =٘i)I9i@YMG J׼JJJJyAE&K YD\~?y٪GA@Eb7,9CB)BܹE[[/>[jA\~?[Tת[[[[BZYY i) rԼIi5=,: 0?)) 0?0?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032778.803165 s, next control iter: 1743032779.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032779.203165 s.I~,*r$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743032779.203277F (some fields omitted in printout)Aףp=@A&p@A\~? A}AE%"AArNA"AZAbAjArAzAAA#I0@Aoy,tAti@A3<A8=A ?A@6?A?Aڼ*Ax/:?2AԽ:AS3=BAx/:?JAԽRAS3=٘i)I9i@Y G JڼJJJJ~AE&K Y\\~?yժvGA@E7S09BB)B߹E[[٩>[[\~?[Ԫ[[[[BZYY i) ۼIiA=9 2?))2?2?9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032779.223165 s, next control iter: 1743032779.603181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032779.623165 s.TI~,Pr$AA)\@AIۅ@A]~? A^AC%"AATrNA"AZAbAjArAzAAA++6"1@A^?&*tAaah@A&AԵ=AS| ?A@Q?A?AZؼ*At):?2ASXս:AF=BAt):?JASXսRAF=٘i)I9ah@Yn G JټJJJJAE&K Yu\~?yѪFA@E7739AB)BE[[[">[u\~?[Ѫ[[[[ZZ¸BZYY i¸J=) ϼII?iʡO Б?))Б?Б?Y$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032779.643165 s, next control iter: 1743032780.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6278 , header.stamp.nsec: 0 0 temperature: 13.568221 * salinity: 33.375389 , density: 1025.000000 * values[0]: 0.573223 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032780.043165 s.I~,s$AJ"J*J2J:JBJnJvJA{Ga@A/G@Ax*]~? AA%"AArNA"AZAbAjArAzAAAu/πj1@Akݒ(tAkg@AAAA1=Ai?A`Yi?Ay?Af&ּ*A":?2Aֽ:Aƅ=BA":?JAֽRAƅ=٘i)I9g@Y G Jm׼JJJJAE&K YȎ\~?yͪFA@E77{7~79>B)BE[[#}>[\~?[Ϊ[[[[ZZBZYY i) ݛüIAI?i-=޹ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032780.083165 s, next control iter: 1743032780.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032780.463165 s.aI~,s$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743032780.463297F (some fields omitted in printout)Ă@AP@AB]~? AA%"AAsNA"AZAbAjArAzAAAH1@A5|&tAUf@A A[ =A8?A2?AQ?A*A':?2Awֽ:Ai<BA':?JAwֽRAi$?y=?4ٓH?n?@??`v?ٵ.6?)> I٘i)I9f@Y G JB=JJJJAE&Ku> Y>\~?yȪFA?@Ej7Z7;9=B)BE[[{>[ԩ\~?[M˪[[[[ZZBZYY i) I I?iཉ܏ R?))~R?R?YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032780.503165 s, next control iter: 1743032780.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6279, header.stamp.nsec: 00 temperature: 13.568424* salinity: 33.375416, density: 1025.000000* values[0]: 0.572454F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032780.883165 s.yI~,M8s$AJ"J*J2J:JBJnJvJAQ8@A=@AxY]~? AAD%"AA<7sNA"AZAbAjArAzAAATV&$1@AFȌO$tAO f@AVAP=A\?A@"?A*?A *A/:?2Aֽ:A&ű<BA/:?JAֽRA&ű<٘i)I9 f@Y G JC=JJJJAE&K Y\~?yêEA@Eb7b7>9[\~?[Ǫ[[[[ZZBZYY i) ]Ih I?i-Ƅ޺ ?)) ??y=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032780.903165 s, next control iter: 1743032781.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032781.303165 s.RI~,fgSs$AAq= ף@A@Ap]~? AgޫA%"AAZsNA"AZAbAjArAzAAARڵ%?2@ALj "tA6e@A5Av=AT!?A`?A ?A]*AE:?2AVս:ASb<BAE:?JAVսRASb<٘i)I96e@Y G J JJJJAE&K Y#\~?y߾%EAAESI787>B9;B)BE[[g>[*\~?['Ī[[[[ZZBZYY i) ǺIXI?ick ܜ?))ܜ?ܜ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032781.323165 s, next control iter: 1743032781.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6280*, header.stamp.nsec: 0*0 temperature: 13.568708** salinity: 33.375416*, density: 1025.000000** values[0]: 0.571541*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032781.723165 s.I~,Hns$AJ"J*J2J:JP?BJP?nJl5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743032781.723281F (some fields omitted in printout)A(\@AvöE@A]~? AګAv%"AAh}sNA"AZAbAjArAzAAA2@AξtAsd@A<A*1=AO&?A n?A?Aּ*AG:?2A|ս:A;BAG:?JA|սRA;٘i)I9sd@Y G J"JJJJAE&K Y\~?yDAAE77E9)B[[>[\~?[E[[[[ZZBZYY i) ēII?inq/ ʬ?))ʬ?ʬ?YyYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032781.743165 s, next control iter: 1743032782.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032782.143165 s.V/I~,*s$AAGz@A*`@A']~? A֫A"%"AAsNA"AZAbAjArAzAAA:2@AA?tA,c@A[]~?[/[[[[ZZBZYY i) χIuI?ifE1H ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032782.163165 s, next control iter: 1743032782.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032782.563165 s.I~,N s$AJ"J*J2J:JBJnJvJAffff戸@AbMeQ̈@A]~? AhҫATq%"AAsNA"AZAbAjArAzAAAķ 3@AtABc@A}\<A<A0?A`>?A }?Aγ*A+=:?2Aֽ:ABA+=:?JAֽRAYr1>Z0?y?<\<ٓH?^cj? _? ?@ɝsX y? ?)r1> I٘i)I9Bc@YP G JTJ:JJJAE&K v> Y]~?yy.DA0?AE77L96B)E[[}?[)]~?[[[[[ZZBZYY i =) 4{I_H?i$9r L?))L?L?]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032782.603165 s, next control iter: 1743032782.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6281, header.stamp.nsec: 00 temperature: 13.568933* salinity: 33.375450, density: 1025.000000* values[0]: 0.570734F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032782.983165 s.I~,s$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251984> elevatorAngleAction: 0.064960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032782.983286F (some fields omitted in printout)AQ@A7@A]~? A!ΫAa%"AAsNA"AZAbAjArAzAAAU)P3@AitAb@A31;AqA 5?A ?A`J?Aޞ3*A2:?2Aֽ:AxOBA2:?JAֽRAxO٘i)I9b@Y G JiJJJJAE&K Y/]~?yک"DAAE77P9)B[[^?[A]~?[~[[[[ZZBZYY i0=) W7hIH?i ھ] ?)) ??)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032783.023165 s, next control iter: 1743032783.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032783.403165 s. 'I~,1s$AJ"J*J2J:J ?BJ ?nJ#5vJA ףp@Ag\@A]~? AɫA,%"AA,tNA"AZAbAjArAzAAAZGT_3@A5jtAb@AEA챼A*:?A/?A?Arh*A7:?2Ar-ս:A^}BA7:?JAr-սRA^}٘i)I9b@Y G JJJJJAE&K YE]~?y;DAAEŧ7b7)T95B) BE[[8?[Z]~?[Ԯ[[[[BZYY i) TIH?iW ?))??K)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032783.423165 s, next control iter: 1743032783.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6282", header.stamp.nsec: 0"0 temperature: 13.569047"* salinity: 33.375450", density: 1025.000000"* values[0]: 0.570307"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032783.823165 s.I~,-s$AA\(@Ac@A ]~? A(ūAo%"AA&tNA"AZAbAjArAzAAAl3@A_괢tAb@AwAc A@?AZO?A2?A(7*AT-:?2A;ս:A*5׼BAT-:?JA;սRA*5׼٘i)I9b@Y G JQ/JJJJAE&K Y`[]~?y DA#AE77{7W94B)BE[[?[(s]~?[[[[[BZYY i) @IH?i  ح?)) ح? ح?y扛=19*Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032783.843165 s, next control iter: 1743032784.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032784.243165 s.I~,`t$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743032784.243285F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AOcz@AO ^~? AyA%"AAFtNA"AZAbAjArAzAAAfT*4@AtAPb@A A 6Ah+E?AR ?A ۣ?A5;*A":?2Aս:ABA":?JAսRA󼙘٘i)I9b@Y G Jv:JJJJAE&K Y7q]~?yCA(AES[9/B)BE[[M?[n]~?[太[[[[BZYY i) -IOH?i  ?))??t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032784.283165 s, next control iter: 1743032784.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032784.663165 s. I~,q*t$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6283, header.stamp.nsec: 00 temperature: 13.568968* salinity: 33.375431, density: 1025.000000* values[0]: 0.570307F (some fields omitted in printout)A@Ae,劸@AB ^~? AAW&%"AAftNA"AZAbAjArAzAAAS4@Ar tAb@AzAkZAxJ?A ?A`0h?A;*A*:?2Aֽ:AJBA*:?JAֽRAJYz?QJ?yȼZٓHv?@=@u?|?Q`ET?@{U?)z? I٘i)I9b@Y G J;JJJJAE&Kv> Y]~?yGDAJ?.AE{7^9)B[[?[]~?[[[[[BZYY i;i=) IH?iǻ d?))d?d?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032784.683165 s, next control iter: 1743032785.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032785.083165 s.DI~,SEt$AJ"J*J2J:JBJnJvJARk@A5]OtQ@A4^~? AA%"AAtNA"AZAbAjArAzAAAog044@A3y tAWc@A+;AyAwO?A t?A$+?A+<*A(:?2AѮֽ:A9 BA(:?JAѮֽRA9 ٘i)I9c@Y, G J<JJJJAE&K Y]~?ysDA3AE77~b9+B)BE[[%?[]~?[M[[[[BZYY i)  IH?i9)ػ t?))t?t? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032785.103165 s, next control iter: 1743032785.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032785.503165 s.I~,74`t$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056942< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743032785.503278F (some fields omitted in printout)Ap= ׋@AՕ򼋸@A-I^~? AAe%"AAtNA"AZAbAjArAzAAAA\L4@Az̶tAYc@Ax_<AAABU?A%?AD?A3^<*A :?2A׽:A BA :?JA׽RA ٘i)I9Yc@Y^ G JC<JJJJAE&K Yլ]~?y.DA9AE7777f9)B[[+?[]~?[[[[[BZYY iׇ=) IH?i4 Y?))Y?Y?#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032785.543165 s, next control iter: 1743032785.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6284, header.stamp.nsec: 00 temperature: 13.568738* salinity: 33.375465, density: 1025.000000* values[0]: 0.570656F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032785.923165 s.8I~,{t$AJ"J*J2J:J?BJ?nJ/5vJA(\B@A=y(@A ]^~? AlAK%"AAtNA"AZAbAjArAzAAA>;4 5@A #tAc@A)<A‘AZ?A ?A@;?A;ʄ<*A:?2AG)׽:A BA:?JAG)׽RA ٘i)I9c@Y G Jas<JJJJAE&K Y]~?y$EA>AE7i9*B) BE[[۷1?[]~?[㎪[[[[BZYY i) ػIH?i= ^F?))^F?^F?y^i=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032785.963165 s, next control iter: 1743032786.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032786.343165 s.<%I~,t$AAHz@A@Ap^~? AA%"AAtNA"AZAbAjArAzAAA"DG5@AmGtA6d@A<AAǢ_?A?A ]?Amڕ<*A? :?2Aֽ:AI BA? :?JAֽRAI ٘i)I96d@Y G Jތ<JJJJAE&K Y]~?yymEACAE{7j7>m9(B)BE[[!7?[E]~?[㈪[[[[BZYY i) wIPH?i/ELe 8?))8?8?yX=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032786.383165 s, next control iter: 1743032786.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6285&, header.stamp.nsec: 0&0 temperature: 13.568458&* salinity: 33.375477&, density: 1025.000000&* values[0]: 0.571175&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032786.763165 s.J "J *J 2J :J 8?BJ 8?nJ R5vJ 8+I~,#ذt$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032786.763287F (some fields omitted in printout)A@Al@A^~? AA%"AAtNA"AZAbAjArAzAAAT5@AsAUd@A<ۺAÓAģd?A/4?A`?Aץ<*A :?2Aֽ:A BA :?JAֽRA Y{,?d?y"ۺٓH?@?9?F m?g[\?){,? I٘i)I9d@Y5 G Jp<J\JJJAE&Kx> YI]~?yrEAd?IAE77p9)B[[=?[5^~?[Ƃ[[[[BZYY i) `eIH?i/SU( ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032786.803165 s, next control iter: 1743032787.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032787.183165 s.2I~,ct$AAQ@A>[k@A^~? AA2%"AAuNA"AZAbAjArAzAAA J5@A:esAJe@A8FAAsi?A?A_?A<*A :?2A?Tֽ:ABA :?JA?TֽRA٘i)I9Je@Y G Jի<JJJJAE&K Y]~?yk>FANAEb7it9$B)BE[[pC?[*^~?[u|[[[[BZYY i) _vIH?i2_ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032787.223165 s, next control iter: 1743032787.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032787.603165 s.:49I~,t$AJ"J*J2J:JBJnJvJA= ף@AǺ֍@Ah^~? AaA%"AAe8uNA"AZAbAjArAzAAA2Ew5@A{SrsAe@AфAyAn?A ?Ao?A=<*A :?2A]ֽ:ABA :?JA]ֽRA٘i)I9e@Y G J2<JJJJAE&K Y ^~?yeFASAEj7j7w9)B[[ I?[@^~?[u[[[[BZYY i) :IlH?i7i4B 6?))6?6?2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032787.643165 s, next control iter: 1743032788.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6286 , header.stamp.nsec: 0 0 temperature: 13.568099 * salinity: 33.375496 , density: 1025.000000 * values[0]: 0.571894 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032788.023165 s.Z@I~,$|u$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743032788.023319F (some fields omitted in printout)A(\@AB@A^~? AAe%"AA7TuNA"AZAbAjArAzAAADI*6@AKˉsA}f@A8@AAVt?A2?A@ ?A݅<*A:?2Aֽ:A BA:?JAֽRA ٘i)I9}f@YG G Jf<JJJJAE&K Y`^~?y5^GAYAE77{9#B)BE[[O?[T^~?[?o[[[[BZYY i) zItH?i7q7a :?)):?:?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032788.043165 s, next control iter: 1743032788.423186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743032788.443165 s.5FI~,5]u$AJ"J*J2J:JBJnJvJAzǎ@A9Z@AS^~? AAt%"AAvouNA"AZAbAjArAzAAANmQ^`6@AsAg@AӕAOAy?A1?A_?A1в<*A:?2A$&׽:A BA:?JA$&׽RA ٘i)I9g@Y G J<JJJJAE&K Y-^~?yZWxGA^AE77)9)B[[U?[ki^~?[^h[[[[BZYY i) yI*rH?i0w3 ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032788.483165 s, next control iter: 1743032788.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6287, header.stamp.nsec: 00 temperature: 13.567733* salinity: 33.375481, density: 1025.000000* values[0]: 0.572672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032788.863165 s.+MI~,>7u$AA33333@Ap@A^~? AA L%"AAuNA"AZAbAjArAzAAAO6@A+)>sAg@Aވ%<AnHA?A?A?A<*A:?2A~׽:AHBA:?JA~׽RAHYF?[~?ylF%<ٓH]?@>{_?`d?&x9$???)F? I٘i)I9g@Y G JK<J[/;JJJAE&Kx> Yq<^~?yOGA~?cAEb79B)BE[[^[?[7}^~?[aa[[[[BZYY i) 컸I2dH?i끿L& ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032788.883165 s, next control iter: 1743032789.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032789.283165 s.ERTI~, Ru$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743032789.283299F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A5磄@A^~? A}~A%"AA%uNA"AZAbAjArAzAAA Hu6@A5sA:h@AA<A6A*?AF:?AP?A><*A:?2A9׽:ABA:?JA9׽RA٘i)I9:h@YV G J<JJJJAE&K YK^~?yHEHAiAE{7{7T9)ݯB[[b?[^~?[4Z[[[[BZYY i) Z:IUH?i<- ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032789.303165 s, next control iter: 1743032789.683192 s, wait time: 0.380027 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6288., header.stamp.nsec: 0.0 temperature: 13.567371.* salinity: 33.375488., density: 1025.000000.* values[0]: 0.573437.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032789.703165 s.ԺZI~,mu$AAףp= @AhN?@A7_~? A>xA;%"AAuNA"AZAbAjArAzAAAK*)6@ArsAeh@A^<AW+A?Ag|?A6Q?A]n<*A:?2Ad׽:A)BA:?JAd׽RA)٘i)I9h@Y G J<B=JJJJBE&K Y/[^~?y0AHAnAE7779B)ׯB E[[*h?[^~?[R[[[[BZYY i) :IFH?i2 t?))t?t?V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032789.723165 s, next control iter: 1743032790.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032790.123165 s.;aI~,mu$AJ"J*J2J:J?BJ?nJ5vJA)\u@A׼[@A[_~? AqA%"AA`uNA"AZAbAjArAzAAA6(+7@AϾysAXRi@Aӂ;AAD?A>?A f?A}2<*As:?2A׽:ABAs:?JA׽RA٘i)I9Ri@YG Jæ<C=JJJJ BE&K Yj^~?y9IAtAE7~9)ӯB[[Pn?[^~?[PK[[[[BZYY i) pD/;IM7H?iЎ6 l?))l?l?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032790.143165 s, next control iter: 1743032790.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032790.543165 s.IhI~,âu$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743032790.543345F (some fields omitted in printout)A{Gᐸ@AZh4ǐ@A _~? AqkAu3%"AAuNA"AZAbAjArAzAAAC[7@A@7sA)i@AsAڐAʼn?A?A`V?A1<*A:?2Aֽ:A%BA:?JAֽRA%٘i)I9i@YVG J<B=JJJJBE&K Yy^~?yl2zIAyAE79B)ͯBE[[}t?[^~?[C[[[[BZYY i) īk;I'H?iά9 I?))I?I?w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032790.583165 s, next control iter: 1743032790.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6289, header.stamp.nsec: 00 temperature: 13.567017* salinity: 33.375526, density: 1025.000000* values[0]: 0.574161F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032790.963165 s.wnI~,줽u$AJ"J*J2J:J?BJ?nJ 5vJAL@Ap(|2@Ad/_~? AdAB%"AAvNA"AZAbAjArAzAAAAɪ7@A}sA$lj@A$WzA$qAP?A@7?A`,?A<*A:?2Aֽ:A*JBA:?JAֽRA*JY~`?s?ylqzٓH@e? u@3@i?>?`Oɱ?J`=?)~`? I٘i)I9lj@YG J٧<C=JN<JJJBE&Kx> YɆ^~?y*IAs?~AEj7Z79B)ƯB E[[z?[^~?[;[[[[BZYY i) ⚔;IH?i~@ r?))r?r?**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032791.003165 s, next control iter: 1743032791.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032791.383165 s.uI~,_~? AA^A2%"AAvNA"AZAbAjArAzAAAt,EĶ7@A%EsAj@A8rAA?An?A sr?A<*A:?2Aֽ:AzBA:?JAֽRAz٘i)I9j@YG J<JJJJBE&K Y^~?y"9JAAEŧ7b7?9B)BE[[th?[^~?[3[[[[BZYY iS=) 0b;IH?i-^F ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032791.423165 s, next control iter: 1743032791.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6290", header.stamp.nsec: 0"0 temperature: 13.566661"* salinity: 33.375523", density: 1025.000000"* values[0]: 0.574875"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032791.803165 s.wA|I~,{gu$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743032791.803282F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@AӾ @AL_~? AWAw%"AA>3vNA"AZAbAjArAzAAA97@A[sA!|k@AֻA A䝑?A?A?A<*A:?2A׽:A+BA:?JA׽RA+٘i)I9|k@YRG J<JJJJBE&K Y^~?yJAAE77{7ԛ9)B[[?[^~?[+[[[[BZYY i) y&;IG?iOK ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032791.823165 s, next control iter: 1743032792.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032792.223165 s.gI~,Hv$AA(\@AbiGu@AZ_~? APA9%"AAHvNA"AZAbAjArAzAAA 8@Amp(sAHk@A;AAS?A(?A^?A(<*A%:?2Ae׽:ASBA%:?JAe׽RAS٘i)I9k@YG J<JJJJ%BE&K Ym^~?yJAAE77j9)B[[?[ _~?[{#[[[[BZYY i) [;InG?i)IN P?))P?P?s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032792.263165 s, next control iter: 1743032792.623177 s, wait time: 0.360012 s m^~?)  rAdjusting time to match Gazebo time: 1743032792.643165 s.zЉI~,*)v$AJ"J*J2J:JBJnJvJAG@A^)@A8h_~? AIA޿%"AA]vNA"AZAbAjArAzAAA$58@AFRsAnl@Aqh<Ac Az?A@v?A`}9?A<*A :?2AՕ׽:ABA :?JAՕ׽RA٘i)I9nl@YG J<JJJJ*BE&K YO^~?y< XKAAE{7{79B)BE[[?[_~?[[[[[BZYY i)  elevatorAngleAction: 0.075355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032793.063282F (some fields omitted in printout)Afffff@ARL@AIu_~? ABAG%"AAqvNA"AZAbAjArAzAAAҩة]8@Agr sA;l@AӀ<A} AA?A $?A@v?A!<*A:?2A|׽:ABA:?JA|׽RAYz??y% <ٓH/? ֿ?`,?Xi ?J? ?)z? I٘i)I9l@Y+G JH<JY;JJJ/BE&Kx> Y^~?yKA?AE7779)B[[7܌?[&_~?[[[[[BZYY i) ScNJ<*A9?2A/,׽:ABA9?JA/,׽RA٘i)I9Rm@YpG J/<JJJJ5BE&K Y^~?yLAAE77*9)B[[P?[l4_~?[ [[[[BZYY i) & elevatorAngleAction: 0.075355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198512 time: 1743032794.323273F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@Aߎ@A_~? AR-A=%"AA5vNA"AZAbAjArAzAAAO8@AsAEn@A1OAA(4?A ?A?A=<*A9?2Axֽ:A BA9?JAxֽRA ٘i)I9En@YG J$<C=JJJJ@BE&K YW^~?yiLAAE7777T9B)BE[[nD?[M_~?[Q[[[[BZYY i) E Y^~?y٩MA? EDAEj7Z79 B)BE[[ ?[_d_~?[I[[[[BZYY i) d elevatorAngleAction: 0.075355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032795.583290F (some fields omitted in printout)AR땸@Au=uѕ@A۹_~? A8A%"AA vNA"AZAbAjArAzAAA@r-9@A usAo@AAA%?A/?Ar?Ar<*A9?2A&׽:Ab BA9?JA&׽RAb ٘i)I9o@YG J<JJJJPBE&K Y^~?y:ѩMAAE7779)B[[崟?[n_~?[ ݩ[[[[BZYY i|=) t elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743032796.843330F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@A@A_~? AAxN%"AAQwNA"AZAbAjArAzAAALh9@A1BsAoLq@AT<A甚A?A?A6?AWz<*A.9?2AB׽:A BA.9?JAB׽RA ٘i)I9Lq@YG J<B=JJJEJ`BE&K Y9_~?y÷OAAE7)79 B)BE[[1?[ _~?[[[[[BZYY i) C\?AH<*AN9?2A`ֽ:ABAN9?JA`ֽRAYօ?&?y4CI;ٓHS? +@t?8\??=i??)օ? I٘i)I9q@Y.G J <C=JpdJJJeBE&KKx> Y_~?yxOA?AE777j9B)xBE[[Z?[[_~?[[[[[BZYY i) \y elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032798.103300F (some fields omitted in printout)A= ףp@AWV@A_~? AhA%"AA+wNA"AZAbAjArAzAAAw9@A=~sAr@AGA80Aȟ?A$?A?Ar*<*A9?2AP7ֽ:ABA9?JAP7ֽRA٘i)I9r@YG J<JJJJpBE&K Y`!_~?yMPAAEb779)oB[[?[Ü_~?[[[[[BZYY i) @s?BJ>?nJr5vJA(ܘ@A8؛˜@Ax_~? AA%"AAS6wNA"AZAbAjArAzAAA79@AöksA]s@ATnA`Ap>?A`K?A?AU<*A9?2Aaֽ:AJBA9?JAaֽRAJ٘i)I9s@Y?G Jz<JJJJuBE&K Y&_~?yPAAE*9)jB[[bݵ?[ԡ_~?[⚩[[[[BZYY i)  @))2> @2> @ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032798.983165 s, next control iter: 1743032799.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032799.363165 s.I~,u>w$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743032799.363259F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A8G@A]_~? AѪA%"AA3IwNA"AZAbAjArAzAAAlCB):@A."~sAt@AtW;Ai A?A?A r?At<*A#9?2A`8׽:ABA#9?JA`8׽RAY?Н?y ;ٓH`Ѱ?Lع8?`??@h`8[? x?M?)? I٘i)I9t@YG J<J(yJJJBE&Kzx> Y,_~?yQA?AE77U9)^B[[3?[_~?[[[[[BZYY i)  elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743032800.623299F (some fields omitted in printout)A)\@Aۚ@AD `~? A Ap&"AA_wNA"AZAbAjArAzAAAӳgK*:@At'osAjv@ATp<A_A-?A`?A`6?Ab<*A9?2Aֽ:A#BA9?JAֽRA#٘i)I9v@Y'G JT<JJJJBE&K Y@2_~?yDiRAAEb779B)LBE[[f?[_~?[Ij[[[[BZYY i) 9:@A>.esAx@A{VAKAI}?A;?AS?A~T<*A9?2Azֽ:A:BA9?JAzֽRA:YĖ??yV1PWٓH 9e`ly.?k"w?>ϊ?)Ė? I٘i)I9x@YG J<B=J)JJJBE&Kw> Y3_~?yWSA?BEŧ77@9)AB[[ ?[_~?[V[[[[ZZZZ¸>BZYY i¸> ) @A}`~? AAM&"AAnwNA"AZAbAjArAzAAA?F:@A"|`sAx@AYσAᴽA6?Au?A^?AM<*Az9?2Aֽ:A* BAz9?JAֽRA* ٘i)I9x@YmG J(<C=JJJJBE&K Y2_~?yNPTA BE)7b79B)9BE[[8?[_~?[ M[[[[ZZZZBZYY i) &iBA 9?JAZiֽRA>i٘i)I9y@YG J<JJJJBE&K Y1_~?y FTABE777j9)3B[[c?[_~?[PC[[[[ZZZZBZYY i)   9Y1+_~? 9y+UA?BE777+9B) BE[[?[g_~?[O&[[[[ZZZZBZYY ii) sAv}@AaA};Aa?A ʤA Nm?A6<*A59?2Akֽ:Asl<BA59?JAkֽRAsl<٘i)I9v}@YDG J a<JJJJBE&K Y_~?yVA/BE)7ŧ7 9)B[[CW?[L_~?[ [[[[ZZZZBZYY iɫ) .Tg[[[[ZZZZBZYY i) QJJJBE&Kw> Y_~?yKVA?:BE779)B[[Q?[6_~?[[[[[BZYY iDo) T@ Y^~?yըUA?UBE777$9)B[[j??[P_~?[iɨ[[[[BZYY ib o) p;I>E?iɜ'H .@)).@.@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032807.783165 s, next control iter: 1743032808.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032808.183165 s.˂I~,Z z$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743032808.183279F (some fields omitted in printout)AQ@AFk@A]_~? A)A &"AA?OwNA"AZAbAjArAzAAAto 9@A M?tsA.|@AJ'lA=AT?AHĿA,?A򂕼*A9?2Auֽ:Al=BA9?JAuֽRAl=٘i)I9.|@Y|G J!JJJJBE&K YF^~?yiͨ?UAZBEj7Z7'9B) B E[[[Z?[ D_~?[[[[[BZYY i)  ;IE?i6E /@))/@/@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032808.203165 s, next control iter: 1743032808.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032808.603165 s.54I~,&z$AJ"J*J2J:JBJnJvJA= ף@Ao/i֢@A_~? A!AI &"AAFwNA"AZAbAjArAzAAA=9@AXBHsA8{@AB<\AN=A?Ac,ƿA?Ab*A9?2A#׽:A =BA9?JA#׽RA =٘i)I9{@Y-G JBJJJJBE&K Y^~?yŨTA_BEŧ7ŧ7++9)$B[[D@[Y7_~?[[[[[BZYY i) gn;ID?iQ7h@ 61@))61@61@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032808.623165 s, next control iter: 1743032809.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6307 , header.stamp.nsec: 0 0 temperature: 13.383675 * salinity: 33.391598 , density: 1025.000000 * values[0]: 0.709543 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032809.023165 s.ZI~, |Az$AA(\@A=#B@A_~? AA &"AA=wNA"AZAbAjArAzAAA59@A[ sA}!{@A􏄼A'=A?A ȿA?AXY*Al9?2A׽:A] =BAl9?JA׽RA] =٘i)I9!{@YG J%JJJJBE&K Yd^~?yϼ{TAeBEb7.9))B[[uC@[ *_~?[m[[[[BZYY i) u;ID?iI: $2@))$2@$2@y^o٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032809.043165 s, next control iter: 1743032809.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032809.443165 s.5ÖI~,5]\z$AJ"J*J2J:J5?BJ5?nJR>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743032809.443324F (some fields omitted in printout)Azǣ@Ayܝ@A4_~? A/A]{&"AAz3wNA"AZAbAjArAzAAAV7i9@A9 sA؏z@A*A=A6?AɿA`?AS*A9?2Aֽ:A^c=BA9?JAֽRA^c=٘i)I9z@YG JZJJJJCE&K Y^~?yTAjBE77{7V29B)/BE[[^@[._~?[ [[[[BZYY i) lh8;ID?i2 N4@))N4@N4@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032809.483165 s, next control iter: 1743032809.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6308, header.stamp.nsec: 00 temperature: 13.383924* salinity: 33.391628, density: 1025.000000* values[0]: 0.708417F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032809.863165 s.+I~,>wz$AA33333@A@A_~? Aq A&"AA(wNA"AZAbAjArAzAAA.怍z9@A4ksfsA%y@A$X:AN=A|@A '˿Atm?A*A9?2A,oֽ:Az=BA9?JA,oֽRAz=Y?@yN=2X:ٓHTۿ@`cV?`3hۿ`?K?@&?)? I٘i)I9y@Y#G JJL<JJJCE&K!x> Yܾ^~?ySA@pBE759B)4BE[[U@[ _~?[[[[[BZYY i) :ID?i?/ 5@))5@5@QתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032809.903165 s, next control iter: 1743032810.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032810.283165 s.6RI~,z$AJ"J*J2J:J45?BJ45?nJ>5vJAQ@Aޮ@A_~? AA&"AAwNA"AZAbAjArAzAAAထ9@A>SrA}\y@A"=<Av=A@A{ͿA@?I?A"*A49?2A'ֽ:A G=BA49?JA'ֽRA G=I٘i)I9\y@YG JFJJJJ CE&K YIJ^~?yHSAuBE77j799)9B[[@[q^~?[[[[[BZYY i) :ID?i/+ Da7@))Da7@Da7@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032810.323165 s, next control iter: 1743032810.683175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6309., header.stamp.nsec: 0.0 temperature: 13.384201.* salinity: 33.391632., density: 1025.000000.* values[0]: 0.707177.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032810.703165 s.ԺI~,z$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032810.703274F (some fields omitted in printout)Aףp= @Ac&Q/@A|_~? AA?&"AAwNA"AZAbAjArAzAAA*/x9@A۪ rAx@A<AД=A,c@AGϿA"?A&[*AJ9?2A&ֽ:An=BAJ9?JA&ֽRAn=٘i)I9x@YfG JB=JJJJCE&K Y^~?yRAzBEŧ7b7=9B)?BE[[Wd@[^~?[[[[[BZYY i) v8IέD?i5/c% g8@))g8@g8@+ͪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743032810.743165 s, next control iter: 1743032811.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032811.123165 s.2I~,Hz$AJ"J*J2J:JBJnJvJA)\u@Aѯ[@A_~? AAS&"AAwNA"AZAbAjArAzAAAk]9@A+qhrA&*x@AlI<AM=A@A2пA@;?A*A*9?2Amֽ:A b=BA*9?JAmֽRA b=٘i)I9*x@Y G J<C=JJJJCE&K Y^~?yvRABE77@9B)FB[[ @[^~?[[[[[BZYY i) e<_ID?iWwL _r:@))_r:@_r:@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032811.163165 s, next control iter: 1743032811.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032811.543165 s.II~,z$AA{G᥸@Aiq0ǥ@A._~? AAh&"AAvNA"AZAbAjArAzAAA@9@AO 1rA'w@AA:Av=A@ApѿA?A7*A9?2Aֽ:Au<BA9?JAֽRAu<٘i)I9w@YG JݧJJJJCE&K Y^~?y RABEAD9 B)MBE[[Yj @[^~?[[[[[BZYY i) ID?iAjg h;@))h;@h;@y$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032811.583165 s, next control iter: 1743032811.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6310, header.stamp.nsec: 00 temperature: 13.384495* salinity: 33.391655, density: 1025.000000* values[0]: 0.705933F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032811.963165 s.vI~,z$AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743032811.963294F (some fields omitted in printout)AL@A}b2@AH_~? AA&"AABvNA"AZAbAjArAzAAAWG"9@A?rA w@A'Atp=A j@A{VҿA %?A!*Ax9?2A~(׽:A!<BAx9?JA~(׽RA! Y^~?y5QA_@BE77{7G9)QB[[ @[g^~?[hw[[[[BZYY i) =1ID?icK  =@)) =@ =@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032812.003165 s, next control iter: 1743032812.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032812.383165 s.I~,<{$AAQ@A*A@A_~? AݩAދ&"AAvNA"AZAbAjArAzAAAvvL9@AIrA3v@A%AN=Ac@A>9ӿA@l?Ag*A9?2A&A׽:A<BA9?JA&A׽RA<٘i)I9v@YG J9JJJJ'CE&K Y;q^~?y}TQABE{7lK9)UB[[q@[^~?[o[[[[BZYY i) xpI{D?i\[xd ?@))?@?@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032812.423165 s, next control iter: 1743032812.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6311", header.stamp.nsec: 0"0 temperature: 13.384762"* salinity: 33.391647", density: 1025.000000"* values[0]: 0.704822"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032812.803165 s.zAI~,g3{$AJ"J*J2J:Jo4?BJo4?nJ3=5vJAq= #@At] @A_~? AթA&"AAvNA"AZAbAjArAzAAA *8@Avc?rA!)v@AeA=Av @AԿA9?Ah*A9?2A׽:AX<BA9?JA׽RAX<٘i)I9)v@YG JJJJJ,CE&K Yb^~?y#vPABES77O9 B)ZBE[[@[$^~?[h[[[[BZYY i) IpD?iP :@@)):@@:@@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032812.843165 s, next control iter: 1743032813.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032813.223165 s.gI~,HN{$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743032813.223276F (some fields omitted in printout)A(\@AUEu@A_~? AΩA&"AAvNA"AZAbAjArAzAAA㓋8@A YS4^~?y `OA @BE7Y9)hB[[pk@[]^^~?[S[[[[BZYY i)  {IRD?iB.i ߻ E@))E@E@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032814.103165 s, next control iter: 1743032814.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032814.483165 s.v_I~,{$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032814.483276F (some fields omitted in printout)J"J*J2J:JBJnJvJAѨ@A1]շ@Ap_~? A$A N&"AADvNA"AZAbAjArAzAAAj~O8@A EMrAPt@Ay}y<AԄ=A @Ar׿AX?A_*A9?2A_ֽ:A=BA9?JA_ֽRA=٘i)I9Pt@YG JeJJJJBCE&K YP#^~?yYOABE)7ŧ7V]9B)mBE[[@[#J^~?[;M[[[[BZYY i)  IJD?i$һ PF@))PF@PF@y趪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032814.503165 s, next control iter: 1743032814.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6313, header.stamp.nsec: 00 temperature: 13.385215* salinity: 33.391678, density: 1025.000000* values[0]: 0.702824F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032814.903165 s.I~,͹{$AA ףp=@AZa#@Ac_~? A.A&"AAlvNA"AZAbAjArAzAAAh"'8@A] rAs@A;A=Av@AFؿA?A*AB9?2A5ֽ:A=BAB9?JA5ֽRA=٘i)I9s@YlG JB=JJJJGCE&K YJ^~?yQ5OA FDBE777`9)qB[[b@[5^~?[F[[[[BZYY i) ӒIAD?iû oH@))oH@oH@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032814.943165 s, next control iter: 1743032815.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032815.323165 s.uI~,!{$AJ"J*J2J:JBJnJvJA\@Acގ@AU_~? ANA^&"AAHXvNA"AZAbAjArAzAAA=j?7@A%{TrABls@AAO=A@AٿA`?AN*A9?2A=׽:A|=BA9?JA=׽RA|=٘i)I9ls@Y'G J C=JJJJLCE&K YI^~?yJNABES77d9B)xBE[[h@[ ^~?[@[[[[BZYY i) G:)If:D?i# k H))HI@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032815.363165 s, next control iter: 1743032815.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6314&, header.stamp.nsec: 0&0 temperature: 13.385432&* salinity: 33.391693&, density: 1025.000000&* values[0]: 0.701853&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032815.743165 s.WI~,{$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743032815.743298F (some fields omitted in printout)AGz@A{i@AG_~? AA{&"AA?CvNA"AZAbAjArAzAAA[m7@A=c0rAr@AbA=A)@A ٿA?Ap*Ah9?2AP׽:AO=BAh9?JAP׽RAO=٘i)I9r@YG JB=JJJJRCE&K YE]~?yCNABE{7j7h9){B[[fO@[g ^~?[u:[[[[BZYY i) 8I3D?iD oG))oGF K@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032815.763165 s, next control iter: 1743032816.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032816.163165 s.u}I~,q |$AJ"J*J2J:J3?BJ3?nJG<5vJA@ANe@A49_~? AԝA%g&"AA-vNA"AZAbAjArAzAAA)A7@A~L0rApr@A_@A=AFy@AڿA@O?Adž*A*9?2AY?׽:AOU=BA*9?JAY?׽RAOU=Ya@=g@y숍=*ٓH:n f?%]?G@h?)a@ I٘i)I9r@YG J~C=J2<JJJWCE&KFx> Y]~?yr=$NAg@BE7{7k9B)BE[[9@[]~?[4[[[[BZYY i) NHI-D?iK徉 vE))vE?L@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032816.183165 s, next control iter: 1743032816.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032816.583165 s.I~,R%|$AAR몸@AnѪ@A3*_~? A;A&"AA&vNA"AZAbAjArAzAAAby7@AṈmrAr@AA=A=@AJ{ۿA) ?A-*A49?2Aֽ:A#=BA49?JAֽRA#=٘i)I9r@YZG JJJJJ\CE&K Y]~?y6MABEb77Ao9B)BE[[<@[v]~?[.[[[[BZYY i) WI(D?iϾ ,D)),DN@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032816.623165 s, next control iter: 1743032816.983175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6315, header.stamp.nsec: 00 temperature: 13.385643* salinity: 33.391705, density: 1025.000000* values[0]: 0.700936F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032817.003165 s.J "J *J 2J { I~:Jp3?BJp3?,Y4@|$AnJ'<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743032817.003285F (some fields omitted in printout)Ap= W@AՕ<@A_~? AAi&"AAvNA"AZAbAjArAzAAAJ7@A恰=rAq@A :A=A@A`=ܿA9?A*A9?2AB}ֽ:A7 =BA9?JAB}ֽRA7 =٘i)I9q@YG J<JJJJbCE&K Y]~?y0fMABEj7j7r9)B[[j@[]~?[*)[[[[BZYY i) gI#D?ii ǠB))ǠB~O@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032817.043165 s, next control iter: 1743032817.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032817.423165 s.uI~,[|$AA(\«@AYw@A _~? ARA'&"AAuuNA"AZAbAjArAzAAAdQ7@AWƅS2rA?q@AsH<A4=A?@AܿAw?AI*A9?2A,ֽ:A=BA9?JA,ֽRA=٘i)I9q@YG JJJJJgCE&K Ym]~?y*MABE77lv9B)BE[[*! @[m]~?[#[[[[BZYY i') ڈvID?iYxC 'A))'A P@KΪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743032817.443165 s, next control iter: 1743032817.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6316, header.stamp.nsec: 00 temperature: 13.386002* salinity: 33.391705, density: 1025.000000* values[0]: 0.699393F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032817.843165 s.I~,u|$AJ"J*J2J:JBJnJvJAHz.@A@A^~? AA[c&"AA*uNA"AZAbAjArAzAAAr&6@AC#9YrATp@Ah<A8ї=A@AݿA@+?A*Aڸ9?2A&ֽ:A=BAڸ9?JA&ֽRA=٘i)I9p@YlG JJJJJmCE&K Y6]~?y#LABE77z9)B[[!@[]~?[[[[[BZYY i) UID?iof ?))?oR@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032817.863165 s, next control iter: 1743032818.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032818.263165 s.$I~,'ؐ|$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085037< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743032818.263293F (some fields omitted in printout)A@Ad@A^~? A}A&"AA@uNA"AZAbAjArAzAAAxL%6@AkerAe p@A@<A=A@At޿A ?A"*A9?2Aoֽ:A=BA9?JAoֽRA=YI @n@y;=YA<ٓH``%[Ԩ?ݭ?K/`?@e?)I @ I٘i)I9 p@YG JTB=J"f<JJJrCE&Kw> Yz]~?yALA@BEb77}9B)BE[["@[4]~?[[[[[BZYY i) 8ID?iG& y9>))y9>I~,S]|$AAzG@A-@A`^~? AfA&"AA}MuNA"AZAbAjArAzAAA9\5@A=rA^m@A[Ae=A1 @AA?A물*A9?2A+ ׽:A3=BA9?JA+ ׽RA3=٘i)I9m@YG JJJJJCE&K Y+&]~?yJABE779"B)BڹE[[Ϫ(@[$]~?[Q[[[[BZYY i) ID?i=9 j8))j8Y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032819.963165 s, next control iter: 1743032820.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032820.363165 s.EI~,l>}$AJ"J*J2J:Jy2?BJy2?nJ%;5vJA3333@A3k) @AÐ^~? A{`AP &"AA1uNA"AZAbAjArAzAAAՀ5@A,̚wrAJm@A@vAk=Aq!@AA`4?A*A}9?2Aѕֽ:A =BA}9?JAѕֽRA =Yf@l!@y=wٓH`;^@+??`n ?)f@ I٘i)I9Jm@YkG J7J<JJJCE&Kx> Y2]~?yu3JAl!@BE{7j79$B)B׹E[[h*@[I ]~?[/[[[[BZYY i) ID?i=B: v6))v6?&[@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032820.403165 s, next control iter: 1743032820.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6319&, header.stamp.nsec: 0&0 temperature: 13.386667&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.696579&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032820.783165 s.SKI~,2}$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085037< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743032820.783297F (some fields omitted in printout)AQ@Ap`r@A}^~? AZAZ&"AA%uNA"AZAbAjArAzAAAn/ o5@A`JrA׬l@AC<AL̫=A"@AWHA˸?A|*A9?2A$ֽ:A=BA9?JA$ֽRA=٘i)I9l@Y G JJJJJCE&K Y8\~?yZIABE7779)B[[{+@[\~?[>[[[[BZYY i) ]ImD?i=/: 5))5"\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032820.803165 s, next control iter: 1743032821.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032821.203165 s.SI~,M}$AJ"J*J2J:J,2?BJ,2?nJ:5vJAףp=@Aq0'p@Azj^~? AUA&"AA)tNA"AZAbAjArAzAAA}3y45@A[rA l@Aل|<A`=A #@AA ?A݋ɼ*A9?2Aս:Al=BA9?JAսRAl=٘i)I9l@YG JcżJJJJCE&K Y>\~?y>PIACE79%B)ůBԹE[[,@[\~?[[[[[BZYY i) FID?iJ7>L: 4))4^@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032821.223165 s, next control iter: 1743032821.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032821.623165 s.\YI~,qg}$AA)\@Ax}ۯ@AV^~? AIPAo`&"AAtNA"AZAbAjArAzAAAr4@ACŒrA[k@Aos<A=Az@%@AAK?Aͼ*A9?2A^ֽ:A=BA9?JA^ֽRA=٘i)I9[k@Y>G J˼JJJJCE&K YD\~?y#HACE77{7B9'B)̯BѹE[[C.@[\~?[[[[[BZYY i)  ƼI9D?iw>; `2))`2Ur_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032821.663165 s, next control iter: 1743032822.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6320 , header.stamp.nsec: 0 0 temperature: 13.386992 * salinity: 33.391743 , density: 1025.000000 * values[0]: 0.695324 F (some fields omitted in printout)D\~?)# rAdjusting time to match Gazebo time: 1743032822.043165 s.`I~,Â}$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085037< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743032822.043292F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@Ac 8G@AB^~? A"KA\&"AAtNA"AZAbAjArAzAAAc34@A82ݠrAͮj@A;A7=A&@AL6A્?A2ͼ*Ad9?2Amֽ:Aw=BAd9?JAmֽRAw=٘i)I9j@YG JͼB=JJJJCE&K YH\~?ynHA CEj7ם9)B)ӯBйE[[U/@[\~?[[[[[BZYY i) aͼI"D?i>*L; A1))A1&`@PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032822.063165 s, next control iter: 1743032822.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032822.463165 s.]gI~,}$AA̰@A6񺲰@Aw.^~? AFA)&"AAtNA"AZAbAjArAzAAAw~4@A(rAYj@AKGA1=A'@AKA`?ASG̼*A9?2A<ֽ:As*=BA9?JA<ֽRAs*=Y@ '@y"1=ٓH_ʢ߿`E?? >hu ?)@ I٘i)I9j@YlG JPͼC=JG0<JJJCE&KBx> YŚ\~?yGA'@CE)7ŧ7m9*B)گB͹E[[1@[Ï\~?[b[[[[BZYY i) ԼIm'D?iX>fi; /))/Ib@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032822.483165 s, next control iter: 1743032822.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6321, header.stamp.nsec: 00 temperature: 13.387301* salinity: 33.391743, density: 1025.000000* values[0]: 0.693973F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032822.883165 s.ymI~,8}$AJ"J*J2J:JBJnJvJAQ8@AYLl>@A^~? A9AA&"AA~tNA"AZAbAjArAzAAA T?4@AlrAVi@A>hA4m=AR)@AA5?A˼*A9?2A5׽:A`6=BA9?JA5׽RA`6=٘i)I9Vi@YG J$̼JJJJCE&K YC\~?yT~GACE77779,B)BʹE[[Be2@[^v\~?[\[[[[BZYY i) ۼI-D?id>0_; l.))l.3c@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032822.923165 s, next control iter: 1743032823.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032823.303165 s.StI~,jg}$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085037< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032823.303278F (some fields omitted in printout)Aq= ף@A@A^~? Aw<A&"AAr_tNA"AZAbAjArAzAAA]?64@A+P֬rAh@AfAn=A1*@A$A (>?A.μ*A\9?2A=׽:Az=BA\9?JA=׽RAz=٘i)I9h@Y G JͼJJJJCE&K Yi\~?yߧGACE{79-B)BǹE[[3@[\\~?[[[[[BZYY i) Im3D?i>I\; -))-(e@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032823.323165 s, next control iter: 1743032823.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6322., header.stamp.nsec: 0.0 temperature: 13.387606.* salinity: 33.391773., density: 1025.000000.* values[0]: 0.692621.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032823.723165 s.{I~,H}$AJ"J*J2J:JBJnJvJA(\@AD@A]~? A7AD&"AAl?tNA"AZAbAjArAzAAAר3@An*ڃrAg@AAڵ=Aa+@A5[Av?AԼ*AP9?2ASֽ:Ak=BAP9?JASֽRAk=٘i)I9g@Y0 G JѼJJJJCE&K Y=Q\~?yۧFA CEj7j7,9)B[[H5@[C\~?[[[[[ZZ¸BZYY i¸=) G׼I:D?i?; +))+Ƀf@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032823.743165 s, next control iter: 1743032824.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032824.143165 s.U/I~,* ~$AAGz@AS]`@A]~? AZ3A&"AAtNA"AZAbAjArAzAAA?sU1~3@A ;rAEg@AG$;A=A!-@AਝA )?A}ۼ*A{9?2A;ֽ:AC@=BA{9?JA;ֽRAC@=٘i)I9Eg@Y G J׼JJJJCE&K Y8\~?yGקFA&CEZ7Z7¯9/B)BĹE[[mv6@[1*\~?[m[[[[ZZBZYY i) ˼ICD?i?M3; 5*))5*g@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032824.163165 s, next control iter: 1743032824.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032824.563165 s.I~,V $~$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032824.563293F (some fields omitted in printout)Affff沸@Ah\W̲@A]~? A/A&&"AA sNA"AZAbAjArAzAAA;3@A6u~rAxf@AGO<A9=AW`.@A A`J?A*A;9?2Aaս:Aj<BA;9?JAaսRAj Y\~?yӧEAr.@+CE7ŧ7X9)BE[[\7@[e\~?[[[[[ZZBZYY i) R IKD?i%?; V())V(_Oi@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032824.583165 s, next control iter: 1743032824.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6323, header.stamp.nsec: 00 temperature: 13.387948* salinity: 33.391766, density: 1025.000000* values[0]: 0.691220F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032824.983165 s.I~,>~$AAQ@A7@A]~? A*AG &"AAsNA"AZAbAjArAzAAA">2@A)>{rA6e@A<݂<AT=A/@A}A ?Ap*A9?2Aiս:A<BA9?JAiսRA<٘i)I9e@Y G JC=JJJJCE&K Y\~?y+Ч-EA1CE{7{790B)BE[[+9@[[~?[[[[[ZZBZYY i) dIUD?i3?&8; k'))k'j@y=.ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032825.023165 s, next control iter: 1743032825.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032825.403165 s.&I~,Y~$AJ"J*J2J:J0?BJ0?nJS95vJA ףp@A Z@A]~? A&A &"AAsNA"AZAbAjArAzAAA^Lش2@ATzfyrAd@A.<Acs=A0@A``XAV??A *A 9?2A2ֽ:A'n<BA 9?JA2ֽRA'n<٘i)I9d@Y6 G JJJJJCE&K YN[~?y̧DA6CEb7793B) BE[[:@[[~?[ [[[[ZZBZYY i) "I_D?iAB?a; N&))N&gl@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032825.423165 s, next control iter: 1743032825.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6324", header.stamp.nsec: 0"0 temperature: 13.388356"* salinity: 33.391766", density: 1025.000000"* values[0]: 0.689542"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032825.823165 s.I~,)t~$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743032825.823291F (some fields omitted in printout)A\(@AV @A׀]~? A"A7 &"AAژsNA"AZAbAjArAzAAAd+p2@AyЀ)wrACc@AA=f.=AQ2@AAk?AMͼ*A9?2A$Uֽ:A`D;BA9?JA$UֽRA`D;٘i)I9c@Y G JJJJJCE&K Y[~?yɧBDA;CE79)B[[;@[>[~?[Gާ[[[[ZZBZYY i) Q,IVkD?i1S?+*< ($))($ym@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032825.843165 s, next control iter: 1743032826.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032826.243165 s.I~,q~$AJ"J*J2J:JR0?BJR0?nJ85vJAGz@Acz@Ai]~? AA2!&"AAOvsNA"AZAbAjArAzAAAR*2@A5*trA}\c@A$BA(<AԢ3@A`A@?AO*AC9?2AMֽ:AV5BAC9?JAMֽRAV5I٘i)I9\c@Y` G JJJJJCE&K Y[~?yŧCAACEj7Z794B)BE[[)=@[[~?[ܧ[[[[ZZBZYY i)  7IwD?ie?f< E#))E#n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032826.283165 s, next control iter: 1743032826.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032826.663165 s.I~,q~$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6325, header.stamp.nsec: 00 temperature: 13.388682* salinity: 33.391773, density: 1025.000000* values[0]: 0.688103F (some fields omitted in printout)A@A{崸@AR]~? AZAq{!&"AAaSsNA"AZAbAjArAzAAA޻՗O1@AǺ3vrrAb@ASA<A4@AsA`?AN|s*A 9?2A6ֽ:A(BA 9?JA6ֽRA(Y&@!4@yY<ٓHnmӿ ?l@ѡw?)&@ I٘i)I9b@Y G J%B=J:JJJCE&Kv> Yœ[~?y§CA4@FCE77C95B)BE[[>@[[~?[Aۧ[[[[ZZBZYY i4=) [ID?iq?< !!))!!;p@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032826.683165 s, next control iter: 1743032827.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032827.083165 s.DI~,R~$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064066< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743032827.083288F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@A<-?pQ@AP;]~? AAP!&"AA0sNA"AZAbAjArAzAAA6Z.P1@AGE,TprA܈b@As8bAܻA96@A7=A@?A}P'*A69?2A?ֽ:AdBA69?JA?ֽRAd٘i)I9b@Y G JSC=JJJJCE&K Y؁[~?y CAKCE{7j796B)"BE[[?@[u[~?[٧[[[[ZZBZYY iUX=) wInD?i?#< ̓ ))̓ q@r(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032827.123165 s, next control iter: 1743032827.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032827.503165 s.I~,L4~$AAp= ׵@A)'򼵸@A#]~? AAL"&"AAo sNA"AZAbAjArAzAAA'*U1@AXHnrAQb@A_AA7@A:qA?Ai*A9?2Avֽ:A/BA9?JAvֽRA/٘i)I9Qb@Y G JJJJJCE&K Yf[~?yPCAQCEb77m97B)%BE[[%A@[[[~?[ا[[[[ZZBZYY i) TcID?i{?j-< o$))o$Fr@A)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032827.543165 s, next control iter: 1743032827.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6326, header.stamp.nsec: 00 temperature: 13.388902* salinity: 33.391788, density: 1025.000000* values[0]: 0.687240F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032827.923165 s.J "J *J 2J :J /?BJ /?nJ z85vJ 9I~,~$AA(\B@AH2w(@A ]~? ANAXD"&"AAqrNA"AZAbAjArAzAAAD 1@AttUlrAT7b@A) <AMAp8@A@rA ?AҺ*A9?2Anֽ:A@ǼBA9?JAnֽRA@Ǽ٘i)I97b@Y G JuJJJJCE&K YL[~?yCAVCE7798B)&BE[[tB@[;B[~?[ק[[[[BZYY i) OI}D?i?k8< \))\YYt@y=s1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032827.963165 s, next control iter: 1743032828.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032828.343165 s.<I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032828.343299F (some fields omitted in printout)AHz@A*@A\~? ABAm"&"AA rNA"AZAbAjArAzAAA$6G0@AܐX>yjrA8b@Afƀ<AX1A-:@AA Yq[~?yCAn;@aCE7-99B)E[[E@[[~?[֧[[[[BZYY if=) +I&D?i?5L< Q))Qdw@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032828.783165 s, next control iter: 1743032829.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032829.183165 s.I~,^K$AAQ@Ahxk@A\~? AA"&"AAzrNA"AZAbAjArAzAAA#:00@A> grAȋb@A;AsxA<@A`%A?A?)<*A9?2Ahֽ:ABA9?JAhֽRA٘i)I9b@Y G J<JJJJCE&K YZ~?y!DAfCE77{79:B)E[[^F@[3Z~?[@֧[[[[BZYY i) KI D?ii? U< ))lx@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032829.203165 s, next control iter: 1743032829.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032829.603165 s.84I~,f$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056305< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743032829.603286F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@Afyַ@Ab\~? A A&#&"AAlUrNA"AZAbAjArAzAAA>}/@AMƨuerAb@AػAA=@A KA3$?AΩn<*A`9?2A0ֽ:A BA`9?JA0ֽRA ٘i)I9b@Y G JI<JJJJDE&K Y,Z~?yBiDAlCEb77X9;B)$BE[[B)BE[[7J@[/Z~?[է[[[[BZYY i) ԻIE?i%?3u< f))fOu|@yχ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032830.483165 s, next control iter: 1743032830.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6329, header.stamp.nsec: 00 temperature: 13.388828* salinity: 33.391800, density: 1025.000000* values[0]: 0.687913F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032830.863165 s.+I~,}>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065615< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743032830.863279F (some fields omitted in printout)A33333@AҦ@A_\~? A6A9#&"AAlqNA"AZAbAjArAzAAA[/.@A/IIarAVd@A{^A0昽AA@ApA@٫?A`<*A"9?2A_Uֽ:A(BBA"9?JA_UֽRA(BY3@ A@y䘽HٓH՛@C?`_?g@|됿?뀿?)3@ I٘i)I9Vd@Y G J<JVVJJJDE&Kw> Y֊Z~?yaEAA@|CE7779?B)BE[[K@[ЏZ~?[0֧[[[[BZYY i) zI_4E?i?}< &[))&[}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032830.883165 s, next control iter: 1743032831.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032831.283165 s.ARI~,$AJ"J*J2J:J70?BJ70?nJ85vJAQ@A(좄@AZF\~? A@A-#&"AAOqNA"AZAbAjArAzAAA]@m-@AR`rAld@Atr;AxA_AC@A@Af?AI<*A?9?2Aֽ:A|w BA?9?JAֽRA|w ٘i)I9d@YL G J<JJJJDE&K YnZ~?yEACE79)BE[[L@[vZ~?[֧[[[[BZYY i) \DIhJE?i?%< !))! @T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032831.303165 s, next control iter: 1743032831.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6330., header.stamp.nsec: 0.0 temperature: 13.388644.* salinity: 33.391758., density: 1025.000000.* values[0]: 0.688873.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032831.703165 s.ٺI~,$AAףp= @AbX9@A-\~? AtA#&"AAqNA"AZAbAjArAzAAA*ό,@A՟=^rAme@As`<A ACD@A`A`m?A<*Av9?2A׽:ABAv9?JA׽RA٘i)I9me@Y G J<B=JJJJDE&K YRZ~?y.FACEb77C9)B[[ N@[]Z~?[ק[[[[BZYY i) tIGaE?i? < ))N(@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032831.723165 s, next control iter: 1743032832.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032832.123165 s.: I~,i$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065615< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743032832.123295F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A(+[@A\~? AA$&"AAqqNA"AZAbAjArAzAAA< &9,@AP1]rAKe@A?<AٚAE@AA@?AA<*A9?2A׽:ABA9?JA׽RA٘i)I9e@Y G J<C=JJJJ#DE&K Y6Z~?yFACE7779@B)BE[[NO@[DZ~?[ק[[[[BZYY i) c7IyE?i?y< ))\ɀ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032832.143165 s, next control iter: 1743032832.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032832.543165 s.I I~,"$AA{GẸ@Aj4Ǻ@A[~? AXA>$&"AAJqNA"AZAbAjArAzAAA=< +@An]rAf@Ah-<AA1G@A 1A`#(?A<*A9?2Aֽ:A9/BA9?JAֽRA9/٘i)I9f@YN G J<JJJJ)DE&K YZ~?yFACEb77m9AB) BE[[zP@[Q,Z~?[ا[[[[BZYY i) pI͑E?i\?n< EM))EM8i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032832.563165 s, next control iter: 1743032832.943185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6331, header.stamp.nsec: 00 temperature: 13.388450* salinity: 33.391766, density: 1025.000000* values[0]: 0.689876F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032832.963165 s.{ I~,=$AJ"J*J2J:J0?BJ0?nJ/95vJAL@AQ2@AR[~? AAzY$&"AA$qNA"AZAbAjArAzAAA֛+@AM ذK\rAg@A(;WAxA qH@A1A?AQ{<*A$9?2AWaֽ:A`BA$9?JAWaֽRA`Yk:@rH@yx5WٓHك ??@9Y ?dJ N?)k:@ I٘i)I9g@Y G Jb<J:JJJ.DE&Kx> Y[Y~?ybGArH@CE)7ŧ79)BE[[Q@[Z~?[٧[[[[BZYY i) :{I4E?i4?+<  ))  @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032832.983165 s, next control iter: 1743032833.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032833.383165 s. I~, elevatorAngleAction: 0.065615< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743032833.383280F (some fields omitted in printout)AQ@A3jJ@A[~? AAq$&"AApNA"AZAbAjArAzAAAexPpyf*@AVGy[rAg@AuAASOAznHA@BA@ݸ?AΑ<*AT9?2Afֽ:ABAT9?JAfֽRA٘i)I9g@Y G J<B=JJJJ3DE&K YY~?yxGACE77{79BB)BE[[US@[Y~?[ڧ[[[[BZYY i) ISE?i?q< i ))i @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032833.423165 s, next control iter: 1743032833.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6332", header.stamp.nsec: 0"0 temperature: 13.388242"* salinity: 33.391766", density: 1025.000000"* values[0]: 0.690934"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032833.803165 s.wA I~,{gs$AJ"J*J2J:J0?BJ0?nJx95vJAq= #@ALK @AŬ[~? AA؆$&"AApNA"AZAbAjArAzAAA)@Aÿ_ZrACh@AʬAAW&GA`QA`?A<*Ag9?2Aֽ:ABAg9?JAֽRA٘i)I9Ch@Y\ G J9<C=JJJJ9DE&K  9YY~? 9yb/HACES77.9)BE[[RT@[Y~?[ۧ[[[[BZYY i) uh:I?E?ib?>< + ))+ EK@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032833.843165 s, next control iter: 1743032834.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032834.223165 s.g# I~,H$AA(\@ADu@A[~? A Aʘ$&"AAݮpNA"AZAbAjArAzAAAh-)@AlzZrAoh@ANArAEA^A>N?A}<*A79?2A=Zֽ:ABA79?JA=ZֽRA٘i)I9h@Y G Jp<JJJJ>DE&K YY~?yMHACEj7j79CB)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #30q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) 6I:)'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032834.263165 s, next control iter: 1743032834.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032834.643165 s.w) I~, *$AJ"J*J2J:J'1?BJ'1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.065615< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032834.643283F (some fields omitted in printout)AG@AVE༸@Ax[~? AcA$&"AApNA"AZAbAjArAzAAAD(@AaZrA`i@AdAAyDA@iA ?A$K<*A9?2Aֽ:ABA9?JAֽRA٘i)I9`i@Y G J<JJJJDDE&K YmY~?y7HA GDCE777X 9)BE[[V@[Y~?[ާ[[[[BZYY i) 3;IE?i@i<  ))  @,*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6333, header.stamp.nsec: 0]:0 temperature: 13.388043* salinity: 33.391750, density: 1025.000000* values[0]: 0.692011F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743032834.663165 s, next control iter: 1743032835.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032835.063165 s.0 I~,N Ā$AAfffff@AߤiPL@A^[~? AA>$&"AA>`pNA"AZAbAjArAzAAA*=>@'@AdXYrAni@A$<Ab-AxCAA` ?AƘ<*A@:?2An½:ARBA@:?JAn½RARY@@Cy+'>%<ٓHk`U??`ZN?@b?y?`?)@@ I٘i)I9i@YZG J<JP}<JJJIDE&Kj> YHqY~?yYIACCE7 9)B[[X@[ Y~?[[[[[BZYY i6 =) tq;IxF?i@-< {))%@ǻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032835.103165 s, next control iter: 1743032835.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032835.483165 s.~_7 I~,ހ$AJ"J*J2J:JBJnJvJAѽ@AԷ@AD[~? AA$&"AA8pNA"AZAbAjArAzAAA40T'@AYrAaj@Al<A7AIBAA`E?ABđ<*AL:?2Aý:AFBAL:?JAýRAF񼙘٘i)I9aj@YG JS<JJJJNDE&K Y$UY~?yIACEb7b79DB)B|E[[CY@[cY~?[w[[[[BZYY i) s;I8F?i5 @x< ՗))՗Å@'*YdYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032835.503165 s, next control iter: 1743032835.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6334, header.stamp.nsec: 00 temperature: 13.387840* salinity: 33.391747, density: 1025.000000* values[0]: 0.693016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032835.903165 s.= I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743032835.903300F (some fields omitted in printout)A ףp=@A'_[#@A*[~? AnA{$&"AA<pNA"AZAbAjArAzAAA_&@A_ }YrAj@A9q<AUA6AA A1?A<*A:?2AŽ:A}'BA:?JAŽRA}'٘i)I9j@YG J<JJJJTDE&K Y8Y~?yJACE779)ByE[[}Z@[kY~?[m[[[[BZYY i) +h;IWF?i@G< ]))]`@޹*YYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032835.943165 s, next control iter: 1743032836.303179 s, wait time: 0.360014 s8Y~?) rAdjusting time to match Gazebo time: 1743032836.323165 s.sD I~,$AJ"J*J2J:JBJnJvJA\@AC⎾@A[~? A[A$&"AAoNA"AZAbAjArAzAAAF@Ѽ&@A~qYrANPk@A;A~AH@AA^8?AW<*AN:?2Ag\Ƚ:ABAN:?JAg\ȽRA٘i)I9Pk@Y7G J<JJJJYDE&K YY~?yDqJACEb779)BvE[[ŵ[@[TY~?[[[[[BZYY i)  ];IqwF?i!@< %))%@y =?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032836.363165 s, next control iter: 1743032836.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6335*, header.stamp.nsec: 0*0 temperature: 13.387658** salinity: 33.391747*, density: 1025.000000** values[0]: 0.693923*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032836.743165 s.WK I~,/$AAGz@A7i@AZ~? AjA<$&"AAoNA"AZAbAjArAzAAAVxqy%@AMk{YrAk@AA)A^?AA.AX:<*AX:?2Aʽ:ABAX:?JAʽRA٘i)I9k@YG J<JJJJ^DE&K YY~?yJACEC9)BsE[[\@[>Y~?[[[[[BZYY i) P;IFF?i@q< ))@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032836.783165 s, next control iter: 1743032837.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032837.163165 s.u}R I~,qJ$AJ"J*J2J:J1?BJ1?nJc:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032837.163288F (some fields omitted in printout)A@Ao|e@AZ~? AA$&"AAoNA"AZAbAjArAzAAA͍|o.$@AzYrAEl@AńAA>AA LAF<*A+:?2A3ͽ:A;_BA+:?JA3ͽRA;_Y F@ >yԇٓH nt?@U˱?ſfns`]S?f?) F@ I٘i)I9El@YG J<J :JJJdDE&KbP> YX~?y,KA >CE77{79EB)BpE[[##^@[='Y~?[[[[[BZYY i) , elevatorAngleAction: 0.074728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743032838.423297F (some fields omitted in printout)A(\@A4y@A[Z~? A(A3$&"AA$oNA"AZAbAjArAzAAAf]=#@A򋆋ZrA׻m@A;A䎽A :A`tA`A9<*A_y:?2A ӽ:ApBA_y:?JA ӽRAp٘i)I9m@YG J<JJJJtDE&K YbX~?yCLACE7S7)9)ׯB[[2a@[vX~?[[[[[BZYY i) 8@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032838.883165 s, next control iter: 1743032839.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032839.263165 s.t I~,Ё$AA@AdU@A{ZZ~? AAՇ$&"AASnNA"AZAbAjArAzAAA |!@Aau[rAn@A̗<AaAU7A@WA=A"ߒ<*Ag:?2Aս:ABAg:?JAսRAYBL@Qi7y <ٓH@F? Jx?aѿ@0z?]??`?)BL@ I٘i)I9n@YDG J<JJJJDE&K|> YbZX~?yMAi7CE7709)ϯBeE[[|!d@[-X~?[[[[[BZYY i) ]V elevatorAngleAction: 0.074728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743032839.683287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ¸@AO@A@Z~? A(Ar$&"AAnNA"AZAbAjArAzAAAdZ*!@A@`\rA,o@A>J&<AEA 6AsEAAA<*A_:?2A/ս:AWaBA_:?JA/սRAWa٘i)I9,o@YG J<JJJJDE&K Y6?X~?y]fMACEŧ7ŧ7Y49DB)˯BbE[[Re@[ˣX~?[[[[[BZYY i) fBAJQ:?JAսRA>٘i)I9;p@Y6G J<JJJJDE&K YX~?y)+NACE777;9)¯B\E[[qg@[yX~?[)[[[[BZYY i) 7R]<$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743032840.943318F (some fields omitted in printout)AzGø@A-ø@AY~? AA7!$&"AAC9nNA"AZAbAjArAzAAA^/ޮ@A_rAp@AA뙽A92AVA ĿAd<*AVF:?2A+/ֽ:A,BAVF:?JA+/ֽRA,٘i)I9p@YG Jb<JJJJDE&K YW~?yNACE77?9)BYE[[h@[eX~?[[[[[BZYY i) W$AJ"J*J2J:JBJnJvJA3333ø@A>'ø@ACY~? AgA#&"AAnNA"AZAbAjArAzAAA󶥝mz@AR"v0`rAZq@ASLAAN0AAſA?<*A&<:?2Aֽ:A`BA&<:?JAֽRA`YFS@0yJMٓH`| ??? c׿`А?p?ޞ?)FS@ I٘i)I9Zq@YG J<B=J$JJJDE&Kz> YqW~?yçNA0DE)7ŧ7B9)B[[ j@[2QX~?[ [[[[BZYY i) x elevatorAngleAction: 0.084292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743032842.203306F (some fields omitted in printout)Aףp=ĸ@AÁ,pĸ@AʧY~? A~AI#&"AAmNA"AZAbAjArAzAAA6<A{A$.AAɿAF<*A(:?2A׽:ABA(:?JA׽RAI٘i)I9vr@YG J<JJJJDE&K YW~?yRʧOA DE7777I9)BSE[[`l@[Z)X~?[e[[[[BZYY i) HZ#&"AAzmNA"AZAbAjArAzAAA8 @Aa9erAs@A:j<AA!+AXAaͿA<*A:?2Ai׽:ABA:?JAi׽RA٘i)I9s@Y@G Jɬ<JJJJDE&K YjW~?yЧPADE{7{7Q9)BNE[[4n@[X~?[[[[[BZYY i) ⇯ elevatorAngleAction: 0.084292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743032843.463276F (some fields omitted in printout)AŸ@A)嵲Ÿ@A>]Y~? AA)#&"AATmNA"AZAbAjArAzAAAEP@A,[)grA,t@Avy;AA2C*A^0AB+ϿA<*A:?2AP׽:A BA:?JAP׽RA Y3Y@`H*yRz;ٓHE ş?;U?:ݿ ]pV?`^0?.o??)3Y@ I٘i)I9,t@YG J'<JJJJDE&K y> YQW~?yԧ QAH*DE777T9)B[[[o@[W~?[[[[[BZYY i) ۶@A@jrAvu@AA>A'AA`XѿA<*A:?2Alֽ:A BA:?JAlֽRA ٘i)I9vu@YeG J<B=JJJJDE&K YyW~?y ݧQA'DEj7Z7[9BB)BHE[[l+r@[W~?[p$[[[[BZYY i) σ elevatorAngleAction: 0.084292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743032844.723304F (some fields omitted in printout)A(\Ǹ@A6DƸ@AMY~? AA߃"&"AAlNA"AZAbAjArAzAAAGԺ@A!{lrA$v@AA~Ahs&A@ªA :ҿAI<*A99?2Azֽ:A0BA99?JAzֽRA0٘i)I9$v@YG J<C=JJJJDE&K YwW~?y`RA-DE77{7Y_9)BEE[[Ps@[˸W~?[([[[[BZYY i)  YV~?yISA#7DE777f9)B[[ޚu@[W~?[1[[[[BZYY i) c elevatorAngleAction: 0.084292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743032845.983303F (some fields omitted in printout)AQȸ@A7ȸ@A>X~? AA!&"AASylNA"AZAbAjArAzAAA"@A%XrrAF-x@A}<AᦲA["A A`ԿA+A<*AV9?2A׽:A6BAV9?JA׽RA6٘i)I9-x@Y G J<C=JJJJDE&K YXV~?ySA=DE77j9AB)B?E[[v@[[W~?[!6[[[[ZZZZ¸>BZYY i¸>D) d YaV~?ywUA:RDE7{7ox9)eB7E[[JJ{@[BW~?[+I[[[[ZZZZBZYY i) %/@AW ~rAL |@A䨇A ,AAAٿAs<*A/9?2AMֽ:AvԻBA/9?JAMֽRAvԻ٘i)I9 |@YhG J<JJJJDE&K YKV~?yUAXDE77|9?B)_B4E[[l|@[3W~?['N[[[[ZZZZBZYY i) 5vJA(\B˸@A |(˸@AE0X~? A78A&"AAkNA"AZAbAjArAzAAAuG@Ae:grAb/}@AB:AAhZAZA &ڿASv<*A9?2A]ֽ:As<BA9?JA]ֽRAs<٘i)I9/}@YG Jr<B=JJJJDE&K Y" V~?yjVAbDEb77/9)UB1E[[~@[W~?[PX[[[[ZZZZBZYY i) |B)RB.E[[@[W~?[y][[[[ZZZZBZYY i) mf5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743032849.763301F (some fields omitted in printout)A̸@A#˸@AX~? AAA&"AAGIkNA"AZAbAjArAzAAAyq,?AkqW։rA}@A><A&<AAA&ܿA;);*AK9?2A,Yֽ:A<BAK9?JA,YֽRAJJJEE&Kv> Y@U~?yVAmDEj7Z7Z9)PB[[$w@[yV~?[b[[[[ZZZZBZYY iOq) PTVA}DEŧ7b79)QB)E[[%@[V~?[r[[[[BZYY i) $AA33333θ@APOθ@AW~? Ap[A&"AADjNA"AZAbAjArAzAAAI"9o?A-rA!}@A ytA.?=Ag)ABAN߿AzVc*A9?2A'׽:A =BA9?JA'׽RA =Ys@ :y5;= uٓH@$@>?C@) Я@cَ)?)s@ I٘i)I9}@YG JGC=J=JJJ EE&Kax> YnU~?yS?UA:DE7{7E9)FB[[`C@[@V~?[~[[[[BZYY ioj) cs;Iib@*= ))[e@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032851.903165 s, next control iter: 1743032852.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032852.283165 s.3RD!I~,$AJ"J*J2J:Jv5?BJv5?nJF>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743032852.283280F (some fields omitted in printout)AQθ@Ap`rθ@AW~? A`A&"AA Y=U~?ybSA DE7709)[B[[ @[ryV~?[㚨[[[[BZYY i) bEA;Ii}@GD1= [))[+@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032853.983165 s, next control iter: 1743032854.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032854.383165 s.e!I~,#$AAQи@A;и@A5W~? A^~AV&"AAy jNA"AZAbAjArAzAAA(2ArAy@AŝA@=AZcA fh޿AAWG*AB9?2Ac׽:A=BAB9?JAc׽RA=٘i)I9y@YG JzJJJJ@EE&K Y'.U~?y_izSA HDDE777ű9)_BE[[@[nV~?[Р[[[[BZYY i) Y3;Ii1@a+2= \))\@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032854.403165 s, next control iter: 1743032854.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6353&, header.stamp.nsec: 0&0 temperature: 13.385335&* salinity: 33.391525&, density: 1025.000000&* values[0]: 0.706530&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032854.803165 s.vAl!I~,wg$AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032854.803296F (some fields omitted in printout)Aq= #Ѹ@AH Ѹ@A%W~? AA&"AAiNA"AZAbAjArAzAAA@A :rA_)y@AoA=AL AƩݿAi7A3਼*A9?2A`׽:A-=BA9?JA`׽RA-=٘i)I9)y@YG JJJJJFEE&K YU~?ypSADEŧ7ŧ7Z9.B)eBE[[#@[FdV~?[Ȧ[[[[BZYY i) 6:Ii@N3= ())(E@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032854.843165 s, next control iter: 1743032855.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032855.223165 s.gs!I~,H΅$AA(\Ѹ@APDuѸ@AW~? A助Ad&"AAiNA"AZAbAjArAzAAA55AA~KrAgx@AAB=AٸA)ܿAeAZ*A9?2A-V׽:A/<BA9?JA-V׽RA/<٘i)I9x@YPG JJJJJKEE&K Y)U~?yxRADE779-B)hBE[[@[;ZV~?[ʬ[[[[BZYY i) wP9Ii(@ͮ4= ))Ҡ@y8̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032855.243165 s, next control iter: 1743032855.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032855.643165 s.yy!I~,*$AJ"J*J2J:JBJnJvJAGѸ@A4cѸ@AW~? APAL&"AAiNA"AZAbAjArAzAAA8x`A?zrAx@A.A =AsAp'ܿAA,j*A9?2A(׽:A<BA9?JA(׽RA<٘i)I9x@YG JB=JJJJPEE&K YT~?ys?RADEŧ7b79)mB[[<@[PV~?[Բ[[[[BZYY i) P YT~?yCQA1DE77{79)qB[[ ʈ@['GV~?[[[[[BZYY i) pغIiĎ@6= K))K@DƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032856.083165 s, next control iter: 1743032856.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032856.483165 s.v_!I~,$AJ"J*J2J:JBJnJvJAҸ@A׷Ҹ@AV~? ApA&"AAiNA"AZAbAjArAzAAAxcҘCA3w}rAw@A'P<Aӣ=AA@۞ڿA`[AȤ*AW9?2AWֽ:A9=BAW9?JAWֽRA9=٘i)I9w@YUG JJJJJ[EE&K YT~?y~QADE779)uBE[[V@[>V~?[[[[[BZYY i) )IiM@m7= [))[x@0êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032856.523165 s, next control iter: 1743032856.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6355, header.stamp.nsec: 00 temperature: 13.385794* salinity: 33.391491, density: 1025.000000* values[0]: 0.704598F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032856.903165 s.ȍ!I~,9$AA ףp=Ӹ@Ao\#Ӹ@AV~? A$Ah&"AA|ziNA"AZAbAjArAzAAAc5 A3rAvv@A͍<AI=AA ٿAA*A9?2AUֽ:A=BA9?JAUֽRA=٘i)I9vv@YG JʣJJJJaEE&K YT~?y䖨QADE777E9.B)zBE[[s@[n5V~?[NŨ[[[[BZYY i) AgIi@|Y8= ))))n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032856.923165 s, next control iter: 1743032857.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032857.323165 s.u!I~,!T$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032857.323278F (some fields omitted in printout)J"J*J2J:JBJnJvJA\Ӹ@A ݎӸ@AV~? AAd&"AAdiNA"AZAbAjArAzAAA 1LA$iĴrAu@A2Q<A=AAٿA9Az*A9?2Ațֽ:A<BA9?JAțֽRA<٘i)I9u@YG JnJJJJfEE&K YT~?yPADE77{79-B)~BE[[o@[-V~?[˨[[[[BZYY i) PIi@d9=  )) @ͼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032857.343165 s, next control iter: 1743032857.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6356*, header.stamp.nsec: 0*0 temperature: 13.386023** salinity: 33.391502*, density: 1025.000000** values[0]: 0.703649*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032857.743165 s.W!I~,uo$AAGzԸ@AjN^dӸ@AYV~? AҲA^&"AAOiNA"AZAbAjArAzAAAͣAF/rA3qu@A:A"=ARA4ؿA`Q#At*AF9?2Ay׽:A0<BAF9?JAy׽RA0<٘i)I9qu@YbG JJJJJkEE&K YT~?y\PADEj7p9)B[[`@[(%V~?[Ѩ[[[[BZYY i) Ii@):= ɓ))ɓ[@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032857.763165 s, next control iter: 1743032858.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032858.163165 s.v}!I~,q$AJ"J*J2J:JBJnJvJAԸ@AeԸ@A'V~? AɹA&"AAO;iNA"AZAbAjArAzAAAD$AY=f#/rA.t@AU,A҉=ABA^׿A `bA;m*A9?2AY׽:A<BA9?JAY׽RA Y&T~?yPAYDEb7b79)B[[·@[V~?[ب[[[[BZYY i) GлIi0@;= G))Gɩ@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032858.183165 s, next control iter: 1743032858.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032858.583165 s.!I~,R$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032858.583280F (some fields omitted in printout)ARԸ@AoԸ@AlV~? AAN&"AA'iNA"AZAbAjArAzAAAj2A;p}rAt@A$鋼A=AA`ȆֿAݞAv*A9?2A'o׽:A<BA9?JA'o׽RA<٘i)I9t@YG J臼C=JJJJvEE&K YT~?y涨OADEj7j79.B)BE[[@[:V~?[sި[[[[BZYY i) Ii@;= g))g5@ݶYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032858.603165 s, next control iter: 1743032858.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6357, header.stamp.nsec: 00 temperature: 13.386231* salinity: 33.391491, density: 1025.000000* values[0]: 0.702811F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032859.003165 s.~ !I~,e4$AJ"J*J2J:JBJnJvJAp= Wո@A`w<ո@A*V~? AǩAz&"AAiNA"AZAbAjArAzAAA#AAprAt@AoA=A AտA#AG*A9?2A;׽:A<BA9?JA;׽RA<٘i)I9t@YG JHJJJJ{EE&K YWT~?yOOADE{709)B[[ @[LV~?[[[[[BZYY i) lcIi@H<= W7))W7¥@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032859.043165 s, next control iter: 1743032859.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032859.423165 s.u!I~,ۆ$AA(\ո@APvո@A`V~? A-ϩA8&"AAliNA"AZAbAjArAzAAA,c_AJ =rAs@A[A}=A8A`7ԿAA픅*A9?2A7ֽ:ABx<BA9?JA7ֽRABx<٘i)I9s@YMG JJJJJEE&K YT~?yGǨNADE7779)B[[+@[V~?[<[[[[BZYY i) kIiӓ@a7== g))gM@yVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032859.443165 s, next control iter: 1743032859.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6358", header.stamp.nsec: 0"0 temperature: 13.386412"* salinity: 33.391464", density: 1025.000000"* values[0]: 0.702058"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032859.843165 s.ݼ!I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032859.843302F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.ָ@Aˆ}ָ@AV~? At֩A6&"AAhNA"AZAbAjArAzAAALVrAIǮrA8s@Am<A=AAyӿABAnv*A{9?2Arֽ:AM=BA{9?JArֽRAM=٘i)I98s@YG JB=JJJJEE&K YT~?ywϨNADE77[9-B)BE[[2@[V~?[[[[[BZYY i) ~&Ii@a>= ڈ))ڈ-٦@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032859.863165 s, next control iter: 1743032860.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032860.263165 s.!I~, $AAָ@A2=aָ@A5tV~? AݩA&"AA hNA"AZAbAjArAzAAA(gyAn61*rAr@A<A=AvA`/ӿAotAǐ*A9?2ABֽ:A=BA9?JABֽRA=Y7@JRy =;<ٓH^ѿ?Hyѿ#@^`e??)7@ I٘i)I9r@YG JC=J ;JJJEE&K x> YׂT~?yר?NARDE79.B)BE[[B@[U~?[![[[[BZYY i)  6Iib>= ))d@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032860.283165 s, next control iter: 1743032860.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6359., header.stamp.nsec: 0.0 temperature: 13.386588.* salinity: 33.391472., density: 1025.000000.* values[0]: 0.701312.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032860.683165 s.l!I~,c+$AJ"J*J2J:J3?BJ3?nJA<5vJAQ׸@AOָ@AiV~? A6Aw&"AAhNA"AZAbAjArAzAAA턁tAirAFr@AͰ<A؁=A\A >ҿAAZ*A'9?2Aeֽ:AT =BA'9?JAeֽRAT =٘i)I9Fr@YtG JJJJEJEE&K Y({T~?yjMADEZ7Z79)B[[Ύ@[,U~?[[[[[BZYY i) EIi@B>= |))|@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032860.683165 s, next control iter: 1743032861.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032861.103165 s.!I~,F$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032861.103275F (some fields omitted in printout)A= ףp׸@AQ3V׸@A_V~? AA'&"AAhNA"AZAbAjArAzAAAh 1Zd A3ArAq@A;A=Ak*A@OZѿA`&A%-*A9?2Aֽ:A7 =BA9?JAֽRA7 =٘i)I9q@Y)G JmJJJJEE&K YysT~?yMADE~7b79)B[[HZ@[U~?[&[[[[BZYY i) UIiJ@?= _N))_NC|@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032861.143165 s, next control iter: 1743032861.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032861.523165 s.!I~,{a$AJ"J*J2J:Jm3?BJm3?nJ$<5vJA(׸@Al׸@AVV~? A:Ah&"AAhNA"AZAbAjArAzAAAG ArAOq@AD[A =A?qA@"rпAA2*A9?2A5׽:A =BA9?JA5׽RA =٘i)I9Oq@YG JJJJJEE&K YkT~?y^'MAEE7779/B)BE[[@[?U~?[ [[[[BZYY i) ˎdIiו@`?=  )) @ɪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743032861.543165 s, next control iter: 1743032861.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6360, header.stamp.nsec: 00 temperature: 13.386802* salinity: 33.391445, density: 1025.000000* values[0]: 0.700483F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032861.943165 s.Td!I~,1]|$AAzGظ@AM/1-ظ@AMV~? AA&"AAhNA"AZAbAjArAzAAAm9 A}rAp@AuA=AsAϿA@y)A8*A9?2Aq׽:AB =BA9?JAq׽RAB =٘i)I9p@YG JoJJJJEE&K YdT~?yLA EEE9)B[[p@[U~?[<[[[[BZYY i)  tIi@o@= {)){Ē@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032861.983165 s, next control iter: 1743032862.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032862.363165 s.!I~,}>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.077924"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0005002J dt: 0.419972:JBJ2 time: 1743032862.363276F (some fields omitted in printout)nJvJA3333ظ@Aodظ@AYEV~? AxA@&"AAhNA"AZAbAjArAzAAA-}s A `8)sAWp@A0 A֓=A߿A@=ͿAPA*A9?2AY׽:A| =BA9?JAY׽RA| =Y:@H߿yH=wlٓH@ ƿ?C o?n`HſE `A?):@ I٘i)I9Wp@YGG J͔B=J<JJJEE&KOx> Y:_T~?ycLAH߿EE779)B[[!@[U~?[[[[[BZYY i) דIie@Y@= w))w@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032862.403165 s, next control iter: 1743032862.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6361&, header.stamp.nsec: 0&0 temperature: 13.386977&* salinity: 33.391426&, density: 1025.000000&* values[0]: 0.699664&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032862.783165 s.T!I~,$AAQٸ@A#Hٸ@A|=V~? A, AD&"AAhNA"AZAbAjArAzAAARґ AͅsAvo@A!Ar=AܿAm˿AtA*At9?2Aqֽ:A =BAt9?JAqֽRA =٘i)I9o@YG J&C=JJJJEE&K YZZT~?y/ KAEE7ŧ7p9)B[[s@[U~?[l[[[[BZYY i) h"Iig@ @= e3s))e3sn@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032862.803165 s, next control iter: 1743032863.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032863.203165 s.!I~,͇$AJ"J*J2J:JBJnJvJAףp=ٸ@A9x&pٸ@A6V~? AA|&"AAhNA"AZAbAjArAzAAA<s[ Ae'' sAfKo@Au4;A=AڿAɿA@CA"*A9?2A~ֽ:Ac=BA9?JA~ֽRAc=٘i)I9Ko@YG JdJJJJEE&K YzUT~?yKAEE{7{791B)BE[[@[U~?[ &[[[[BZYY i) ΰIi@x@= En))En4@'٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032863.223165 s, next control iter: 1743032863.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032863.623165 s.b!I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743032863.623300F (some fields omitted in printout)A)\ٸ@A /ٸ@AD/V~? AA{&"AAHthNA"AZAbAjArAzAAA\FiAxXsAGn@Ao6Z<Ağ=A׿A`ǿA`A/*A9?2A&ֽ:Aj=BA9?JA&ֽRAj=٘i)I9n@YKG JJJJJEE&K  9YPT~? 9y0KAEEb779)B[[ᝒ@[U~?[,[[[[BZYY i) ?Ii@:A= j))jܿ@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032863.663165 s, next control iter: 1743032864.023189 s, wait time: 0.360024 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6362, header.stamp.nsec: 00 temperature: 13.387194* salinity: 33.391411, density: 1025.000000* values[0]: 0.698758F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032864.043165 s."I~,$AJ"J*J2J:JBJnJvJA{Gaڸ@A+C3Gڸ@A(V~? A"AS &"AA;jhNA"AZAbAjArAzAAAz{AbcKh sA7!n@Aэ<A=A տAſAA":*A9?2A"ֽ:A=BA9?JA"ֽRA=٘i)I9!n@YG JJJJJEE&K YKT~?y3%JA#EEZ7SI7090B)B E[[(@[#U~?[N3[[[[BZYY i) ΟIi@UA=  (f)) (fJ@bݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032864.083165 s, next control iter: 1743032864.443182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743032864.463165 s.T"I~,ߤ$AAڸ@A~ڸ@A#V~? Ai*AJ &"AA`hNA"AZAbAjArAzAAAe)AQj#sAهm@A0H<A=A`ҿA@ĿA`A>*Aq9?2Aotֽ:A =BAq9?JAotֽRA =Y|@@ҿy=H<ٓHDO`?S@N =??)|@ I٘i)I9m@YG JJ5<JJJEE&K+x> YIT~?y-\JA@ҿ)EES779)įB[[ܳ@[U~?[9[[[[BZYY i) ۸@AV~? AQ2A &"AAxXhNA"AZAbAjArAzAAA# ~APsAl@A>:A=AϿA1¿AA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9l@Y5G JJJJJEE&K YGT~?y6IA.EEb77[ 9+B)ïB E[[?@[U~?[@[[[[BZYY i) Ii@@A= v]))v]`@yNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032864.903165 s, next control iter: 1743032865.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032865.303165 s.U"I~,sgS$AAq= ף۸@Aȉ۸@AV~? A@:Am &"AAPhNA"AZAbAjArAzAAA\Aεt!sA=[l@A,6A@=A̿A8HA A*A9?2A M׽:AH=BA9?JA M׽RAH=٘i)I9[l@YG JJJJJEE&K YET~?y?IA3EE{7j79)ȯB[[0ʔ@[wU~?[MG[[[[BZYY i) Ii@BA= }Y))}Y+@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032865.343165 s, next control iter: 1743032865.703177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6364., header.stamp.nsec: 0.0 temperature: 13.387674.* salinity: 33.391407., density: 1025.000000.* values[0]: 0.696712.F (some fields omitted in printout).ET~?).? rAdjusting time to match Gazebo time: 1743032865.723165 s."I~,Hn$AJ"J*J2J:JBJnJvJA(\ܸ@A&qVD۸@AV~? A7BA3z &"AAIhNA"AZAbAjArAzAAAY/BAߵ_v&sAk@AAB=A@ʿA`]Aq0A E*A9?2A;^׽:AUx=BA9?JA;^׽RAUx=٘i)I9k@YG JDZJJJJEE&K YCT~?yOHIA9EEb779)ͯB[[AU@[MU~?[M[[[[BZYY i) 9Ii,@A= T))TEE9)ѯBE[[?@[U~?[T[[[[BZYY i) =ļIi@A= mP))mP:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032866.163165 s, next control iter: 1743032866.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032866.563165 s.("I~,R $AJ"J*J2J:JBJnJvJAffffܸ@AMSܸ@A V~? A7RAGB &"AA>hNA"AZAbAjArAzAAA$AQ 90sAj@AClA.=As1ſA>8A*OAü*Af9?2Aֽ:AU=BAf9?JAֽRAU=Y佐@;ſyK.= !mٓHV?4?@Gy?e ?Qյ޵^m?)佐@ I٘i)I9j@YG JJ y<JJJEE&Kw> YqBT~?yY3HA;ſDEE9)֯B[[k@[U~?[X[[[[[BZYY i) 5̼Ii@IA=  L)) L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032866.603165 s, next control iter: 1743032866.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6365, header.stamp.nsec: 00 temperature: 13.571333* salinity: 33.375000, density: 1025.000000* values[0]: 0.571702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032866.983165 s./"I~,쾈$AAQݸ@A7ݸ@A V~? A>ZA &"AA9hNA"AZAbAjArAzAAAj;hAYI 5sAIi@Arm<A_ͱ=A(¿A|AZAμ*Aɔ9?2Aֽ:Aq=BAɔ9?JAֽRAq=٘i)I9i@YZG JaȼJJJJEE&K YICT~?ybGAIEE7777F9)ܯB[[fȿ[U~?[b[[[[BZYY i) 1vӼIi@ @= G))GGKYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032867.023165 s, next control iter: 1743032867.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032867.403165 s.&6"I~,و$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087229< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743032867.403314F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpݸ@AR( _ݸ@AV~? AHbA &"AAC6hNA"AZAbAjArAzAAAG6Amv:sA5i@A1q<A޳=A5ADwA)dAռ*A9?2Aս:A7!=BA9?JAսRA7!=٘i)I95i@Y G JѼJJJJEE&K Y!DT~?yvkHGANEEb77 9)B[[/:ƿ[JU~?[h[[[[BZYY i) QڼIiy@@= dC))dCdC"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032867.443165 s, next control iter: 1743032867.803178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6366, header.stamp.nsec: 00 temperature: 13.571655* salinity: 33.374985, density: 1025.000000* values[0]: 0.570903F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032867.823165 s.<"I~,-$AA\(޸@Ax޸@A<V~? AVjAk&"AAS3hNA"AZAbAjArAzAAAxt Ay>sAh@A.<A@e=AA(ݣAakA3Kټ*A9?2Aֽ:ATH!=BA9?JAֽRATH!=٘i)I9h@Y G J׼JJJJEE&K YDT~?y@tFATEE)7ŧ7q$9)BE[[s Ŀ[U~?[ko[[[[BZYY i) gIi{@x@=  ?)) ? ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032867.863165 s, next control iter: 1743032868.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032868.243165 s.C"I~,m$AJ"J*J2J:JBJnJvJAGz޸@AKez޸@AV~? AerAo&"AA/1hNA"AZAbAjArAzAAAѧA~CsAg@A;A=AIếA MQAJpAؼ*A9?2Aֽ:AF=BA9?JAֽRAF=٘i)I9g@Y G JټJJJJEE&K YET~?y }]FAYEE77(9)B[[[U~?[v[[[[ZZ¸BZYY i¸=) ּIi@@= ۱:))۱:۱:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032868.263165 s, next control iter: 1743032868.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032868.663165 s.J"I~,q*$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082527< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743032868.663306F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6367, header.stamp.nsec: 00 temperature: 13.572012* salinity: 33.374973, density: 1025.000000* values[0]: 0.570029F (some fields omitted in printout)A߸@A5`޸@AV~? AvzA0&"AA/hNA"AZAbAjArAzAAAOAA:HsAJg@Aq»A=A!A<A@rA׼*A}9?2A׽:A}x=BA}9?JA׽RA}x=Y&@2y߹=ûٓH@?G?? X!?툶Yﶿ^x?)&@ I٘i)I9g@Y G J<ؼB=J"<JJJEE&K.x> YIT~?yÅEA2^EE+9)B[[#[[U~?[|[[[[ZZBZYY i) ɼIi@?= kZ6))kZ6kZ6wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032868.683165 s, next control iter: 1743032869.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032869.083165 s.DQ"I~, SE$AJ"J*J2J:J?BJ?nJ5vJARk߸@ArkmQ߸@AyV~? AA&"AAY/hNA"AZAbAjArAzAAAwM`Av:IMsALf@AMR{A@=AjAlz?AoA?c*Au9?2Am>׽:A<BAu9?JAm>׽RA<٘i)I9Lf@Y* G JyC=JJJJEE&K Y:MT~?yygEAdEE77{71/9)B[[و[U~?[q[[[[ZZBZYY i) ۽Iij@!A?= 2))22YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032869.103165 s, next control iter: 1743032869.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032869.503165 s.W"I~,L4`$AAp= ߸@Ax#߸@AV~? AA&"AA/hNA"AZAbAjArAzAAAtD)AgRsA:se@AƉA:+=AKͲA?AlA*A99?2A׽:A<BA99?JA׽RA<٘i)I9se@Y G J{JJJJFE&K YPT~?y1DAiEE{729,B)BE[[}[[8U~?[[[[[ZZBZYY i) DZIi@>= -))--yV=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032869.523165 s, next control iter: 1743032869.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6368, header.stamp.nsec: 00 temperature: 13.572374* salinity: 33.374977, density: 1025.000000* values[0]: 0.569147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032869.923165 s.8^"I~,{$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082527< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032869.923281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@Af.py(@AV~? AAX&"AA0hNA"AZAbAjArAzAAA-HAWsAd@AA"}{=ACA ݕ?A gA\*A9?2Aֽ:A g<BA9?JAֽRA g<٘i)I9d@Y$ G JJJJJFE&K YTT~?y蟩pDAnEEj7\69)B[[-[U~?[ǐ[[[[ZZBZYY i) 쳥Ii@>= cK)))cK)cK)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032869.943165 s, next control iter: 1743032870.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032870.343165 s.= ?$))?$?$.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032870.363165 s, next control iter: 1743032870.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6369*, header.stamp.nsec: 0*0 temperature: 13.572750** salinity: 33.374985*, density: 1025.000000** values[0]: 0.568168*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032870.763165 s.7k"I~,ذ$AJ"J*J2J:JBJnJvJA@A_@A V~? AA]&"AAT5hNA"AZAbAjArAzAAA;2A]u_asAh2c@Ab"O<AsU<A,A?AXAô*A9?2A ֽ:Aٌ!BA9?JA ֽRAٌ!YxD@F!yP<6O<ٓH@? !?`x`$?ޢ*i?1?)xD@ I٘i)I92c@YF G JɼJJJJFE&Kx> Y^T~?y6CA!yEE)7=9)BE[[Ѵ[U~?[[[[[ZZBZYY i=) @Ii@n== S ))S S "YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032870.803165 s, next control iter: 1743032871.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032871.183165 s.r"I~,cˉ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743032871.183271F (some fields omitted in printout)AQ@A-(k@A) V~? AA}&"AA8hNA"AZAbAjArAzAAAAF@|EfsAb@Ad<A/<A@A ?AMA*AY9?2A6ֽ:A)BAY9?JA6ֽRA)٘i)I9b@Y G JJJJJFE&K YteT~?yʹCA~EE{7j7A9)B[[k[WU~?[[[[[ZZBZYY i) ᄼIiE@~<= 2))22ׄYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032871.203165 s, next control iter: 1743032871.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032871.603165 s.24y"I~,$AJ"J*J2J:JB?BJB?nJQ5vJA= ף@AR@AGV~? AòA&"AA=hNA"AZAbAjArAzAAAADxA0)ksAWBb@A4/<AA'Au~?A`@A:*A9?2Afֽ:As{eBA9?JAfֽRAs{e٘i)I9Bb@Y G JqJJJJFE&K YlT~?y`©CAEE777D9)B[[]p[LU~?[X[[[[ZZBZYY i1M=) uIi@R;= ))(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032871.623165 s, next control iter: 1743032872.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6370 , header.stamp.nsec: 0 0 temperature: 13.573067 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.567427 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032872.023165 s.Z"I~,|$AA(\@A5B@AV~? AAH&"AA4BhNA"AZAbAjArAzAAAnLAˆ psAb@A A TAcA <>?A0A8~*Aҭ9?2AoPֽ:ABAҭ9?JAoPֽRA٘i)I9b@Y G JB=JJJJ"FE&K YrT~?yʩ\CAEE7GH9-B)BE[[a>[U~?[[[[[ZZBZYY i) D`Iia@n^;= l))lly=_)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032872.043165 s, next control iter: 1743032872.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032872.443165 s.;Æ"I~,O]$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079249< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200662 time: 1743032872.443334F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A,_@AV~? AªAά&"AAHhNA"AZAbAjArAzAAA>?A3itsAXa@AAA#A֠A?A`A[k*A9?2Ay ֽ:AҫͼBA9?JAy ֽRAҫͼ٘i)I9a@Y G JgpC=JJJJ'FE&K Y!yT~?yө6CAEEb77K9.B)BE[[K [PU~?[[[[[BZYY i) KIi6@&;= ))y&=v,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032872.483165 s, next control iter: 1743032872.843180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6371, header.stamp.nsec: 00 temperature: 13.573190* salinity: 33.374969, density: 1025.000000* values[0]: 0.567059F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032872.863165 s.+"I~,>7$AA33333@AAc&@AV~? AʪAw&"AANhNA"AZAbAjArAzAAA?_A ysAa@AA.AFA*?A#A>Ze;*A9?2Abս:AYBA9?JAbսRAYY7@G.y.̋ٓH?j9?$ YoT~?y۩pCA.EE77{7rO9)[[Kܩ[YU~?[[[[[BZYY imh=) :Ii$@$9=  ))  aj*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032872.883165 s, next control iter: 1743032873.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032873.283165 s.:R"I~,R$AJ"J*J2J:JBJnJvJAQ@A$@A!V~? AҪAv&"AA+VhNA"AZAbAjArAzAAA\DAԒ~sAb@A\AjyUA*A?AA;*A_9?2A!ֽ:AiBA_9?JA!ֽRAi٘i)I9b@Y G J;C=JJJJ2FE&K YT~?y4CAEE77S9)B[[ߪ[U~?[ũ[[[[BZYY iꪇ=) ,)IiA@|8= E))EE*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032873.303165 s, next control iter: 1743032873.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6372., header.stamp.nsec: 0.0 temperature: 13.573159.* salinity: 33.374973., density: 1025.000000.* values[0]: 0.567107.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032873.703165 s.غ"I~,m$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743032873.703291F (some fields omitted in printout)Aףp= @A47@A'V~? AqڪA%"AAe^hNA"AZAbAjArAzAAA SA1asA/Sb@ADAtAA@?AbAx0<*A-9?2Aֽ:A^BA-9?JAֽRA^I٘i)I9Sb@Y G JO<B=JJJJ8FE&K Y T~?yCAEE77V9/B)BE[[w[V~?[/̩[[[[BZYY i) Ii@7= K))KKw*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032873.723165 s, next control iter: 1743032874.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032874.123165 s.1"I~,C⇊$AJ"J*J2J:JBJnJvJA)\u@A /[@A-V~? AGA(C%"AAkghNA"AZAbAjArAzAAA:79R"A!P)sAb@A <AAFA` |?Aਸ਼AV<*A9?2Ahֽ:A BA9?JAhֽRA ٘i)I9b@Y G JB<C=JJJJ=FE&K YUT~?y DA IDEE771Z9)BE[[C[V~?[ҩ[[[[BZYY i)  Ii@7= ))õ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032874.163165 s, next control iter: 1743032874.523175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743032874.543165 s.I"I~,â$AA{G@Af/@A4V~? AA%"AA;qhNA"AZAbAjArAzAAApr~ A*sAhc@AR<ArAtA@ Y?AA{<*A@9?2A׽:A} BA@9?JA׽RA} ٘i)I9c@Y+ G Jg<JJJJBFE&K YT~?y1[DAEE77]9)B[[[6 V~?[+٩[[[[BZYY i) ^Ii@}6= >))>>y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032874.563165 s, next control iter: 1743032874.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6373, header.stamp.nsec: 00 temperature: 13.572990* salinity: 33.374985, density: 1025.000000* values[0]: 0.567444F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032874.963165 s.J "J *J 2J :J D?BJ D?"I~nJR5vJ,/$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032874.963294F (some fields omitted in printout)AL@A4ӽ2@A;V~? AA%"AA{hNA"AZAbAjArAzAAA҉M A#zzsAvc@Ao<AJAA R.?A`tAz3<*Ar9?2Aֽ:A BAr9?JAֽRA Y@5'y(tp<ٓH9? ]?/"??˲?? ?)@ I٘i)I9vc@Yp G J<B=JdJJJHFE&Kx> YT~?y,DA'EE77\a90B)B E[[ݞ[ V~?[ߩ[[[[BZYY i) лIiu@5= FW))FW龩FW*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032874.983165 s, next control iter: 1743032875.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032875.383165 s.ص"I~,D؊$AAQ@ARy;@ACV~? AA{%"AA-hNA"AZAbAjArAzAAAC; Ao ZsAc@A;AvAA?A'PAH<*A9?2AՆֽ:ABA9?JAՆֽRA٘i)I9c@Y G JB<C=JJJJMFE&K YT~?y% %EAEEb7d9)B[[ͪ[?V~?[[[[[BZYY i) )Iig@$3= ~))~ྩ~x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032875.423165 s, next control iter: 1743032875.783182 s, wait time: 0.360017 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6374", header.stamp.nsec: 0"0 temperature: 13.572767"* salinity: 33.375004", density: 1025.000000"* values[0]: 0.567999"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032875.803165 s.vA"I~,wg$AJ"J*J2J:JBJnJvJAq= #@ASy; @AKV~? A-A%"AAJhNA"AZAbAjArAzAAAj By^I ACVsAId@A?׻A^A6A?A)A<*AK9?2Aֽ:ANBAK9?JAֽRAN٘i)I9d@Y G JE<JJJJRFE&K YyT~?y EAEE)7ŧ7h91B) B!E[[u["V~?[U[[[[BZYY i) WIi@2= ׾))׾׾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032875.823165 s, next control iter: 1743032876.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032876.223165 s.g"I~,H$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743032876.223289F (some fields omitted in printout)A(\@A ƈDu@ATV~? AAP%"AA&hNA"AZAbAjArAzAAAxWt AbTsA:e@A=xAjAqAE?AjA.<*A9?2Aս:ABA9?JAսRA٘i)I9e@Yn G J<JJJJXFE&K YjT~?yEAEE{7{7l92B) B$E[[?[*V~?[[[[[BZYY i) jIiي@1= ξ))ξξ*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743032876.243165 s, next control iter: 1743032876.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032876.643165 s.q"I~,))$AJ"J*J2J:J?BJ?nJ5vJAG@A0(@A]V~? ARA%"AA­hNA"AZAbAjArAzAAAۗ ADsAe@A˴A鞽A冿A (?A@lAc.<*AV9?2AJֽ:AWBAV9?JAJֽRAW٘i)I9e@Y G JF<B=JJJJ]FE&K Y]T~?y%TFAEE77o9)B[[[3V~?[[[[[BZYY i) N-IiX@P1= fƾ))fƾfƾ*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6375, header.stamp.nsec: 00 temperature: 13.572475* salinity: 33.374992, density: 1025.000000* values[0]: 0.568695F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743032876.663165 s, next control iter: 1743032877.043174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743032877.063165 s."I~,[ D$AAfffff@ADQOL@AgV~? AA#*%"AAhNA"AZAbAjArAzAAAHEAըsARf@A YT~?y,FA!EE{7Z7Gs9)B'E[[Uԓ[;V~?[6[[[[BZYY i) |Ii@I/= 1))11m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032877.083165 s, next control iter: 1743032877.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032877.483165 s.s_"I~,^$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198992 time: 1743032877.483256F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AԷ@AqV~? A:A%"AA;hNA"AZAbAjArAzAAASA/]sA[f@Av{;A(A'}Ad?A_xA <*A9?2Aֽ:AЗBA9?JAֽRAЗ٘i)I9f@Y G J<JJJJhFE&K YPU~?y14'GAEEj7v93B)B(E[[#[DV~?[k[[[[BZYY i) UIi@;-= X))XX*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032877.503165 s, next control iter: 1743032877.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6376, header.stamp.nsec: 00 temperature: 13.572142* salinity: 33.375004, density: 1025.000000* values[0]: 0.569446F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032877.903165 s."I~,y$AA ףp=@AtZ#@A|V~? A&A:%"AAhNA"AZAbAjArAzAAAٳApfcڱsA~g@AmZb<A}ۘAt}A?AEA4<*A9?2A|*׽:Ai BA9?JA|*׽RAi ٘i)I9~g@Y G JL<JJJJmFE&K YU~?y;GAEE)7ŧ7rz9)B[[e[NV~?[ [[[[BZYY i) p58Ii@g,= v))vv]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032877.943165 s, next control iter: 1743032878.303181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032878.323165 s.z"I~,6$AJ"J*J2J:JBJnJvJA\@A`@A݇V~? A-A;y%"AAhNA"AZAbAjArAzAAA*(%AcELsAI h@A"<A-AyQxA`?AA,ӧ<*Ae9?2A"׽:Ap;BAe9?JA"׽RAp;٘i)I9 h@Y; G J֩<JJJJsFE&K YFU~?yNCGAEE777~94B)B+E[[+[WV~?[[[[[BZYY i) :Iiׅ@P+= ))D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032878.363165 s, next control iter: 1743032878.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6377*, header.stamp.nsec: 0*0 temperature: 13.571793** salinity: 33.375019*, density: 1025.000000** values[0]: 0.570159*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032878.743165 s.W"I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743032878.743292F (some fields omitted in printout)AGz@A>rk@AV~? A5A%"AAhNA"AZAbAjArAzAAAA A)sAʙh@A-<A2`A9sAӋ?A%A<*Aм9?2Aֽ:A$BAм9?JAֽRA$٘i)I9h@Y G J8<B=JJJJxFE&K Y+U~?yJdHAEEŧ7b79)B[[[aV~?[[[[[BZYY i) :Ii-@ow*= &))&&?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032878.783165 s, next control iter: 1743032879.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032879.163165 s.y}"I~,qʋ$AJ"J*J2J:J ?BJ ?nJ%5vJA@Ae@AV~? A7<Ak_%"AAiNA"AZAbAjArAzAAAYA"r'sAc&i@AiAA:nA a?A@ѡA <*A9?2AEuֽ:ABA9?JAEuֽRAYE@6nyjٓH`?`?`,o ?`މ?`??@{=M`)?)E@ I٘i)I9&i@Y G Ji<C=JU<JJJ}FE&K+x> Y elevatorAngleAction: 0.066244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032880.003312F (some fields omitted in printout)Ap= W@A?<@AiV~? ABJAK%"AA?5iNA"AZAbAjArAzAAA(:&A|MtsA#@j@AAAdA?A *A|^<*A9?2A5)ֽ:A,YBA9?JA5)ֽRA,Y٘i)I9@j@YG J'<B=JJJJFE&K Y_^U~?y `IAEEŧ7b7]97B)B2E[[@[CV~?[)[[[[BZYY i) ;Ii @,%= }))}}O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032880.043165 s, next control iter: 1743032880.403179 s, wait time: 0.360014 s_^U~?) ` rAdjusting time to match Gazebo time: 1743032880.423165 s.u#I~,$AA(\@A;u@AV~? A(QA%"AA`IiNA"AZAbAjArAzAAAz ]CA?]sAj@ANAA^Au?AyAɞ<*A99?2Alֽ:AgBA99?JAlֽRAg٘i)I9j@YG J΢<C=JJJJFE&K Y?A`eA?ٕ<*Aa9?2Aeֽ:ABAa9?JAeֽRA٘i)I9Jk@Y4G J<JJJJFE&K YU~?y*nOJAEEb779)ݯB5E[[[V~?[5[[[[BZYY i) ;Iio~@"= PY))PYPY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032880.883165 s, next control iter: 1743032881.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032881.263165 s."#I~,MP$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075094< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743032881.263289F (some fields omitted in printout)A@A @AZV~? A^AĹ%"AAsiNA"AZAbAjArAzAAAu|AlPsAk@A$K <AAaSAw?A dA7<*AK9?2A'׽:AdBAK9?JA'׽RAdY@&Tyh <ٓH`S?)?|?t?۰?O ??)@ I٘i)I9k@Y~G J<JT<JJJFE&K-x> Y5U~?ytJA&TEE{7j799B)ۯB9E[[' {[̥V~?[Q;[[[[BZYY i) aG;Ii{@ = 0G))0G0G׷*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032881.303165 s, next control iter: 1743032881.663179 s, wait time: 0.360014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 63802, header.stamp.nsec: 020 temperature: 13.5708452* salinity: 33.3750382, density: 1025.0000002* values[0]: 0.5722092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032881.683165 s.l#I~,^k$AJ"J*J2J:JBJnJvJAQ@AY@A:V~? AQeA_7%"AAiNA"AZAbAjArAzAAA@_Azh%sA7l@A<A=ANA*B?A`A<*A9?2A?׽:AmBA9?JA?׽RAm٘i)I97l@YG J@<JJJJFE&K YLU~?y&{KAFEj79)ׯB[[v[NV~?[A[[[[BZYY i) 9 BAu9?JAD׽RA>٘i)I9l@YG JQ<JJJJFE&K YeU~?y_KA FEb77H9:B)կB elevatorAngleAction: 0.075094< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032882.523307F (some fields omitted in printout)A(@Aw@AEW~? AGrA)8%"AA9iNA"AZAbAjArAzAAAT1-AsAm@Aԙ;AWAtDAc?AA<*A9?2Aeֽ:ABA9?JAeֽRA٘i)I9m@YMG J<B=JJJJFE&K YU~?y$KAFEŧ7b7ݡ9)ѯB[[g}m[{V~?[UL[[[[BZYY i) pi*]$AAzG@A_ -@Ai!W~? AxAk%"AAXiNA"AZAbAjArAzAAAnq<AFsA%m@AEA틽Apu?A?A @A<*An9?2AOMֽ:AކBAn9?JAOMֽRAކ٘i)I9m@YG J<C=JJJJFE&K YU~?yLAFE77r9;B)ίB?E[[h[V~?[Q[[[[BZYY i) 9׌$A:J?BJ?nJ5vJA3333@Ai @A1W~? A~A@%"AAiNA"AZAbAjArAzAAAiq@A&WsA n@A~AȍAd:A??AAz<*AG9?2Aֽ:A BAG9?JAֽRA Yɪ@:yMčoٓH ?`J?&7 ?@?`괱? ڏ@c?)ɪ@ I٘i)I9 n@YG J<JJJJFE&Kw> YU~?y|sLA:FEZ7Z79 elevatorAngleAction: 0.075094< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743032883.783288F (some fields omitted in printout)AQ@A<ן@ABW~? AA%"AAqjNA"AZAbAjArAzAAAfVn߿AXwsAwn@A]AoA'.5A?A`bA=<*Ad9?2A?ֽ:AX BAd9?JA?ֽRAX ٘i)I9n@Y/G JS<JJJJFE&K Y V~?yVLAFEb779)ȯB[[_[&V~?[\[[[[BZYY i) XB)BIE[[ǿV[W~?[`g[[[[BZYY i) %w elevatorAngleAction: 0.084134< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743032885.043272F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@Aiq0G@A"xW~? AAvj%"AA#RjNA"AZAbAjArAzAAA뼚y?A?WGsAp@Ahh<A۔A1$A`NJ?A AE<*A<9?2AF׽:A^BA<9?JAF׽RA^٘i)I9p@YG Ju<JJJJFE&K YIV~?y嫪MA0FE7]9)B[[%R[ #W~?[l[[[[BZYY i) N Y`V~?y VNA 5FE77{79@B)BME[[M[2W~?[q[[[[BZYY i) < elevatorAngleAction: 0.084134< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743032886.303290F (some fields omitted in printout)Aq= ף@AA@AW~? AXA\!%"AA jNA"AZAbAjArAzAAAܜK?A7rtAq@AAUA8A J?A`8߿AH<*A>9?2AQ`ֽ:ABA>9?JAQ`ֽRA٘i)I9q@YG JI<JJJJFE&K YɍV~?yZ"OA@FE77779)B[[eD[RW~?[{[[[[BZYY i) 3 elevatorAngleAction: 0.084134< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743032887.563303F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AP@A|W~? A趫Ap%"AAkNA"AZAbAjArAzAAAR\?AKV tA Us@AEAߧA?DAl?A9 ݿA~V<*A9?2ARMֽ:A BA9?JARMֽRA YbL@0yۧPFٓH?@?@c߿Z?``T?z?@K ?)bL@ I٘i)I9Us@YG J<JJJJFE&Kw> YV~?yʪ_PAPFEb79)BZE[[6[MW~?[ [[[[BZYY i) BA9?JA ֽRA>٘i)I9t@YG J<JJJJFE&K YW~?yҪ@QAZFEj7Z79DB)B^E[[2-[W~?[K[[[[BZYY i) c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032888.423165 s, next control iter: 1743032888.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6387, header.stamp.nsec: 00 temperature: 13.568538* salinity: 33.375103, density: 1025.000000* values[0]: 0.576928F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032888.823165 s.#I~,:4$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084134< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201162 time: 1743032888.823414F (some fields omitted in printout)A\(@AiQ@A/+X~? AMūA/%"AA^kNA"AZAbAjArAzAAA4`;@AdhʻtAq1u@A܆<A:AiA%J?AڿAf<*A9?2A7ֽ:AKBA9?JA7ֽRAK٘i)I91u@Y;G J<JJJJFE&K YWW~?y@תQA`FE{7j79)BaE[[([˺W~?[ė[[[[BZYY i) 4))=>=>L*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032888.843165 s, next control iter: 1743032889.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032889.243165 s.#I~,XO$AJ"J*J2J:JBJnJvJAGz@Aez@A@X~? AɫAKv%"AAPkNA"AZAbAjArAzAAANY)@ABtAu@Ab<ADAj:A F?A \ٿA<*AO9?2Aֽ:AHBAO9?JAֽRAH٘i)I9u@YG Js<JJJJFE&K Y5W~?y۪"RAeFEŧ7ŧ739EB)BdE[[o#[XW~?['[[[[BZYY i) ))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032889.263165 s, next control iter: 1743032889.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032889.663165 s.#I~,qj$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6388, header.stamp.nsec: 00 temperature: 13.568144* salinity: 33.375099, density: 1025.000000* values[0]: 0.577752F (some fields omitted in printout)A@A͍@AVX~? A:ΫA%"AAkNA"AZAbAjArAzAAA`3E9@A7v^.tA;|v@AK;AA;QؾA?A^#ٿA<*A֘9?2Atս:A`)BA֘9?JAtսRA`)Y脴@}ؾy Ȁ;ٓH@Q?=?`)ڿ@/?`|g?h9?o p? ?)脴@ I٘i)I9|v@YG J\<J|AJJJGE&K^u> YOW~?yBߪRA}ؾjFEb7b79)B[[W[W~?[c[[[[BZYY i) RO)){'>'>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032889.683165 s, next control iter: 1743032890.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032890.083165 s.D#I~, S$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245777> elevatorAngleAction: 0.084134< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743032890.083282F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@ALnQ@AlX~? A}ҫA\%"AAWkNA"AZAbAjArAzAAASfhQ@AtA+w@A^LALACwξA] ?ARXؿAk<*A9?2Ayս:A|BA9?JAyսRA|I٘i)I9+w@YoG J<JJJJ GE&K Y9iW~?ySApFEŧ7^9)BgE[[l[W~?[[[[[BZYY i) )) :>:>O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032890.123165 s, next control iter: 1743032890.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032890.503165 s.#I~,D4$AAp= @A@AX~? A֫Aix%"AAkNA"AZAbAjArAzAAA|^=Lo @ANQKtAuw@AmAA`ľAL?Au׿A<8<*Aө9?2AԽ:ACvBAө9?JAԽRACv٘i)I9w@YG JV<JJJJGE&K YW~?yzSAuFEZ7SI79FB)BjE[[[HX~?[[[[[ZZZZ¸>BZYY i¸>P) j))yM>yM>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032890.543165 s, next control iter: 1743032890.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6389, header.stamp.nsec: 00 temperature: 13.567713* salinity: 33.375122, density: 1025.000000* values[0]: 0.578641F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032890.923165 s.7#I~,$AJ"J*J2J:JBJnJvJA(\B@A0{(@AX~? AګA')%"AA lNA"AZAbAjArAzAAAۅ @A [ԹtAx@AqyA;AndA?A@qֿA4<*A9?2A|Խ:ApBA9?JA|ԽRAp٘i)I9x@YOG JU<JJJJGE&K YW~?yTA{FEb779)BmE[[k[X~?[[[[[ZZZZBZYY i) O))`>`>*Y1YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032890.943165 s, next control iter: 1743032891.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032891.343165 s.<#I~,Վ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032891.343276F (some fields omitted in printout)AHz@A@AhX~? AnޫA%"AA{'lNA"AZAbAjArAzAAAw@A"tA/ey@AڻAaARAf?A iտA K=*AN9?2Ax)ս:AoBAN9?JAx)սRAo٘i)I9ey@YG J<B=JJJJGE&K YiW~?ywTAFEŧ7b79){BpE[[% [.X~?[[[[[ZZZZBZYY i) 胸))s>s>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032891.363165 s, next control iter: 1743032891.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6390*, header.stamp.nsec: 0*0 temperature: 13.567249** salinity: 33.375137*, density: 1025.000000** values[0]: 0.579584*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032891.763165 s.:#I~,,$AJ"J*J2J:JBJnJvJA@A}>ʈ@AX~? A A%"AAIJlNA"AZAbAjArAzAAA6eiw@A(5S$tA*?z@A;A_AۤA?AտAV<*A39?2Aλս:A|BA39?JAλսRA|Y@y^;ٓH`HE?@?@6%N9ԿZ?:?@?v? ?)@ I٘i)I9?z@YOG J=C=Jz=JJJGE&Kt> Y.W~?y|TAFE79RB)BtE[[i[!BX~?[<[[[[ZZZZBZYY i) }))҅xK>K>yxx*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032891.803165 s, next control iter: 1743032892.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032892.183165 s.#I~,c $AAQ@A<k@AX~? AAL%"AAtmlNA"AZAbAjArAzAAANf@AyY}&tAV {@Anw<AnA0A`*?A@N.ԿA#<*A9?2ALֽ:APBA9?JALֽRAP٘i)I9 {@YG J<JJJJ$GE&K YW~?yE@UAFE777H9)zB[['[VX~?[ⷪ[[[[ZZZZBZYY i) I)) h׌>h׌>Ӥ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032892.223165 s, next control iter: 1743032892.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032892.603165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 74#I~,&$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032892.603297F (some fields omitted in printout)A= ף@A<͌@AjX~? AA%%"AAlNA"AZAbAjArAzAAARL@A硾(tA\{@At}<Am+A Ab?A LӿA0<*A9?2AcԽ:AHBA9?JAcԽRAH٘i)I9{@Y<G J<JJJEJ)GE&K YX~?yUAFEŧ7b79)tBwE[[Ū[hkX~?[p[[[[ZZZZBZYY i) -))t>t>Xm*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032892.643165 s, next control iter: 1743032893.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6391 , header.stamp.nsec: 0 0 temperature: 13.566754 * salinity: 33.375153 , density: 1025.000000 * values[0]: 0.580665 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032893.023165 s.Z#I~,|A$AA(\@AB@A6Y~? ARA%"AAlNA"AZAbAjArAzAAAL'!@AM4Ȍ*tAm_|@A(<A̼AA?AtuҿAFң<*A9?2AoԽ:Au@;BA9?JAoԽRAu@;٘i)I9_|@YG J<JJJJ/GE&K Y!X~?yVAFE77{7s9)oBzE[[[X~?[侪[[[[ZZZZBZYY i)  )))">)">*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032893.063165 s, next control iter: 1743032893.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743032893.443165 s.7#I~,>]\$AJ"J*J2J:J?BJ?nJ5vJAz@A;Y@A8&Y~? AmAш%"AAlNA"AZAbAjArAzAAAdg@AWVar,tAZ|@AǺA AwA?A?ѿA<*Ao9?2AԽ:A S<BAo9?JAԽRA S<٘i)I9|@YG Jؕ<B=JJJJ4GE&K YQ))ީ>ީ>G)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032893.483165 s, next control iter: 1743032893.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6392, header.stamp.nsec: 00 temperature: 13.566343* salinity: 33.375164, density: 1025.000000* values[0]: 0.581522F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032893.863165 s.+#I~,>w$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032893.863302F (some fields omitted in printout)A33333@A{!@Am>Y~? AbAyM%"AAlNA"AZAbAjArAzAAAp@Ax?.tAJ=}@AtuHAw;A7#cA ?A ԸпA?9<*A9?2ACrս:AE{<BA9?JACrսRAE{JJJ:GE&K u>  9YWX~? 9ybVA:c JDFEb779)iBE[[޾[X~?[nŪ[[[[ZZZZBZYY i/C|) j))u!>!>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032893.883165 s, next control iter: 1743032894.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032894.283165 s.0R#I~,$AJ"J*J2J:JBJnJvJAQ@A5磄@AVY~? A0A%"AAo"mNA"AZAbAjArAzAAA%(uwA@AB /tAj}}@AAG<A6NA;?AϿA;*AH9?2Aս:A<BAH9?JAսRA<٘i)I9}}@YHG J<JJJJ?GE&K YsX~?yXVAFE77739)gBE[[Ծ[sX~?[Ȫ[[[[ZZZZBZYY i) jCW))=>=>kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032894.303165 s, next control iter: 1743032894.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6393., header.stamp.nsec: 0.0 temperature: 13.566040.* salinity: 33.375179., density: 1025.000000.* values[0]: 0.582076.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032894.703165 s.պ#I~, $AAףp= @A"1@AgoY~? AA%"AAGmNA"AZAbAjArAzAAA ʗk@A1tA}@A:AS=A:A@|E?A@ͿA K:*A9?2A[ӽ:A<BA9?JA[ӽRA<٘i)I9}@YYG J;B=JJJJDGE&K Y-X~?yxNVAFE{7{7 9)fB[[i˾[X~?[˪[[[[BZYY i) CrD)) M >M >BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032894.723165 s, next control iter: 1743032895.103177 s, wait time: 0.380012 s&-X~?)&x rAdjusting time to match Gazebo time: 1743032895.123165 s.5#I~,TǏ$AJ"J*J2J:J ?BJ ?nJG5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743032895.123291F (some fields omitted in printout)A)\u@A([@A)Y~? AUAT%"AAlmNA"AZAbAjArAzAAA0Iۗ@AT3tA}@AoA9=Az&A`i?A̿A)*A9?2AYӽ:A<BA9?JAYӽRA<٘i)I9}@YSG JŮC=JJJJJGE&K YɪX~?yiDVAFE77^ 9)E[[7[:X~?[]Ϊ[[[[BZYY i) ¤1))>>yQS~Y/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032895.163165 s, next control iter: 1743032895.523175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743032895.543165 s.I#I~,$AA{G@A!XU/@AY~? AA}%"AAmNA"AZAbAjArAzAAAj@AZ4tAf}@Az;5<A^=AcA@?A`ʿAh *A9?2Aӽ:A*=BA9?JAӽRA*=٘i)I9f}@Y:G JŻJJJJOGE&K YgX~?y[:VAFEb7b79)gBE[[ K[Y~?[Ѫ[[[[BZYY i) ))>>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032895.583165 s, next control iter: 1743032895.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6394, header.stamp.nsec: 00 temperature: 13.565902* salinity: 33.375198, density: 1025.000000* values[0]: 0.582204F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032895.963165 s.w#I~,$AJ"J*J2J:J ?BJ ?nJH5vJAL@AZ2@AY~? AA?Q%"AAdmNA"AZAbAjArAzAAA @Aj5tA, }@A̎<A|=AAѫ?AȿApSF*A9?2AK7Խ:A =BA9?JAK7ԽRA =Y!@$yrv|=щ<ٓH9??>?g5`z?`̘1?I?)!@ I٘i)I9 }@YG Jx&J^>JJJTGE&Kur> YtX~?ynUAFE)79)jBE[[e[Y~?[Ӫ[[[[BZYY ih) s))tQ>Q>+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032896.003165 s, next control iter: 1743032896.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032896.383165 s.$I~,+$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238956@ elevatorAngleAction: -0.056665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032896.383300F (some fields omitted in printout)AQ@AEC@APY~? AA'%"AAtmNA"AZAbAjArAzAAAl=;'@A!7tA|@Ayb<A=AҽA)?AƿA s*A9?2AԽ:A=BA9?JAԽRA=٘i)I9|@YG J[B=JJJJZGE&K YX~?yUAFE779)lBE[[坣[2Y~?[%֪[[[[BZYY i) Z;IiQ?< с>))n^с>с>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032896.423165 s, next control iter: 1743032896.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6395", header.stamp.nsec: 0"0 temperature: 13.565895"* salinity: 33.375187", density: 1025.000000"* values[0]: 0.581973"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032896.803165 s.{A $I~,g3$AJ"J*J2J:JBJnJvJAq= #@A @AY~? AAO%"AAnNA"AZAbAjArAzAAA#WZZ@A[geD8tAQU|@A~o;A"=AAp?A@_ĿA<*AF9?2Aӽ:A (=BAF9?JAӽRA (=٘i)I9U|@YG JC=JJJJ_GE&K YY~?y)) Iu>Iu>ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032896.823165 s, next control iter: 1743032897.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032897.223165 s.g$I~,HN$AA(\@AqrCu@AZ~? AA %"AA4+nNA"AZAbAjArAzAAA M@Ar|P9tAX{@A" AǗ=A$~A@?AÿA*Ak:?2A+Խ:A =BAk:?JA+ԽRA =٘i)I9{@YHG JJJJJeGE&K Y6Y~?y TAFE{7{7I9)sBE[[][bY~?[ڪ[[[[BZYY i8) ;Ii&?hj< =?))=?=?yDphЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032897.243165 s, next control iter: 1743032897.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032897.643165 s.w$I~, *i$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743032897.643286F (some fields omitted in printout)AG@AF!@AZ~? AAҽ%"AAQnNA"AZAbAjArAzAAAK|b @ASE:tAT{@AxA r=A4.*A ?A$3A$*A:?2AԽ:A =BA:?JAԽRA =٘i)I9T{@YG JJJJJjGE&K YRY~?y TAFE7777"9)wBE[[=[zY~?[ܪ[[[[BZYY i) o;Ii?[< H?))H?H?y hyԪY%YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6396, header.stamp.nsec: 00 temperature: 13.565993* salinity: 33.375221, density: 1025.000000* values[0]: 0.581564F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743032897.663165 s, next control iter: 1743032898.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032898.063165 s. $I~,N $AAfffff@AnnLOL@AM9Z~? A|A%"AAxnNA"AZAbAjArAzAAA[ @AE^o ;tAz@A vA=AMA0?A@A*A:?2A 9ս:A5O=BA:?JA 9սRA5O=YS@y=wٓH@P? 8??b 0?q? ykގ`v?)S@ I٘i)I9z@YG JDJh =JJJoGE&K{s> YnY~?y *TAFE)7b7t&9)|B[[;0w[ӑY~?[ު[[[[BZYY i) ];Ii?#< C ?))QsC ?C ?yaժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032898.103165 s, next control iter: 1743032898.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032898.483165 s.v_'$I~,자$AJ"J*J2J:J?BJ?nJ5vJA@AИIԷ@A SZ~? AA%"AAnNA"AZAbAjArAzAAAcX !@AkT;tA K%"AA"oNA"AZAbAjArAzAAAoq#@A"=tA=vx@A$<A=Axd=A@1p?A寿A4*A(4:?2AUӽ:A="=BA(4:?JAUӽRA="=٘i)I9vx@Y8G JJJJJGE&K YY~?y RAFE7749)BE[[%[Y~?[[[[[BZYY i) 19Ii?b u< t?))t?t?ϪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032899.763165 s, next control iter: 1743032900.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743032900.163165 s.w}B$I~,q $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743032900.163279F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A;1e@AZ~? A A=%"AA YY~?y %RA=FE777_89)BE[[[ Z~?[[[[[BZYY i) ?+Ii?h< $?))s$?$?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032900.183165 s, next control iter: 1743032900.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032900.583165 s.H$I~,R%$AAR@Ao@AZ~? A A3%"AAcoNA"AZAbAjArAzAAAv1$@AT9>tAqRw@ADA?=A =A?AѠA*Ai4:?2Akս:Av<BAi4:?JAkսRAv<٘i)I9Rw@YG JJJJJGE&K YZ~?y_ QAFEb77;9PB)BE[[4[%Z~?[)[[[[BZYY i) ϺIi׬?W=]< B)?))B)?B)?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032900.623165 s, next control iter: 1743032900.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6399, header.stamp.nsec: 00 temperature: 13.566443* salinity: 33.375263, density: 1025.000000* values[0]: 0.579783F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032901.003165 s.x P$I~,L4@$AJ"J*J2J:JBJnJvJAp= W@Ap<@AZ~? A A+%"AAfoNA"AZAbAjArAzAAAҿJ%@AǻK`e>tA9v@AYAߎ=A=A?AA0*AS:?2AԽ:A<<BAS:?JAԽRA<<٘i)I9v@Y4G JJJJJGE&K Y>4Z~?y ^QAFEj7Z7?9)BE[[н[J?Z~?[ [[[[BZYY i) r$IiƤ?R< .?)) .?.?ŪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743032901.043165 s, next control iter: 1743032901.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032901.423165 s.uV$I~,[$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032901.423304F (some fields omitted in printout)A(\@A*6u@A[~? A A'%"AAoNA"AZAbAjArAzAAA W%@A4w>tAIv@A-A=A G >AF?AgA͗*AY:?2A;Խ:A<BAY:?JA;ԽRA<٘i)I9Iv@YG J6JJJJGE&K YePZ~?y PAGEZ7SI7C9OB)BE[[6K[XZ~?[[[[[BZYY i) baIi?I< t&4?))t&4?t&4?+ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032901.443165 s, next control iter: 1743032901.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6400, header.stamp.nsec: 00 temperature: 13.566585* salinity: 33.375282, density: 1025.000000* values[0]: 0.579241F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032901.843165 s.\$I~,u$AJ"J*J2J:JBJnJvJAHz.@AMjh@A"[~? A A'%"AAtoNA"AZAbAjArAzAAApc&@ASp>tAu@A7A^=A E!>A?Aಕ?A%ɖ*AW:?2AvԽ:AA<BAW:?JAvԽRAA<٘i)I9u@YG JB=JJJJGE&K YlZ~?yVPAGE777F9)B[[lz[rZ~?[\[[[[BZYY i) RIi5?A< $c9?))$c9?$c9?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032901.863165 s, next control iter: 1743032902.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032902.263165 s.d$I~,,ؐ$AA@Aݙ @A =[~? A A8)%"AApNA"AZAbAjArAzAAA'o%'@AޞP>tAKu@A"E8A7=A%5>A`?A?AJH*AU:?2A~Խ:Au<BAU:?JA~ԽRAuy7=8ٓHm?`ƿ?@y?&?1 ?`P;@(?k?)@ I٘i)I9Ku@YKG J5C=J>JJJGE&KIs> Y]Z~?y;PA'5> GEJJ9)BE[['[/Z~?[[[[[BZYY iQ) JUIi?!5< >?))+t>?>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032902.303165 s, next control iter: 1743032902.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 64012, header.stamp.nsec: 020 temperature: 13.5666662* salinity: 33.3752822, density: 1025.0000002* values[0]: 0.5787342F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032902.683165 s.lj$I~,Z$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238448@ elevatorAngleAction: -0.076328< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743032902.683302F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AW@AW[~? AY A.%"AA)pNA"AZAbAjArAzAAA#$r'@AI>tAxt@A:<A=A15I>A3?A`g?A~*A:S:?2AԽ:A<<BA:S:?JAԽRA<<٘i)I9t@YG J㘼JJJJGE&K Y+Z~?y=OAGE77M9NB)BE[[״[Z~?[[[[[BZYY i) WͻIi?M)< 4C?))[4C?4C?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032902.683165 s, next control iter: 1743032903.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743032903.103165 s.q$I~,Ƒ$AA= ףp@A,gV@A&q[~? A A 7%"AAPpNA"AZAbAjArAzAAA`(@A~ =tAKt@AӇ<A숇=A*]>A`{?A`t?A *Ak:?2A.ӽ:A.=BAk:?JA.ӽRA.=٘i)I9Kt@YG JJJJJGE&K YZ~?yOAGE77tQ9)BE[[>[Z~?[[[[[BZYY i) \IiXy?< I?)) I?I?뺪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032903.123165 s, next control iter: 1743032903.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032903.523165 s.w$I~,{$AJ"J*J2J:JBJnJvJA(@ANq@A'[~? A# AB%"AAnxpNA"AZAbAjArAzAAA(@AuZ=tAs@AV<A=A2|q>A q?A@`?A䂑*A{j:?2Aӽ:A8B=BA{j:?JAӽRA8B=٘i)I9s@YcG J蓼B=JJJJGE&K YZ~?y#%OAGE7{7 U9MB)BE[[ɩ<[2Z~?[[[[[BZYY i) ұIik?x< (^N?))(^N?(^N?y73YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032903.543165 s, next control iter: 1743032903.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6402, header.stamp.nsec: 00 temperature: 13.566763* salinity: 33.375305, density: 1025.000000* values[0]: 0.578222F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032903.943165 s.]d~$I~,W]$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076328< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743032903.943331F (some fields omitted in printout)AzG@A,_-@A[~? AJ AQ%"AAϟpNA"AZAbAjArAzAAAԱ)@A쪶_Ad?AL?A]*ADc:?2A9Խ:A@=BADc:?JA9ԽRA@=٘i)I9Ws@YG JC=JJJJGE&K YZ~?yNA!GE77X9)BE[[Y*=[Z~?[[[[[BZYY i) 2Ii^?;< lS?))lS?lS?YPYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032903.963165 s, next control iter: 1743032904.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032904.363165 s.$I~,u>$AJ"J*J2J:JBJnJvJA3333@A@A[~? AI Ajc%"AApNA"AZAbAjArAzAAA v9*@AZc9AHU?Ab?A*Ae[:?2A}ս:A=BAe[:?JA}սRA=YPl=ō>y=gٓH ?Mѿ}ޯ?t?E?`?9?)Pl= I٘i)I9r@YG J퉼J|JJJGE&Ks> Y[~?y.lNAō>&GE77{74\9LB)B¹E[[T~=[[~?[U[[[[BZYY i) $IiK?1><  X?))u X? X?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032904.383165 s, next control iter: 1743032904.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6403&, header.stamp.nsec: 0&0 temperature: 13.566877&* salinity: 33.375328&, density: 1025.000000&* values[0]: 0.577756&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032904.783165 s.S$I~,2$AAQ@Ag'@A[~? AAx%"AALpNA"AZAbAjArAzAAAT$ب*@Ax;tAqr@A;A+C=A>AC?A C'?A펇*A3S:?2A,ֽ:A=BA3S:?JA,ֽRA=٘i)I9qr@YG JIB=JJJJGE&K Y-[~?yNA,GE{7Z7_9)B[[=[([~?[[[[[BZYY i) 74Ii:?2; xS^?))"xS^?xS^?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032904.823165 s, next control iter: 1743032905.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032905.203165 s.$I~,M$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260031@ elevatorAngleAction: -0.076328< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J*J dt: 0.4200402J2 time: 1743032905.203318:JF (some fields omitted in printout)BJnJvJAףp=@A\[%p@A[~? AA֐%"AAaqNA"AZAbAjArAzAAAI2q+@Ar۱:tAq@AeUnA =A6ޢ>A/?A ?A#*Ah:?2A^Խ:Az9=BAh:?JA^ԽRAz9=٘i)I9q@YHG J-C=JJJJGE&K YI[~?y]MA1GE77_c9KB)BŹE[[J=[KC[~?[[[[[BZYY i) CIir*?,; dc?)) dc?dc?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032905.243165 s, next control iter: 1743032905.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032905.623165 s.\$I~,qg$AA)\@AfG@A8 \~? AIAM%"AAUK ,@APsA9tAcq@AA=As>A ?AP?An*Ad:?2AMԽ:AW=BAd:?JAMԽRAW=٘i)I9q@YG JNJJJJGE&K YKd[~?yVMA6GE777f9)BȹE[[7>[][~?[[[[[BZYY i) =SIi?sm; i?))i?i?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032905.663165 s, next control iter: 1743032906.023182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6404, header.stamp.nsec: 00 temperature: 13.566982* salinity: 33.375328, density: 1025.000000* values[0]: 0.577296F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032906.043165 s.$I~,Â$AJ"J*J2J:JBJnJvJA{Ga@Ae2G@A%\~? AA%"AA%cqNA"AZAbAjArAzAAA=d<,@A(ޱ8tAq@A;AН=Ah>A?A?A7*A ^:?2AdԽ:A =BA ^:?JAdԽRA =I٘i)I9q@YG JJJJJGE&K Yx[~?yLA[x[~?[[[[[BZYY i) bIi?; ln?))ln?ln?]̪Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032906.063165 s, next control iter: 1743032906.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032906.463165 s.X$I~,𤝒$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076328< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743032906.463270F (some fields omitted in printout)A@AA@A7?\~? AA@%"AẢqNA"AZAbAjArAzAAAPcuB-@A2 7tAp@Aux<AՖ=A t>A?A?A *AW:?2AtԽ:A=BAW:?JAtԽRA=Y !>>yLі="y<ٓH@ ?}׿`?7?@.?ڂ? ղq?@?) !> I٘i)I9p@Y_G JJu<JJJGE&Kt> Y[~?yNLA>AGE)7ŧ7n9IB)ůBιE[[ +>[ђ[~?[[[[[BZYY i) 3qIi>; s?))ws?s?lϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032906.503165 s, next control iter: 1743032906.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6405, header.stamp.nsec: 00 temperature: 13.567076* salinity: 33.375328, density: 1025.000000* values[0]: 0.576813F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032906.883165 s.y$I~,<$AJ"J*J2J:JBJnJvJAQ8@AV9@AX\~? AA%"AAFqNA"AZAbAjArAzAAAl. -@A{6tAo@Ax<Aw=A>A?A`޹?A0*ASP:?2AR8ս:A=BASP:?JAR8սRA=٘i)I9o@Y G JJJJJGE&K Y[~?y/LAFGE77q9FB)ǯBйE[[XA>[?[~?[[[[[BZYY i) ꈀIi>V; fy?)) fy?fy?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032906.923165 s, next control iter: 1743032907.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032907.303165 s.U$I~,sgӒ$AAq= ף@A8en@Aq\~? AA|8%"AAqNA"AZAbAjArAzAAAUt.@A6"/5tA6fo@A<A=A`>Aq?A`ڥ?A-*Ad:?2A.Խ:A=BAd:?JA.ԽRA=٘i)I9fo@YG JJJJJGE&K Y:[~?yKALGE77{7Ju9)˯B[[HW>[[~?[k[[[[BZYY i ) <Iim>o; ~?))~?~?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032907.323165 s, next control iter: 1743032907.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6406., header.stamp.nsec: 0.0 temperature: 13.567206.* salinity: 33.375362., density: 1025.000000.* values[0]: 0.576251.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032907.723165 s.$I~,H$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743032907.723307F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AkF@AŊ\~? A{ALc%"AAqNA"AZAbAjArAzAAAEl /@Ag'3tAn@AgKzA*=A5>A?Ago?A0*A_:?2Aս:Aze =BA_:?JAսRAze =٘i)I9n@Y^G JuJJJJGE&K Y|[~?ydKAQGEb77x9)ϯBӹE[[bm>[h[~?[ߪ[[[[BZYY i) qIiĠ>XM; A4?))A4?A4?dժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032907.763165 s, next control iter: 1743032908.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032908.143165 s.Y/$I~,* $AAGz@AS`@A\~? A A"%"AA|"rNA"AZAbAjArAzAAA;#/@AQvO2tA^On@A,`AW=A(>AFb?A[ [~?[ݪ[[[[BZYY i) FIiʉ>_0; ?))??תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032908.163165 s, next control iter: 1743032908.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032908.563165 s.$I~,V $$AJ"J*J2J:JBJnJvJAffff@A~T@Ac\~? AuA%"AAHrNA"AZAbAjArAzAAA.'0@A;!0tAm@A텼A=Al->A x:?A@?A?1*AI:?2AU1ֽ:A=BAI:?JAU1ֽRA=YT> >y7=SVٓH IU?=|ݿ@R?S?e?nǩ?;ﳿ ?)T> I٘i)I9m@YG JeB=J'<JJJGE&K&u> Y\~?yLJA>\GE 9DB)֯BٹE[[ь>[G\~?[I۪[[[[BZYY i) IiJ>l; 5?))z5?5?y`۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032908.603165 s, next control iter: 1743032908.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6407, header.stamp.nsec: 00 temperature: 13.567330* salinity: 33.375378, density: 1025.000000* values[0]: 0.575693F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032908.983165 s.$I~,>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244652@ elevatorAngleAction: -0.085472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743032908.983340F (some fields omitted in printout)AQ@Aq= 7@A\~? AA%"AAqmrNA"AZAbAjArAzAAAPI]_-g0@A%/tA&9m@A)A3Ƣ=AR`>A`s?Ae?A*A>:?2A{;ֽ:A=BA>:?JA{;ֽRA=٘i)I99m@YaG JɧC=JJJJGE&K Y4\~?y@ܪ)JAaGEb7b79CB)گBܹE[[>[1\~?[ت[[[[BZYY i) 3Ii >: ?)) ??ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032909.003165 s, next control iter: 1743032909.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032909.403165 s.&$I~,Y$AJ"J*J2J:JN?BJN?nJv5vJA ףp@AXV@AL\~? AA,%"AArNA"AZAbAjArAzAAA . 0@Af)J-tAl@A5:A4=A2?A@?A N?A/*AK:?2AԽ:A1=BAK:?JAԽRA1=٘i)I9l@YG JLJJJJHE&K YM\~?y5تIAgGESI7SI759)ޯB[[>[K\~?[E֪[[[[BZYY i) uIi-=GK: N?))N?N?2YFFF]o:Waiting for Gazebo time sync: latest Gz time: 1743032909.423165 s, next control iter: 1743032909.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6408", header.stamp.nsec: 0"0 temperature: 13.567497"* salinity: 33.375393", density: 1025.000000"* values[0]: 0.575117"F (some fields omitted in printout)*M\~?)*5ت rAdjusting time to match Gazebo time: 1743032909.823165 s.$I~,Kt$AA\(@A@Ax]~? AAf%"AAPrNA"AZAbAjArAzAAAڦS0@A)Gn+tAl@AC<AcϨ=A n ?A"?A$?Avh*AYC:?2A!Խ:AC=BAYC:?JA!ԽRAC=٘i)I9l@YG J-JJJJHE&K Yg\~?y)ԪRIAlGE{7{7ʊ9BB)B߹E[[_`>[9f\~?[vӪ[[[[BZYY i) v Ii<kd9  ?)) ? ?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032909.843165 s, next control iter: 1743032910.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032910.243165 s.$I~,i$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743032910.243277F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@ATbz@Ar]~? AAQ%"AArNA"AZAbAjArAzAAA VC1@A?{)tA,ek@A<A?=A}?A y?A`?ACƼ*A::?2AԽ:At=BA::?JAԽRAt=٘i)I9ek@YDG J¼JJJJ HE&K Y\~?yЪHAqGE777`9)BE[[>[\~?[tЪ[[[[BZYY i) II?ia^ ?))??EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032910.263165 s, next control iter: 1743032910.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032910.663165 s.$I~,q$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6409, header.stamp.nsec: 00 temperature: 13.567662* salinity: 33.375401, density: 1025.000000* values[0]: 0.574459F (some fields omitted in printout)A @AYE@A45]~? A@A%"AAsNA"AZAbAjArAzAAA T@ 1@A-;r'tAj@ArM<AC=A5?AU?A:?Avȼ*A1:?2Atս:AO=BA1:?JAtսRAO=Y>?y@=N<ٓH`8?`\v` ?n??=?d??)> I٘i)I9j@YG JǼB=J<JJJHE&Ku> Y\~?yO˪sHA?wGE{7{79>B)BE[[>[N\~?[Mͪ[[[[BZYY i) üII?iV ?))}??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032910.683165 s, next control iter: 1743032911.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032911.083165 s.D$I~,Sœ$AJ"J*J2J:JBJnJvJARk @A!oQ @AL]~? AA\%%"AA#sNA"AZAbAjArAzAAAxf1@ABTQ%tAj@Ad;AC=A6=?A ?A ?Aȼ*A):?2A?ֽ:Aw=BA):?JA?ֽRAw=٘i)I9j@YwG JȼC=JJJJHE&K YU\~?yƪGA|GEŧ779)B[[B>[\~?[ɪ[[[[BZYY i) %˼I I?i  Gh?)) Gh?Gh?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032911.103165 s, next control iter: 1743032911.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032911.503165 s.$I~,j4$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743032911.503311F (some fields omitted in printout)Ap= @AC @A d]~? A!Aj%"AAZGsNA"AZAbAjArAzAAAJb2@A͎7#tA\li@AcoA=A?A ?AP?A%ȼ*A3:?2Aս:A\=BA3:?JAսRA\=٘i)I9li@YG JhȼJJJJHE&K Y\~?yGAGE77 9=B)BE[[o>[\~?[`ƪ[[[[BZYY i) mҼI I?iH% /?))/?/?4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032911.523165 s, next control iter: 1743032911.903184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6410, header.stamp.nsec: 00 temperature: 13.567862* salinity: 33.375420, density: 1025.000000* values[0]: 0.573768F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032911.923165 s.6$I~,$AJ"J*J2J:JBJnJvJA(\B @A*5{( @A{]~? AXܫA*%"AA}jsNA"AZAbAjArAzAAA7^2@A tAh@AxAɲ=A#?Aa?A@o?Aɼ*A1,:?2ANֽ:As=BA1,:?JANֽRAs=٘i)I9h@Y G JȼJJJJ!HE&K Y\~?y⼪GAGE779[\~?[ª[[[[BZYY i) ټII?ix» ;?));?;?Y0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032911.943165 s, next control iter: 1743032912.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032912.343165 s.<%I~,$AAHz @AnN% @A]~? AkثAM%"AA@sNA"AZAbAjArAzAAAn '2@A/;dtAh@AQkhA=A)?As?A 7A?Aμ*AE$:?2A8/ֽ:AQq=BAE$:?JA8/ֽRAQq=٘i)I9h@YB G J˼JJJJ&HE&K Y7\~?yFAGE7K9;B)BE[[>[]~?[[[[[BZYY i) !II?iǏ 8 Ӡ?))Ӡ?Ӡ?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032912.363165 s, next control iter: 1743032912.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6411*, header.stamp.nsec: 0*0 temperature: 13.568061** salinity: 33.375439*, density: 1025.000000** values[0]: 0.573040*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032912.763165 s.; %I~,00$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743032912.763295F (some fields omitted in printout)A @A'2s @Al]~? AZԫA0L%"AAsNA"AZAbAjArAzAAAP\2@A3tAgg@AW㙻A=N=Av.?A5?A@G?ATּ*A:?2Aֽ:AM=BA:?JAֽRAM=Y>-?yM=ٓH #?\s?^?$?@Hy?¶@f I٘i)I9gg@Y G JFҼJz,<JJJ,HE&K>v> Y' ]~?y'FA-?GE7779)B[[O)>[]~?[[[[[ZZ¸BZYY i¸$=) ԼIH?iӰVb ?))??tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032912.783165 s, next control iter: 1743032913.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032913.183165 s.%I~,kK$AAQ @AGk @A]~? A&ЫAƜ%"AAsNA"AZAbAjArAzAAAi+3@A\WtAnf@A K;Af=AB2?A?A?A޼*AX:?2Auս:A=BAX:?JAuսRA=٘i)I9f@Yf G J^ڼB=JJJJ1HE&K Y"]~?yEAGE77{7v97B)BE[[?[2]~?[5[[[[ZZBZYY i) ȼIcH?iξ烻 e?)) e?e?(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032913.203165 s, next control iter: 1743032913.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032913.603165 s.94%I~,f$AJ"J*J2J:JBJnJvJA= ף @Ai @A]~? A˫A%"AA%sNA"AZAbAjArAzAAA'n3@An8'}tAe@A]{<A=Av7?A?A[?AO *A,:?2AEԽ:Aֲ<BA,:?JAEԽRAֲ<٘i)I9e@Y G JUC=JJJJ6HE&K Y8]~?y3EA KDGEb77 95B)BE[[m ?[K]~?[[[[[ZZBZYY i) 'ѼI*H?i羉F. :?)):?:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032913.623165 s, next control iter: 1743032914.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6412 , header.stamp.nsec: 0 0 temperature: 13.568281 * salinity: 33.375454 , density: 1025.000000 * values[0]: 0.572295 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032914.023165 s.Z %I~,|$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084054< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743032914.023280F (some fields omitted in printout)A(\ @ALB @A^]~? ATǫAF%"AABtNA"AZAbAjArAzAAA=EK3@AbtAd@A4y<AZ=Aw=?A@o?A`l?Ai`*A7:?2A/ս:AX<BA7:?JA/սRAX<٘i)I9d@Y[ G JoJJJJ]$AJ"J*J2J:Jc?BJc?nJ5vJAz @ADg @A]~? A«A%"AA4tNA"AZAbAjArAzAAAb,3@A5e%tAd@AI;A֞q=A4bB?A.+?A 2?AL *A<:?2Aս:Ad<BA<:?JAսRAd<٘i)I9d@Y G JUJJJJAHE&K Yc]~?yt>DAGE7777594B)BE[[.f?[|]~?[[[[[ZZBZYY i) IH?icL ?))??aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032914.483165 s, next control iter: 1743032914.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6413, header.stamp.nsec: 00 temperature: 13.568575* salinity: 33.375450, density: 1025.000000* values[0]: 0.571335F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032914.863165 s.+-%I~,>$AA33333 @Ag% @A^~? AA%"AA*UtNA"AZAbAjArAzAAAν$14@AeO@tA^^c@AA ,=AŷG?A ?AX?Aͼ*A>:?2A<ֽ:A ;BA>:?JA<ֽRA ;Y ?G?yH ,=ٓH $? S?@{?@ݾ?c?pv?) ? I٘i)I9^c@Ya G JB=J)JJJFHE&K.u> Y x]~?y@DAG?GE7{7˵93B)BE[[TA?[]~?[[[[[ZZBZYY idI=) oIH?i ͱ?))ͱ?ͱ?qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032914.903165 s, next control iter: 1743032915.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032915.283165 s.7R4%I~,Ҕ$AJ"J*J2J:J%?BJ%?nJ?5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743032915.283289F (some fields omitted in printout)AQ @Ap`r @A)^~? AA~W%"AAttNA"AZAbAjArAzAAAyi+p4@AUaG tA!b@AyA<APL?A?An?A'*A::?2A,ֽ:AeBA::?JA,ֽRAe٘i)I9b@Y G JnC=JJJJLHE&K Y$]~?y CAGE77`9)B[[`'"?[,]~?[[[[[ZZBZYY i) +I"H?ic$ujһ ֪?))֪?֪?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032915.303165 s, next control iter: 1743032915.683175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6414*, header.stamp.nsec: 0*0 temperature: 13.568846** salinity: 33.375462*, density: 1025.000000** values[0]: 0.570517.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032915.703165 s.ۺ:%I~,&$AAףp= @AOz1 @A!>^~? AAշ%"AA9tNA"AZAbAjArAzAAAJF2<4@Ab9tA[Fb@A荼AQ<A*R?AQ?A}?Ajo*A8:?2AHֽ:Ay*BA8:?JAHֽRAy*٘i)I9Fb@Y G J쐼B=JJJJQHE&K YC]~?y؉CAGEŧ7b79/B)BE[[(?[]~?[%[[[[ZZBZYY i) fIH?i/`7 ?))??RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032915.723165 s, next control iter: 1743032916.103180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032916.123165 s.5A%I~,T$AJ"J*J2J:JBJnJvJA)\u@A1[@AFR^~? AA%"AAtNA"AZAbAjArAzAAAd2N4@A[]1tAa@A0-AcٻA]W?A@%?A ;?A$*A|2:?2Aֽ:AM BA|2:?JAֽRAM ٘i)I9a@Y G JOC=JJJJWHE&K Y]]~?yWCAGE779-B)BE[[.?[]~?[s[[[[ZZBZYY iѩ=) IsIH?i9w %{?))%{?%{?y=E(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032916.143165 s, next control iter: 1743032916.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032916.543165 s.IH%I~,"$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082918< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032916.543274F (some fields omitted in printout)A{G@AD.8@Af^~? AA%"AARtNA"AZAbAjArAzAAAC[W'5@AtA@a@Aɿ:AAMA(\?A?A ?A0*A*:?2Aֽ:A5FBA*:?JAֽRA5F٘i)I9a@Y_ G JLB=JJJJ\HE&K Y|]~?yq}CAGE7 9) B[[4?[]~?[[[[[ZZBZYY i) ߿]IQH?iA) l?))l?l?y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032916.583165 s, next control iter: 1743032916.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6415, header.stamp.nsec: 00 temperature: 13.568921* salinity: 33.375473, density: 1025.000000* values[0]: 0.570090F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032916.963165 s.xN%I~,=$AJ"J*J2J:JBJnJvJAL@A'2@Ay^~? ARA%"AAtNA"AZAbAjArAzAAA4fOb5@AdlnsAua@AL<AcnAa?A Qa?A?Ayk*A:?2AN-׽:A'ɼBA:?JAN-׽RA'ɼYT)?a?yk2L<ٓH R?``@?`R?@???)T)? I٘i)I9a@YL G J⍻C=J5JJJaHE&Khy> Yw]~?yvJCAa?GE79,B)BE[[& :?[^~?[[[[[BZYY il=) $TLI+H?ieO 0P?))0P?0P?yrP=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032917.003165 s, next control iter: 1743032917.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032917.383165 s.U%I~,IX$AAQ@A"<@A^~? AОA?R%"AAO uNA"AZAbAjArAzAAAM{_.5@Aw:sAa@AbW<A0 4A2:g?A ?A1?A#:*An :?2AF׽:ABAn :?JAF׽RA缙٘i)I9a@YK G JJJJJgHE&K Yr]~?yowCAGEŧ7b7K9)B)BE[[ @?[^~?[P[[[[BZYY ia=) F:I[H?i[9 N;?))N;?N;?y&=q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032917.423165 s, next control iter: 1743032917.783182 s, wait time: 0.360017 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6416", header.stamp.nsec: 0"0 temperature: 13.568888"* salinity: 33.375496", density: 1025.000000"* values[0]: 0.570000"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032917.803165 s.yA\%I~,gs$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067715< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743032917.803285F (some fields omitted in printout)Aq= #@A @AV^~? A0A߾%"AA(uNA"AZAbAjArAzAAAh5@A:LsATa@A BB<A-[Adl?A`?A ?AX;*A:?2A}׽:AsBA:?JA}׽RAs٘i)I9a@Y\ G JS;JJJJlHE&K Ym]~?yiCAGE9'B)BE[[F?[W3^~?[y[[[[BZYY i) |)IH?ift7 a-?))a-?a-?ye=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032917.823165 s, next control iter: 1743032918.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743032918.223165 s.gc%I~,H$AA(\@APDu@A^~? AqA-%"AAEuNA"AZAbAjArAzAAAfݓ 6@A)4IsAa@A0:AjyAqq?Aa?A ?A4<*A :?2Apֽ:A BA :?JApֽRA ٘i)I9a@Y G J<JJJJqHE&K Yh^~?y1bCAGE77v9&B)BE[[(L?[H^~?[Fs[[[[BZYY i) 2I.H?iPn &?))&?&?y2=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032918.263165 s, next control iter: 1743032918.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032918.643165 s.yi%I~,*$AJ"J*J2J:JBJnJvJAG@AU/@A^~? AA%"AA`uNA"AZAbAjArAzAAA1$tC6@AFζsAFb@AA3AlA(vv?A@ ?A0?Ao<*A9?2AXֽ:A]BA9?JAXֽRA]٘i)I9Fb@Y G J%P<B=JJJJwHE&K Yf"^~?y`[CAGE77{7 9#B)B[[4CR?[U]^~?[zl[[[[BZYY i) ġIxH?it $?))$?$?l*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6417, header.stamp.nsec: 00 temperature: 13.568734* salinity: 33.375488, density: 1025.000000* values[0]: 0.570189F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743032918.663165 s, next control iter: 1743032919.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032919.063165 s.p%I~,c ĕ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067715< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032919.063298F (some fields omitted in printout)Afffff@AGTL@AA^~? AA:%"AA{uNA"AZAbAjArAzAAAȶq(hx6@A#V}sAEb@A+늼A~Ao{?A u`?A`A?Al<*A9?2AICֽ:ABA9?JAICֽRAYC?{?y "EٓH@&?`_? ,?p@y,?.]&?)C? I٘i)I9b@Y G J<C=JJJJ|HE&Kw> Y 2^~?y T_DA{?GEb779"B) B E[[OX?[lq^~?[e[[[[BZYY il=) /I/jH?io$ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032919.103165 s, next control iter: 1743032919.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032919.483165 s.r_w%I~,ޕ$AJ"J*J2J:JBJnJvJA@Alշ@At^~? AA%"AAuNA"AZAbAjArAzAAA,6@A+ "]sA1c@AVfAAk?A?A ?AS<*A9?2Aֽ҅:A@qBA9?JAֽ҅RA@q٘i)I91c@YF G Ju<JJJJHE&K YA^~?yLDAGE{7Z769B)BE[[f^?[^~?[^[[[[BZYY i)  лI[H?i)&+  ?)) ? ?7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032919.523165 s, next control iter: 1743032919.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6418, header.stamp.nsec: 00 temperature: 13.568452* salinity: 33.375515, density: 1025.000000* values[0]: 0.570752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032919.903165 s.}%I~,$AA ףp=@AX#@A?^~? A]{AO%"AAϯuNA"AZAbAjArAzAAAt u6@A%WsAc@AK#}AV'A!?A?A #?AYS<*A9?2Aֽ:A%BA9?JAֽRA%٘i)I9c@Y G J<JJJJHE&K YPQ^~?ybE"EAGE779B)B E[[d?[\^~?[:W[[[[BZYY i) rILH?ia1 ?))??)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032919.943165 s, next control iter: 1743032920.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032920.323165 s.w%I~,)$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743032920.323291F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A{vڎ@A_~? AuAy%"AAuNA"AZAbAjArAzAAA)vr7@A bsAGd@A<A:A܅?Az(?A vq?A5ѩ<*A@:?2AEAGEb77`9)B[[aj?[!^~?[O[[[[BZYY i) .גI=H?i5  ?)) ? ?y3l=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032920.343165 s, next control iter: 1743032920.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6419*, header.stamp.nsec: 0*0 temperature: 13.568129** salinity: 33.375519*, density: 1025.000000** values[0]: 0.571449*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032920.743165 s.W%I~,q/$AAGz@AQd@A_~? AnA%"AA~uNA"AZAbAjArAzAAAlW(|A7@A$sAgd@AL<A^A?ADd?A?AJ<*A:?2AQ׽:A·BA:?JAQ׽RA·٘i)I9d@YF G J<JJJJHE&K Yp^~?y6EAGEŧ79B)BE[[p?[a^~?[,H[[[[BZYY i) NshI.H?iV8 ]?))]?]? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032920.763165 s, next control iter: 1743032921.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032921.163165 s.|}%I~,qJ$AJ"J*J2J:Jb?BJb?nJ~5vJA@A%e@A'_~? A/hAr%"AAauNA"AZAbAjArAzAAA.>p7@AsA%he@A~<A#A~&?A@Ǟ?A ?A<*A :?2As׽:A0rBA :?JAs׽RA0rY]?J?yf~<ٓH@?gS m;? ]?ղ 1?쿏??)]? I٘i)I9he@Y G JL<JJJJHE&Kx> Y}^~?y.MFA?GE77{79B)B E[[)v?[^~?[x@[[[[BZYY i) ,IH?i @ x ?))x ?x ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032921.203165 s, next control iter: 1743032921.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032921.583165 s.!%I~,*Se$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743032921.583286F (some fields omitted in printout)AR@A&2s@A66_~? AaAF%"AAvNA"AZAbAjArAzAAA Y7@As~sAXe@A;AA?Al?AM?A<*AT:?2A8׽:A BAT:?JA8׽RA ٘i)I9e@Y G J <JJJJHE&K Y^~?y$'FAHE777!9)B[[)}?[^~?[8[[[[BZYY i͈=) #ߺIP H?iF ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032921.603165 s, next control iter: 1743032921.983188 s, wait time: 0.380023 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6420, header.stamp.nsec: 00 temperature: 13.567773* salinity: 33.375526, density: 1025.000000* values[0]: 0.572188F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032922.003165 s.| %I~,]4$AJ"J*J2J:JBJnJvJAp= W@AvQ<@AD_~? AZAs%"AA6'vNA"AZAbAjArAzAAA!57@Am?sAf@A.A1䒽A]+?A?A ?A<*A:?2Aֽ:AZ BA:?JAֽRAZ I٘i)I9f@YQ G J<JJJJHE&K Y^~?yZGAHE{7j79B)BE[[֮?[^~?[0[[[[BZYY i) \MIKG?iVJ ?))??\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032922.023165 s, next control iter: 1743032922.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032922.423165 s.u%I~,$AA(\@A'Nw@AS_~? A"TA*%"AA%=vNA"AZAbAjArAzAAAs7@A${sA+ g@A tAAƎA?AE?A =?Ad<*A :?2Äֽ́:AdBA :?JÄֽ́RAd٘i)I9 g@Y G J<JJJJHE&K Y;^~?yGA HE77K9)߯B[[˄?[x_~?[\([[[[BZYY i) <9IG?i𠿉;N ,%?)),%?,%?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032922.443165 s, next control iter: 1743032922.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6421, header.stamp.nsec: 00 temperature: 13.567419* salinity: 33.375534, density: 1025.000000* values[0]: 0.572933F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032922.843165 s.ݬ%I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066799< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743032922.843283F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@AKi@A`_~? AEMA@|%"AAkRvNA"AZAbAjArAzAAAԷ8@AxssAg@A̅AAsL?Av?A?A6n<*AA:?2Aӝֽ:ABAA:?JAӝֽRA٘i)I9g@Y G Jv<JJJJHE&K Ye^~?yGAHE77{79B)֯BE[[?[_~?[ [[[[BZYY i) H{:IG?i~DO X7?))X7?X7?y꼈=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032922.883165 s, next control iter: 1743032923.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032923.263165 s.%I~,Ж$AA@A#@A?n_~? ARFA %"AAgvNA"AZAbAjArAzAAAXu2;H8@A^ 6sA44h@AA-AU?A`Ң?AT?As<*A:?2Aֽ:AVBA:?JAֽRAVYx?: ?y6ٓH? @??@I?>?)x? I٘i)I94h@YR G J<J<JJJHE&Kx> Y^~?yEHA ?HE77v9)үB[[?[s_~?[[[[[BZYY i) {;IG?i_?))>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032923.303165 s, next control iter: 1743032923.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6422., header.stamp.nsec: 0.0 temperature: 13.567090.* salinity: 33.375538., density: 1025.000000.* values[0]: 0.573659.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032923.683165 s.l%I~,g$AJ"J*J2J:JBJnJvJAQ@AO@A {_~? AI?A%"AAzvNA"AZAbAjArAzAAAy܎Do8@AsAܱh@A.<;A9'A¯?A?A?A><*A0:?2A[W׽:A/EBA0:?JA[W׽RA/E񼙘٘i)I9h@Y G J<JJJJHE&K  9Y^~? 9ypHAHEj7j7 9)ίB[[n&?[},_~?[ [[[[BZYY i) A;IG?i5B&[ J?))J?J?y*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743032923.683165 s, next control iter: 1743032924.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743032924.103165 s.!%I~,ؚ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066799< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743032924.103330F (some fields omitted in printout)A= ףp@AMKV@A_~? A,8A%"AAvNA"AZAbAjArAzAAA8@AE}OsA&i@Aip[<AmAa?A(?A ?A<*A :?2AE׽:ABA :?JAE׽RA뼙٘i)I9&i@Y G Jm<JJJJHE&K Y^~?yDHA"HEb779B)ɯBE[[I?[9_~?[W[[[[BZYY i) <;IgG?iD^ Z]?))Z]?Z]? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032924.143165 s, next control iter: 1743032924.503182 s, wait time: 0.360017 s^~?)D rAdjusting time to match Gazebo time: 1743032924.523165 s.%I~,{!$AJ"J*J2J:JBJnJvJA(@Aʉv@Av_~? A0A:%"AAvNA"AZAbAjArAzAAA< 8@A8q/sA:i@AE<AA?A;?A ?Ap<*A:?2A׽:APBA:?JA׽RAP꼙٘i)I9i@Y*G Je<JJJEJHE&K Y^~?yVIA(HE7779B)¯BE[[n?[F_~?[[[[[BZYY iw=) )*;IG?i` t?))t?t?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032924.543165 s, next control iter: 1743032924.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6423, header.stamp.nsec: 00 temperature: 13.566780* salinity: 33.375557, density: 1025.000000* values[0]: 0.574275F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032924.943165 s.fd%I~,}]<$AAzG@A˙-@A_~? A)AU.%"AALvNA"AZAbAjArAzAAAnO8@A=sAwj@A}A<<A+/A?A`38?A :?A&<*A:?2AH׽:ABA:?JAH׽RA٘i)I9j@YlG J <JJJJHE&K Y+^~?yIA-HE 9)B[[4?[R_~?[[[[[BZYY i) M;I|G?im"a Џ?))Џ?Џ?B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032924.963165 s, next control iter: 1743032925.343186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743032925.363165 s.%I~,p>W$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743032925.363271F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@AAc&@A_~? Aa"A׼%"AATvNA"AZAbAjArAzAAA1W 8@A)EsA:qj@A}8A~A?A[?Am?A<*Ay :?2Aֽ:ABAy :?JAֽRAY ??y~~8ٓHe?`? ?@VZO?|?`Z?) ? I٘i)I9qj@YG J<J&;JJJHE&Kex> Y^~?yuީ JA?2HE{7{7a9)B[[P?[^_~?[[[[[BZYY i) T;I#iG?im[f ?))??DZ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032925.383165 s, next control iter: 1743032925.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6424&, header.stamp.nsec: 0&0 temperature: 13.566530&* salinity: 33.375557&, density: 1025.000000&* values[0]: 0.574816&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032925.783165 s._%I~,r$AAQ@A @@Ad_~? AAL%"AAvNA"AZAbAjArAzAAAm)!9@A7sAj@A:AуA{?A }?AS?A<*A@:?2AVֽ:ABA@:?JAVֽRA٘i)I9j@YG J8<JJJJHE&K Y^~?yթaJA8HE)7ŧ79B)BE[[b?[h_~?[t[[[[BZYY i) ;IlUG?i_j ?))??y̥=h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032925.803165 s, next control iter: 1743032926.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032926.203165 s.%I~,$AJ"J*J2J:J:?BJ:?nJa5vJAףp=@A'.p@Ah_~? AA%"AA9vNA"AZAbAjArAzAAA4u>;9@AC2sASk@A,EAznA+?A7?A?Ai<*A:?2A[~ֽ:AuFBA:?JA[~ֽRAuF٘i)I9Sk@Y9G J<JJJJHE&K Y^~?yͩJA=HE779 B)BE[[ ?[r_~?[:٩[[[[BZYY i) D elevatorAngleAction: 0.075555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743032926.623292F (some fields omitted in printout)A)\@AE`@A_~? A Ap%"AAvNA"AZAbAjArAzAAA{ X9@Aɍ"sAk@A]AIAϬ?A`?A ?A<<*A9?2A|ֽ:ABA9?JA|ֽRA٘i)I9k@YG J<JJJJHE&K Y_~?yũKABHE7777!9)B[[4?[{_~?[ϩ[[[[BZYY i) <FA@mAۂ?A@?A"?A/<*AZ9?2A׽:A BAZ9?JA׽RA ٘i)I9:l@YG J<JJJJHE&K YY_~?yhKAHHE779)B[[_?[~_~?[Ʃ[[[[BZYY i) -C<AA9?A?AJ?A<*A9?2A8x׽:ALBA9?JA8x׽RALYU?%?y틽i<ٓHO?}FjEj?@۶? 5z?Wh? ?)U? I٘i)I9l@Y G J/<J1JJJHE&Kx> Ya_~?yﳩKA%?MHEj7j7L!9 B)BE[[`?[?_~?[[[[[BZYY i) #= elevatorAngleAction: 0.075555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743032927.883324F (some fields omitted in printout)AQ8@Aj=@A~_~? AA-%"AAwNA"AZAbAjArAzAAAw9@AqxsAm@A<AŎA?A@?Asp?A3<*Ah9?2AB׽:ABAh9?JAB׽RA٘i)I9m@YPG J<JJJJHE&K Yi_~?yD$LASHE777$9B)BE[[_?[D_~?[[[[[BZYY i) L elevatorAngleAction: 0.084559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743032929.143270F (some fields omitted in printout)AGz@ARx`@Av_~? AݪA%"AA;wNA"AZAbAjArAzAAAUl+9@AMadZsAn@ACԻAA?A|p?A?Aٟ<*Az9?2Aֽ:AB=BAz9?JAֽRAB=٘i)I9n@Y0G J<B=JJJJHE&K Y'_~?yD=MAcHE7777/9)B[[ Y)_~?y~MA,?hHE77739B)BE[[i?[_~?[[[[[BZYY i)  elevatorAngleAction: 0.084559*J< massPositionAction: 0.0000002J:J4 buoyancyAction: 0.000500BJnJ dt: 0.420018vJ2 time: 1743032930.403296F (some fields omitted in printout)A ףp@Al\@A`~? AƪAT&"AA,UwNA"AZAbAjArAzAAAڿ:@AꅯvsA/p@A AN#A1P?AB?A=?A<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9/p@Y/G J֨<JJJJ IE&K Y ._~?yvrNAsHE77{7b:9)B[[?[^_~?[y[[[[BZYY i) d ?A\ٽ?A/?A<<*A9?2AC7׽:AMBA9?JAC7׽RAM٘i)I9p@YG JҨ<B=JJJJIE&K Y70_~?y(nNAxHEj7j7=9B){BE[[?[_~?[o[[[[BZYY i)  elevatorAngleAction: 0.084559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743032931.663295F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6430, header.stamp.nsec: 00 temperature: 13.564886* salinity: 33.375587, density: 1025.000000* values[0]: 0.578545F (some fields omitted in printout)A@As@A}`~? A Am&"AAhwNA"AZAbAjArAzAAAc!::@ANBhsAq@A9<AyAKd?A -?AP?A<*A9?2A'l׽:A8BA9?JA'l׽RA8Yp+?7?y <ٓH@( "?H?Ρ2۴???)p+? I٘i)I9q@Y3G J<JSJJJIE&Kex> Y1_~?y\OA7?HE7"E9)rB[[J?[_~?[5\[[[[BZYY i) ؖ@A`~? AA&"AApwNA"AZAbAjArAzAAA+.PʨI:@Amr^sAs@AcOA=㬽Ai?AF?A@f?A1d<*Aֳ9?2A|ֽ:A BAֳ9?JA|ֽRA ٘i)I9s@YG J<JJJJ(IE&K YO0_~?yJPAHE)7ŧ7LL9B)gBE[[?[έ_~?[H[[[[BZYY i) 5QN&I~,;$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743032932.923272F (some fields omitted in printout)A(\B@AVy(@Ae`~? A镪Al&"AAswNA"AZAbAjArAzAAA@O:@AlʇYsAشs@AQCAAq?A`5ƥ?A@(n?A<*A9?2Aa&ֽ:ABA9?JAa&ֽRA٘i)I9s@YSG J<JJJJ.IE&K Y/_~?y4BQAHE77O9B)dBE[[?[_~?[>[[[[BZYY i) [?yvTٓH~"_?u@h`*?i?)2? I٘i)I9u@Y(G J<B=J=HJJJ8IE&K x> Y[+_~?y0QA>?HEb77 W9)YB[[!?[̤_~?[+[[[[BZYY i) TD elevatorAngleAction: 0.084559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743032934.183277F (some fields omitted in printout)AQ @Apk @A`~? A}AD&"AAxwNA"AZAbAjArAzAAAU:@A] JsAu@AKAPA?A bAv?A<*Aϥ9?2Aֽ:AyBAϥ9?JAֽRAy٘i)I9u@YG J <C=JJJJ>IE&K Y'_~?y'_RAHEZ7SI7Z9B)RBE[[J?[D_~?[![[[[BZYY i) {]ܙ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:J< rudderAngleAction: -0.261799BJ> elevatorAngleAction: 0.093536nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032935.443298F (some fields omitted in printout)Az!@A/ע!@A`~? AeAM&"AAuwNA"AZAbAjArAzAAAM:@Ai;sAw@Ag,n<A~ⴽA?AZTA i?AϨ<*A9?2A}׽:ARuBA9?JA}׽RARu٘i)I9w@YG Js<B=JJJJNIE&K Y!_~?y SAHEŧ77be9B)ABE[[Ի?[5_~?[u[[[[BZYY i) &$AA33333"@APO"@A `~? Au]A&"AAZswNA"AZAbAjArAzAAA}nG:@AyB7sA+~x@A;A!ART?AܯA@_?A_<*Af9?2A ֽ:AKBAf9?JA ֽRAKYL9?E?y&!;ٓH ̿ * H? ?@AͿڵv?`t??)L9? I٘i)I9~x@Y=G J#<C=JJJJSIE&K/x> Y_~?y8>TAE?HE)7ŧ7h9);B[[?[_~?[[[[[ZZZZ¸>BZYY i¸>Ũ) 3 Y^~?yڨdVA:?HEŧ77z9)B[[?[V_~?[fΨ[[[[ZZZZBZYY i_)  _~?[ż[[[[ZZZZBZYY i) Gb/&"AAm9wNA"AZAbAjArAzAAA{C9@Aiy~ sAA~@AA<A8?AȿA?A`;*A9?2A=ֽ:AÞ<BA9?JA=ֽRAÞ<٘i)I9A~@YG J<JJJJIE&K Y{^~?y<YWAHE89B)BE[[ @[#_~?[[[[[ZZZZBZYY i) JJJIE&Kx> Y^~?y8/WA#@HE77͌9)B[[}@[_~?[E[[[[ZZZZBZYY ibi) asַ&@A_~? AA^&"AA#wNA"AZAbAjArAzAAA[솟9@A~S sACm~@AA@#+=Az@AX̿AZ?Aē*Ag9?2Aֽ:A<BAg9?JAֽRA<٘i)I9m~@YG J:JJJJIE&K Yз^~?y4WAHEŧ7b7c9B)E[[P@[_~?[[[[[BZYY i2) VP5vJA\'@A2 '@A_~? ANA&"AAQ wNA"AZAbAjArAzAAAȆl9@A2rAU~@AAr=A @A`4 пA@ ?A~c(*A 9?2A&Rֽ:A0!=BA 9?JA&RֽRA0!=٘i)I9~@YG J%JJJJIE&K Y%^~?y,VAHE779)B[[ @[P^~?[銨[[[[BZYY i) 6:-&"AAvNA"AZAbAjArAzAAAoQ9@AہrA}@A2<AiS=A\G@A`^пA?A5d*A&9?2Aս:A! =BA&9?JAսRA! =٘i)I9}@YxG J[DJJJJIE&K YP^~?y(VAIEZ7Z7#9)B[[ @[^~?[[[[[BZYY i) A[&"AAvNA"AZAbAjArAzAAA:39@A~rAb}@A <Au=A*@AѿA@ ?Aň*Ad9?2Aս:A=BAd9?JAսRA=YK5?̠@yXp=u:<ٓH`6@? 7`g?^ʱ(??)K5? I٘i)I9b}@Y8G JCzJ=JJJIE&KCw> Y^~?y)VA@ IEj7j79B)BE[[ @[^~?[m{[[[[BZYY ig) :L @))G/>@G/>@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032942.623165 s, next control iter: 1743032942.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6441, header.stamp.nsec: 00 temperature: 13.383569* salinity: 33.391651, density: 1025.000000* values[0]: 0.710104F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032943.003165 s.u &I~,@4$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743032943.003300F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W)@Ah<)@AV_~? An٩A&"AA6vNA"AZAbAjArAzAAA"08@Ah-{rAre|@Aۊ;Af=A7 @AӿA@T?Aȡ*Aت9?2A@ֽ:A=BAت9?JA@ֽRA=٘i)I9e|@YG J8JJJJIE&K YFi^~?yfzjUAIE)7b79 B)&BE[[&@[^~?[l[[[[BZYY i)  ;IhD?iZ ?@))?@?@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032943.023165 s, next control iter: 1743032943.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032943.423165 s.u&I~,ۛ$AA(\)@A x)@AD_~? A ҩAcc&"AAvNA"AZAbAjArAzAAAA~8@Ao)rAR{@AiA=A @AqԿA[ ?Au*A^9?2A׽:A. =BA^9?JA׽RA. =٘i)I9{@YJG JpJJJJIE&K YZ^~?yr UAIE7{7x9)*B[[k@[b^~?[Ue[[[[BZYY i) E;I]D?iN) 9A@))9A@9A@y?% @y=>~ٓH g`2?/?'D?)>? I٘i)I9z@YG J[JA0<JJJIE&KHx> Y;^~?y#dETA% @$IEb79)6B[[@[h^~?[nW[[[[BZYY i) i~;IMID?is8 >D@))>D@>D@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032944.303165 s, next control iter: 1743032944.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 64432, header.stamp.nsec: 020 temperature: 13.3840822* salinity: 33.3916662, density: 1025.0000002* values[0]: 0.7078642F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032944.683165 s.l 'I~,^+$AJ"J*J2J:JBJnJvJAQ+@A9 *@A,x_~? AA" &"AAJvNA"AZAbAjArAzAAA.DW-f8@AMrrA2z@A?AД=A{@AgֿAvw?AIT*A9?2Arֽ:A<BA9?JArֽRA<٘i)I92z@YGG J[JJJJIE&K Y+^~?y ]SA)IE777789B)8@ARyprAy@A$w;A=A@A?׿A@;?A}*A9?2Ac[ֽ:AZ<BA9?JAc[ֽRAZ<٘i)I9y@YG JJJJJIE&K Y\^~?yUySA.IEj7j7η9)@B[[J@[q@^~?[(J[[[[BZYY i) S;I$7D?i #Eл @G@))@G@@G@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032945.123165 s, next control iter: 1743032945.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032945.523165 s.'I~, |a$AJ"J*J2J:J5?BJ5?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065791< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743032945.523325F (some fields omitted in printout)A(+@A+@A]_~? AA&"AAdvNA"AZAbAjArAzAAAwO88@AXӀjrAy@Au<AF݌=Ac@A ؿA@?A? *A9?2A<+ֽ:A<BA9?JA<+ֽRA<٘i)I9y@YG JJJJJIE&K Y ^~?yNSA4IEb77c9B)JBE[[@[+^~?[C[[[[BZYY i) a:I/D?ikb H@))H@H@8ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032945.543165 s, next control iter: 1743032945.923183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6444, header.stamp.nsec: 00 temperature: 13.384349* salinity: 33.391678, density: 1025.000000* values[0]: 0.706670F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032945.943165 s.Xd'I~,B]|$AAzG,@A'|-,@AO_~? A㧩A;&"AArOvNA"AZAbAjArAzAAAcY37@A1B)>rAx@A<A=AI@AoٿAR?A>*AJ9?2AEֽ:AMT<BAJ9?JAEֽRAMT<٘i)I9x@YCG JFJJJJIE&K Y]~?yGRA9IEb79)NB[[@[^~?[=[[[[BZYY i) XC9I'D?i} G))G=J@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032945.983165 s, next control iter: 1743032946.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032946.363165 s.%'I~,>$AJ"J*J2J:J4?BJ4?nJ=5vJA3333,@A%xC,@AA_~? A#A%&"AA":vNA"AZAbAjArAzAAAO-7@A ܡrAx@AA<A=At@A<ڿAz?A6*Af9?2Aֽ:A<BAf9?JAֽRA Y]~?yAATRA@>IE{7j79B)TBE[[@[ ^~?[7[[[[BZYY i) II,!D?i?i( dF))dFK@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032946.403165 s, next control iter: 1743032946.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6445", header.stamp.nsec: 0"0 temperature: 13.384607"* salinity: 33.391693", density: 1025.000000"* values[0]: 0.705538"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032946.783165 s.X+'I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065791< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032946.783290F (some fields omitted in printout)AQ-@A-@A2_~? A{A&"AA$$vNA"AZAbAjArAzAAAVD,7@A]}rA w@A^l+A! =A3@A^ ۿA-4?A9*A9?2A(׽:AKC<BA9?JA(׽RAKC<٘i)I9w@YG JKJJJJIE&K Y]~?y:QADIEŧ7b7#9)XB[[y@[]~?[1[[[[BZYY i) ID?i侉R lD))lDI7M@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032946.823165 s, next control iter: 1743032947.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032947.203165 s.3'I~,͜$AJ"J*J2J:JBJnJvJAףp=-@AiA'p-@A#_~? A쓩A*&"AAz vNA"AZAbAjArAzAAA f7@AErAw@A2[A6=AS@A ۿA?A6*A*9?2A]F׽:A<BA*9?JA]F׽RA<٘i)I9w@YbG J臼JJJJIE&K Y]~?y34QAIIE{7Z79B)]BE[[`@[]~?[,[[[[BZYY i) l@/ID?i!˾ lC))lCIJN@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032947.243165 s, next control iter: 1743032947.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032947.623165 s.`9'I~,$AA)\-@ApD-@A_~? AuAK&"AA'uNA"AZAbAjArAzAAAC67@AYirAҪv@ApÌA4=A1@AgܿA?A|*A9?2AD׽:A/3<BA9?JAD׽RA/3<٘i)I9v@Y!G JJJJJIE&K Y]~?y-FQAOIE77N9B)dBE[[H`@[P]~?[&[[[[BZYY is) mID?i˭t^ A))A,P@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032947.663165 s, next control iter: 1743032948.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6446 , header.stamp.nsec: 0 0 temperature: 13.384865 * salinity: 33.391697 , density: 1025.000000 * values[0]: 0.704543 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032948.043165 s.@'I~,$AJ"J*J2J:J\4?BJ\4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743032948.043291F (some fields omitted in printout)A{Ga.@Aۧ1G.@A_~? AA&&"AA/uNA"AZAbAjArAzAAAYIS 7@AC8:rA@v@ACA=A@AXݿAV?AE}*Ah9?2A׽:A<BAh9?JA׽RA<٘i)I9@v@YG J|JJJJIE&K Y]~?y&'PATIE{7j79)gB[[ @[]~?[P![[[[BZYY i) MI D?i 4 Qz@))Qz@dQ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032948.083165 s, next control iter: 1743032948.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032948.463165 s.TG'I~,ߤ$AA.@A.@A^~? AրA&"AAuNA"AZAbAjArAzAAA(6@A`grAu@A*A=At-@A޿A ?AT*A9?2Asֽ:AD<BA9?JAsֽRAD Y]~?yA!PA-@YIEb77y9B)lBE[[`A"@[T]~?[([[[[BZYY i) I D?iq~ ?))?"S@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032948.503165 s, next control iter: 1743032948.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6447, header.stamp.nsec: 00 temperature: 13.385079* salinity: 33.391712, density: 1025.000000* values[0]: 0.703652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032948.883165 s.yM'I~,'8$AJ"J*J2J:JBJnJvJAQ8/@AnB</@A^~? AzAI&"AAauNA"AZAbAjArAzAAAtJ 6@A 3rAyju@Ak/:<A G=An@A@6޿A?AB*A9?2ANֽ:A<BA9?JANֽRA<٘i)I9ju@Y^G J值JJJJIE&K Yo]~?y]@PA_IE79B)qBE[[j#@[x]~?[1[[[[BZYY i) 4ջI>D?iBOo =))= T@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032948.923165 s, next control iter: 1743032949.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032949.303165 s.VT'I~,wgS$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199292 time: 1743032949.303299F (some fields omitted in printout)Aq= ף/@A8en/@Ay^~? AtA&"AAuNA"AZAbAjArAzAAANl6@AjrAft@AM<Aӂ=Ar@A l߿A k?A~*A9?2Av<ֽ:A=BA9?JAv<ֽRA=٘i)I9t@YG J@JJJJIE&K YZ]~?yyOAdIE79)tB[[%@[a]~?[m[[[[BZYY i) bI\D?i6 y <))< V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032949.323165 s, next control iter: 1743032949.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6448*, header.stamp.nsec: 0*0 temperature: 13.385281** salinity: 33.391716*, density: 1025.000000** values[0]: 0.702774*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032949.723165 s. ['I~,Hn$AJ"J*J2J:J3?BJ3?nJ<5vJA(\0@AMG/@Aտ^~? AnA&"AA'xuNA"AZAbAjArAzAAAYD76@A@qTrA(t@AUc<A=A@AA`?Al*A|9?2Aavֽ:A=BA|9?JAavֽRA=٘i)I9t@YG JJJJJJE&K YE]~?yOAiIE77799B){BݹE[[Չ&@[BI]~?[ [[[[BZYY i) M% IPD?i !G H:))H:m~W@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032949.743165 s, next control iter: 1743032950.123191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743032950.143165 s.X/b'I~,*$AAGz0@A`0@Aέ^~? AhAz&"AA&]uNA"AZAbAjArAzAAA Û6@A (ơrAt@Ar];A=A`@A sA@$?ADR*A9?2Aֽ:Ar=BA9?JAֽRAr=٘i)I9t@YG JJJJJ JE&K Y0]~?y >OAoIE779)~B[['@[K1]~?[ [[[[BZYY i) I3D?io; {.9)){.9:X@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032950.163165 s, next control iter: 1743032950.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032950.563165 s.h'I~,A $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743032950.563262F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff0@AU0@Ae^~? A'cAl&"AAAuNA"AZAbAjArAzAAAy5@A2mIrA>s@A~Aw&=A @AAj?A*A9?2A<׽:A=BA9?JA<׽RA=Y*@O @y%=2ٓH@ 8[@$?`?[! 1P?)*@ I٘i)I9s@YOG JnJ,<JJJJE&KZx> Y"]~?y~NA @tIE{7j7d9!B)BڹE[[\)@[]~?[C[[[[BZYY i) es)ID?i=s9 n7))n7GcZ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032950.603165 s, next control iter: 1743032950.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6449, header.stamp.nsec: 00 temperature: 13.385492* salinity: 33.391743, density: 1025.000000* values[0]: 0.701842F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032950.983165 s.o'I~,쾝$AAQ1@A@71@A^~? A]AY&"AAd%uNA"AZAbAjArAzAAA2ԏ5@A8K~rA)As@A(A6=A "@A0 Ay?Aׂ*A9?2A^׽:A=BA9?JA^׽RA=٘i)I9As@Y G J߁JJJJJE&K YQ]~?yLNAyIEb779"B)B׹E[[}*@[)]~?[9[[[[BZYY i) 8ID?i=*W: JK6))JK6k[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032951.003165 s, next control iter: 1743032951.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032951.403165 s.&v'I~,ٝ$AJ"J*J2J:JBJnJvJA ףp1@ApW1@Auu^~? AXA&"AAuNA"AZAbAjArAzAAAxU5@Ac 뉗rAr@Ag{A+=A!^#@ArAk?AF6*A9?2A/׽:A=BA9?JA/׽RA=٘i)I9r@YG JㄼJJJJJE&K Y\~?y*NAIEj7Z79$B)BԹE[[+,@[l\~?[a[[[[BZYY i) HID?i >Wv: U4))U4`D]@ĪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743032951.423165 s, next control iter: 1743032951.803174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6450, header.stamp.nsec: 00 temperature: 13.385715* salinity: 33.391739, density: 1025.000000* values[0]: 0.700935F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032951.823165 s.|'I~,:$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743032951.823287F (some fields omitted in printout)A\(2@A`2@Aa^~? ARA/&"AAftNA"AZAbAjArAzAAAJ'5@AĬjFrA\r@AȻA =A$@AA ?A퐼*A9?2AGֽ:AK=BA9?JAGֽRAK=٘i)I9\r@YG JЋJJJJ JE&K Y\~?yMAIE)7)7$9)B[[[-@[\~?[[[[[BZYY ip)  XIz D?iN>RC; l3))l3 ^@oȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032951.843165 s, next control iter: 1743032952.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032952.243165 s.'I~,$AJ"J*J2J:JBJnJvJAGz2@A2dz2@AN^~? AMA&"AAtNA"AZAbAjArAzAAAQ@Nx4@AfD$rAq@AA;A=A4%@AkAv?A|*Aٿ9?2AWֽ:A& =BAٿ9?JAWֽRA& =٘i)I9q@Y5G J&JJJJ%JE&K Y\~?yrMAIE7{79'B)BйE[[.@[ŵ\~?[H[[[[BZYY i) gI9D?ih>p2; 1))1`@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032952.263165 s, next control iter: 1743032952.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032952.663165 s.'I~,q*$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6451, header.stamp.nsec: 00 temperature: 13.385951* salinity: 33.391743, density: 1025.000000* values[0]: 0.699973F (some fields omitted in printout)A3@A(2@A9^~? AlHA&"AAPtNA"AZAbAjArAzAAAoRM4@Aֱ[^rA[q@A$}<AO=A!'@A\A`A?Aٺ*A9?2Awֽ:A =BA9?JAwֽRA =Y-.@R4'@yAK=}<ٓH@-@fM?ʩ?`Ų0??)-.@ I٘i)I9[q@YG JΜJjz<JJJ*JE&Kw> Y~\~?yE MA4'@IE)7b7O9)B)B͹E[[S0@[s\~?[[[[[BZYY i) ؾvID?i>sHO; 0))00a@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032952.683165 s, next control iter: 1743032953.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032953.083165 s.D'I~, SE$AJ"J*J2J:J13?BJ13?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743032953.083285F (some fields omitted in printout)ARk3@Aw)uQ3@Ao%^~? AsCAR^&"AAtNA"AZAbAjArAzAAAD%c4@ArAp@A<AØ=A+n(@AA@2?A "*A̴9?2A3ֽ:AR=BA̴9?JA3ֽRAR=٘i)I9p@YG J`JJJJ0JE&K Y\~?yLA MDIE7779*B)BʹE[[j1@[\~?[[[[[BZYY i) ID?i%>yp; -(/))-(/b@ySҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032953.103165 s, next control iter: 1743032953.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032953.503165 s.'I~,@4`$AAp= 3@AoD3@A^~? A>A<&"AA:qtNA"AZAbAjArAzAAAI;$4@Aq'rA"Jp@A_<A{N=As)@A`A`?Ab*A9?2Aֽ:A{=BA9?JAֽRA{=٘i)I9Jp@Y?G JJJJJ5JE&K Yu\~?ybCLAIE77y9)B[[3@[i\~?[[[[[BZYY i) ID?i>; -))-ad@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032953.543165 s, next control iter: 1743032953.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6452, header.stamp.nsec: 00 temperature: 13.386210* salinity: 33.391758, density: 1025.000000* values[0]: 0.698892F (some fields omitted in printout)"u\~?)"b rAdjusting time to match Gazebo time: 1743032953.923165 s.8'I~,{$AJ"J*J2J:JBJnJvJA(\B4@AwNy(4@A{]~? A9A&"AAsQtNA"AZAbAjArAzAAANk3@AScrAo@Az\Ao=A"+@A7A`'?A%*A٪9?2A ׽:Av=BA٪9?JA ׽RAv=٘i)I9o@YG JJJJJ:JE&K  9Y\]\~? 9yݧKAIE)7ŧ79,B)BǹE[[p4@[BP\~?[.[[[[BZYY i) #IA$D?ip>; LU,))LU,ie@N٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032953.963165 s, next control iter: 1743032954.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743032954.343165 s.<'I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743032954.343315F (some fields omitted in printout)AHz4@A`[?4@A ]~? AV5A3v&"AA41tNA"AZAbAjArAzAAA'\y3@AJRrAz7o@AbA=A},@A}A #?A4*A@9?2A_S׽:A=BA@9?JA_S׽RA=I٘i)I97o@YG J}JJJJ@JE&K YD\~?y٧yKAIE779-B)BĹE[["5@[6\~?[[[[[BZYY i) uI,D?i8?; F*))F*o1g@kݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032954.383165 s, next control iter: 1743032954.743180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6453&, header.stamp.nsec: 0&0 temperature: 13.386464&* salinity: 33.391743&, density: 1025.000000&* values[0]: 0.697825&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032954.763165 s.6'I~,ذ$AJ"J*J2J:JBJnJvJA5@A|]4@AL]~? A0A+&"AAtNA"AZAbAjArAzAAA8a3@ArA n@AƊA/L=A4-@A AT?A٨*A9?2A~G׽:A=BA9?JA~G׽RA=Y@-@y#F=$9ٓHnڿ@w@4n? b#&?!X@{?)@ I٘i)I9n@YCG JJ<JJJEJE&KEx> YL+\~?yէ KA-@IE{7j79 9/B)BE[[&7@[\~?[;[[[[BZYY i) M Id4D?i?; ))))ԗh@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032954.803165 s, next control iter: 1743032955.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032955.183165 s.˲'I~,c˞$AAQ5@AX5k5@AF]~? A,Aq# &"AA[sNA"AZAbAjArAzAAA&=3@A}|rAIn@A6Ak=A/@A@A%?AL*A9?2Aֽ:Aَ=BA9?JAֽRAَ=٘i)I9n@YG J]JJJJKJE&K Y\~?y5ҧJAIEj7Z7 9)B[[~8@[Z\~?[[[[[BZYY i) I~=D?ic)?; o"())o"(Fi@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032955.223165 s, next control iter: 1743032955.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032955.603165 s.94'I~,$AJ"J*J2J:JY2?BJY2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032955.603287F (some fields omitted in printout)A= ף5@A5@A]~? Av(Av &"AAsNA"AZAbAjArAzAAAxߣ2@A| wzrAm@A!R:A/=AQ0@A @>A?A;ʻ*A|9?2Ahֽ:AX=BA|9?JAhֽRAX=٘i)I9m@YG JർJJJJPJE&K Y[~?yΧ/JAIE7777d91B)ůBE[[9@[[~?[[[[[BZYY i) 쯼IkGD?i8?|[;  &)) &ak@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032955.623165 s, next control iter: 1743032956.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6454 , header.stamp.nsec: 0 0 temperature: 13.386746 * salinity: 33.391754 , density: 1025.000000 * values[0]: 0.696685 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032956.023165 s.Z'I~,|$AA(\6@AsB6@Ak]~? As$A &"AAӫsNA"AZAbAjArAzAAA3@2@AxrAl@A4C<Ac=Ag1@AmyA?Agż*Az9?2A ֽ:Ac=BAz9?JA ֽRAc=٘i)I9l@Y+G J?JJJJUJE&K Y=[~?yʧIAIE{793B)˯BE[[/;@[[~?[!ߧ[[[[BZYY i) FSICRD?iI?< [%))[%l@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032956.043165 s, next control iter: 1743032956.423183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032956.443165 s.2'I~,)]$AJ"J*J2J:JBJnJvJAz6@A,6@Av]~? A A!&"AAxsNA"AZAbAjArAzAAAw}Q2@AuY9urA8l@A <A=A2@AA`;?A%˼*A9?2Aս:As=BA9?JAսRAs=٘i)I98l@YG JȼJJJJ[JE&K Y[~?yEǧRIAIE{7Z794B)үBE[[[<@[h[~?[vݧ[[[[BZYY i) I^D?is\?k < #))#%n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032956.463165 s, next control iter: 1743032956.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6455, header.stamp.nsec: 00 temperature: 13.387035* salinity: 33.391769, density: 1025.000000* values[0]: 0.695463F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032956.863165 s.+'I~,>7$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743032956.863302F (some fields omitted in printout)A333337@AP7@A_]~? AAR]!&"AAfsNA"AZAbAjArAzAAA1 2@Am`srAk@AY<A=A(4@A:A`7?Aͼ*A9?2A;ֽ:AW=BA9?JA;ֽRAW=Y]5&@;4@y=Z<ٓH@5 ԿEc?FNo? ֵ`8?i?)]5&@ I٘i)I9k@Y\G J̼JJ<JJEJ`JE&Kw> Yҩ[~?yuħHA;4@IEj7$95B)ٯBE[[U=@[z[~?[ۧ[[[[BZYY i) tżIjD?ibh?< "))"o@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032956.883165 s, next control iter: 1743032957.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032957.283165 s.7R'I~,R$AJ"J*J2J:J1?BJ1?nJ:5vJAQ7@AP7@ABH]~? AEAƤ!&"AACsNA"AZAbAjArAzAAAYM1@Aْ1qrAj@A%%;A=A҅5@A@!A Y?A8`˼*A9?2Aֽ:AT=BA9?JAֽRAT=٘i)I9j@YG J̼JJJJeJE&K Y[~?ygHAIEZ7SI796B)߯BE[[+?@[[~?[ڧ[[[[BZYY i) K=ͼIwD?iv?}< +9!))+9!p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032957.303165 s, next control iter: 1743032957.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6456., header.stamp.nsec: 0.0 temperature: 13.387359.* salinity: 33.391766., density: 1025.000000.* values[0]: 0.694126.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032957.703165 s.Ժ'I~,m$AAףp= 8@A-7@A0]~? AAO!&"AA( sNA"AZAbAjArAzAAA v:}1@A]|orA6j@AKA|m=A6@AuVA`x?Aȼ*A͎9?2A!׽:Auf=BA͎9?JA!׽RAuf=٘i)I96j@YG JdʼJJJJkJE&K Y[t[~?yվGAIE77O#9)B[[|@@[h[~?[o٧[[[[BZYY i) ԼID?iÂ?`'< K))KjEr@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032957.723165 s, next control iter: 1743032958.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743032958.123165 s.J "J *J 2J :J 1?BJ 1?nJ ':5vJ 6'I~,X⇟$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743032958.123281F (some fields omitted in printout)A)\u8@A0du[8@A]~? AA*"&"AAWrNA"AZAbAjArAzAAAV851@AZ۶mrAi@AAO=A;8@AaA ?Aȼ*A9?2AUA׽:A=BA9?JAUA׽RA=٘i)I9i@Y%G JȼJJJJpJE&K YY[~?y|GAIEŧ7b7&98B)BE[[5A@[=O[~?[pا[[[[BZYY i) ۼID?iX?+]2< |))|ʢs@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032958.143165 s, next control iter: 1743032958.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032958.543165 s.I'I~,â$AA{G8@A\58@A]~? ApAi"&"AA3rNA"AZAbAjArAzAAA{0@Ao1krALh@A-atA-?=A9@A`TA`?A̼*A19?2A׽:A<.=BA19?JA׽RA<.=٘i)I9h@Y G JɼJJJJvJE&K Y>[~?y5GAIE7S7z*99B)BE[[C@[5[~?[ק[[[[BZYY i) EID?iȔ?q><  )) t@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032958.563165 s, next control iter: 1743032958.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6457, header.stamp.nsec: 00 temperature: 13.387689* salinity: 33.391758, density: 1025.000000* values[0]: 0.692829F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032958.963165 s.J "J *J 2J :J ]1?w'I~BJ]1?nJ95vJ,줽$AAL9@Am½29@A\~? Aw A1"&"AArNA"AZAbAjArAzAAAbl7T0@A{Y`irA7h@A,A=A:@AA ?AH"м*A9?2Ayֽ:A, =BA9?JAyֽRA, =Y,@:@y=P6ٓH&EW̿`6(J?4?hvo?),@ I٘i)I97h@YU G JiͼJA;JJJ{JE&Kw> Yd#[~?yAFA:@IEb7b7.9)BE[[fD@[[~?[֧[[[[BZYY i) 5ID?i˚?"F< ))Zv@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032959.003165 s, next control iter: 1743032959.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743032959.383165 s.'I~,{؟$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092739< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743032959.383326F (some fields omitted in printout)AQ9@A;9@A\~? A A"&"AArNA"AZAbAjArAzAAAwTY0@AYgrA|g@A:;AcE=A<@A: A?A!׼*A9?2Aֽ:Ad=BA9?JAֽRAd=٘i)I9g@Y G JӼJJJJJE&K Y[~?yNFAIE7719:B)BE[[ܳE@[Q[~?[q֧[[[[ZZ¸BZYY i¸ =) /޼ID?i?N< 1k))1kw@y۽ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032959.423165 s, next control iter: 1743032959.783191 s, wait time: 0.360026 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6458", header.stamp.nsec: 0"0 temperature: 13.388011"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.691491"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032959.803165 s.xA'I~,g$AJ"J*J2J:JBJnJvJAq= #:@A :@A\~? AA#&"AAjrNA"AZAbAjArAzAAA30@A:VfrAzf@A<A=AA=@A@I3A?A,ݼ*A'y9?2AUս:A4!=BA'y9?JAUսRA4!=٘i)I9f@Yy G JټJJJJJE&K YeZ~?y[EAIE{7{7:59;B)BE[[F@[Z~?[֧[[[[ZZBZYY i) O,ҼID?ic?X< ))y@yѽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032959.843165 s, next control iter: 1743032960.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032960.223165 s.g(I~,H$AA(\:@AXCu:@AT\~? AuA{F#&"AADrNA"AZAbAjArAzAAAyƈ/@A8}drAf@A=e<A=A>@A`EVAI?A*A9?2ALս:A=BA9?JALսRA=٘i)I9f@Y G JJJJJJE&K YZ~?yg%EAIE89) B[[`GH@[wZ~?[է[[[[ZZBZYY i) H'ƼI?D?i?%c< z))z;fz@y3=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032960.243165 s, next control iter: 1743032960.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032960.643165 s.w (I~, *)$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743032960.643290F (some fields omitted in printout)J"J*J2J:JBJnJvJAG:@A&:@A\~? AA1v#&"AABrNA"AZAbAjArAzAAAN;.@A0 crA[ e@A<AΚ=A?@A yAt?A*A9?2A0Iֽ:Aس<BA9?JA0IֽRAس<٘i)I9 e@Ys G JEJJJJJE&K YdZ~?ytDAIEj7Z7e<9=B)BE[[I@[VZ~?[է[[[[ZZBZYY i) Z!IfE?i`?Jo< b))b{@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6459, header.stamp.nsec: 00 temperature: 13.388343* salinity: 33.391758, density: 1025.000000* values[0]: 0.690039F (some fields omitted in printout)ys=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032960.683165 s, next control iter: 1743032961.043176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032961.063165 s.(I~,c D$AAfffff;@AXPL;@Am\~? AAբ#&"AAqNA"AZAbAjArAzAAAmZ.@A[ darAHd@AnėA%z=A@A@A@qA`?A0*Aß9?2ATֽ:ARn<BAß9?JATֽRARn YVZ~?y`YDA;A@IE777?9>B)BE[[(J@[Z~?[ ֧[[[[ZZBZYY i) ׮I1E?i^?w<  )) }@5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032961.103165 s, next control iter: 1743032961.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743032961.483165 s.t_(I~,^$AJ"J*J2J:Jo0?BJo0?nJ95vJA;@Ar ۷;@AhT\~? AAc#&"AAqNA"AZAbAjArAzAAADu-@A,[v`rA4c@AtwAI6=AXB@AA@?A̼*Af9?2Arֽ:ATY;BAf9?JArֽRATY;٘i)I9c@Y{ G JJJJJJE&K YI}Z~?yMDAIE)7b7C9?B)#BE[[1L@[Z~?[Z֧[[[[ZZBZYY i) 茣I*E?i6?"< ))(c~@PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032961.523165 s, next control iter: 1743032961.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6460, header.stamp.nsec: 00 temperature: 13.388759* salinity: 33.391754, density: 1025.000000* values[0]: 0.688395F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032961.903165 s.(I~,y$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743032961.903314F (some fields omitted in printout)A ףp=<@AD+g#<@A&;\~? AA#&"AAgqNA"AZAbAjArAzAAAmsQ)-@A+P_rAb@AaA<AzC@AYA?AV*AN9?2A rֽ:A|BAN9?JA rֽRA|٘i)I9b@Y G JB=JJJJJE&K Y9aZ~?y:CAJEb77%G9)(BE[["eM@[|jZ~?[֧[[[[ZZBZYY i) $AIAE?i?6< v))v@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032961.943165 s, next control iter: 1743032962.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032962.323165 s.x$(I~,-$AJ"J*J2J:J 0?BJ 0?nJ85vJA\<@AnK<@A!\~? A@A1$&"AA qNA"AZAbAjArAzAAARm,@A4B^rAPjb@AC?A'x9<A)E@A@A@. ?AO0*A9?2Amֽ:ABA9?JAmֽRA٘i)I9jb@Y G JC=JJJJJE&K Y0EZ~?y']CA JE7777J9@B)-BE[[DN@[QZ~?[hק[[[[ZZBZYY i) IVXE?il?< {3)){3v@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032962.343165 s, next control iter: 1743032962.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6461*, header.stamp.nsec: 0*0 temperature: 13.389045** salinity: 33.391766*, density: 1025.000000** values[0]: 0.687164*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032962.743165 s.W+(I~,m$AAGz=@Ac<@AH\~? AAf6$&"AA~`qNA"AZAbAjArAzAAAy+@AvN]rA-b@A9AyAvF@A A@e+?A@*AP9?2Aֽ:AsBAP9?JAֽRAs٘i)I9b@Y G JiJJJJJE&K Y$)Z~?y CAJE77ON9AB)0BE[[O@[9Z~?['ا[[[[ZZBZYY i) 鯁IpE?i?e~< ))e@S(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032962.763165 s, next control iter: 1743032963.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032963.163165 s.v}2(I~,qʠ$AJ"J*J2J:J/?BJ/?nJX85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743032963.163294F (some fields omitted in printout)A=@Ae=@A[~? AJAqS$&"AA9qNA"AZAbAjArAzAAAϬY+@A('YFt\rAa@A=E<AHHAJG@A`"An?A*Aw9?2Ahֽ:AݻBAw9?JAhֽRAݻYp9@G@ykEFE<ٓH`L5?*Ӕ?އ?bH?? ?)p9@ I٘i)I9a@Yg G J_#JBJJJJE&Kx> Y Z~?y橧#CAG@JE77Q9)3BE[[-Q@[ Z~?[٧[[[[ZZBZYY in=) 1qIE?i?B< ))Ҹ@)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032963.183165 s, next control iter: 1743032963.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032963.583165 s.8(I~,S$AAR=@A nl=@A[~? A AOm$&"AAqNA"AZAbAjArAzAAA, *@Ax[rAXa@A'V<AA3 IA6Aĺ?Az@*Ad9?2Aֽ:AmYȼBAd9?JAֽRAmYȼ٘i)I9a@YO G JJJJJJE&K YY~?y@A8, <>@A@[~? AA$&"AApNA"AZAbAjArAzAAAlĐ!*@A޷IC [rAa@ABQ<A 42AiGAFA6?A ';*AN9?2Aֽ:ABAN9?JAֽRA⼙٘i)I9a@YM G JB=JJJJJE&K Y9Y~?yVCA JE7Y9BB)5BE[[fS@[Y~?[Sۧ[[[[BZYY i) LIE?i?f< Y* ))Y* @+o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032964.023165 s, next control iter: 1743032964.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032964.423165 s.uF(I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068947< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743032964.423293F (some fields omitted in printout)A(\>@Akz>@Am[~? AA$&"AApNA"AZAbAjArAzAAAHJ!q+)@A2|ZrAta@A3:AWAzFA UTA@D?A^;*A9?2Ay=ֽ:ABA9?JAy=ֽRA٘i)I9a@Y` G J;C=JJJJJE&K YY~?y\pCA%JE7\9)4BE[[T@[Y~?[ܧ[[[[BZYY i) x:IE?iQ?â<  )) ޙ@y[=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032964.443165 s, next control iter: 1743032964.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6463", header.stamp.nsec: 0"0 temperature: 13.389294"* salinity: 33.391773", density: 1025.000000"* values[0]: 0.686339"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032964.843165 s.J "J *J 2J :J /?BJ /?nJ <85vJ RL(I~,b5$AAHz.?@A)?@A[~? APA$&"AApNA"AZAbAjArAzAAA u?(@A!MZrA0a@A>,ApvA9EA_A@7?Am7<*AF9?2Aս:Ab BAF9?JAսRAb ٘i)I9a@Y G J<JJJJJE&K YY~?y.CA*JE7{7:`9CB)3BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #31q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) Lx()*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032964.883165 s, next control iter: 1743032965.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032965.263165 s.T(I~,P$AA?@A£?@Am[~? AAG$&"AAsvpNA"AZAbAjArAzAAA K(@A˦ĪYrANb@A㽍A'ACAzhA?A.m<*Aw9?2Agս:A'-BAw9?JAgսRA'-Y7@@Cyr" ٓHkf? >.?@`z +??)7@@ I٘i)I9Nb@Y G JQ<JJJJJE&Kv> YtY~?y䩧CAC0JE{7c9)1BE[[mjW@[Y~?[ߧ[[[[BZYY iwd=) ]IE?i@}O< Qq)) Qq2ׄ@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032965.283165 s, next control iter: 1743032965.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 64642, header.stamp.nsec: 020 temperature: 13.3892142* salinity: 33.3917542, density: 1025.0000002* values[0]: 0.6867972F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032965.683165 s.lZ(I~,Zk$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743032965.683272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@@Af?@AS[~? AVA$&"AAOpNA"AZAbAjArAzAAA0p'@AgnYrAb@AKoAVA6CAADZ?A<*A`:?2A:ABA`:?JARA٘i)I9b@Y G J3<JJJJJE&K YMcY~?y@DA5JEZ7SI7eg9).B|E[[SX@[Y~?[[[[[BZYY i) N IF?i @< p))k4u@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032965.683165 s, next control iter: 1743032966.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743032966.103165 s.a(I~,$AA= ףp@@AiV@@A9[~? AA$&"AA'pNA"AZAbAjArAzAAAh.sw'@A#JYrA5c@AKA zA/BA@]A?A<*Axp:?2ADý:ABAxp:?JADýRA٘i)I95c@YH G J<JJJJJE&K Y$GY~?yQDA;JEZ7j9DB)*ByE[[]$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743032966.943292F (some fields omitted in printout)AzGA@A($-A@Ak[~? AA$&"AAoNA"AZAbAjArAzAAAd23%@A85YrAEd@A <AuA&?AcA'ezA<*A:?2A!Ƚ:ApLBA:?JA!ȽRApL٘i)I9Ed@Y G J<C=JJJJJE&K YY~?yPEAEJEZ7Z7%r9)"BsE[[CQ\@[hIY~?[[[[[BZYY iE=) IqF?i!@[+< {)){J@~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032966.963165 s, next control iter: 1743032967.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032967.363165 s.u(I~,>ס$AJ"J*J2J:JBJnJvJA3333A@A5!A@ATZ~? AA$&"AA oNA"AZAbAjArAzAAA 5%@ApKYrAd@A1{<AA>A A@ޓA;<*Aދ:?2A˽:AB1BAދ:?JA˽RAB1YZE@>yv}|<ٓH@෯?L?3|ĿT?R/?x??)ZE@ I٘i)I9d@YD G JM<J JJJJE&KC> YX~?y'EA>KJE777u9)B[[]@[q2Y~?[[[[[BZYY i) zIF?iR@i@< Q))Q@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032967.383165 s, next control iter: 1743032967.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6466&, header.stamp.nsec: 0&0 temperature: 13.388847&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.688650&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032967.783165 s.Z{(I~,$AAQB@AhB@A?Z~? AeA+$&"AAoNA"AZAbAjArAzAAA;yږ$@AwYrAKde@A:;AؗAl=AAUԠAܬ<*AO:?2Aͽ:AKBAO:?JAͽRAK٘i)I9de@Y G J<JJJJJE&K YX~?yFAPJE77Py9)BpE[[^@[Y~?[Q[[[[BZYY i) qIMF?i@ < ?))?;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032967.803165 s, next control iter: 1743032968.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743032968.203165 s.(I~,  $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065243< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032968.203275F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=B@A?p'pB@A/Z~? AAt$&"AAaoNA"AZAbAjArAzAAA6];#@AVvYrAve@AbAdA*<AeA觿A4<*A:?2AϽ:ABA:?JAϽRA٘i)I9e@Y G J<JJJJJE&K Y7X~?yFAUJEj7j7|9)BnE[[_@[fY~?[[[[[BZYY i) ,5IF?i @< ))u@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032968.223165 s, next control iter: 1743032968.603175 s, wait time: 0.380010 s*7X~?)* rAdjusting time to match Gazebo time: 1743032968.623165 s.V(I~,X'$AA)\B@AmB@A&Z~? AjA$&"AA~:oNA"AZAbAjArAzAAAV@Z#@A%GZrAωf@AsAA:ANyA@G'A<*A:?2A0ѽ:ABA:?JA0ѽRA٘i)I9f@YO G Jb<JJJJJE&K YXX~?ydFA[JE7777{9)BkE[[4'a@[YX~?[~[[[[BZYY i) IpF?iI%@ʐ< i))i@yː=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032968.643165 s, next control iter: 1743032969.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6467 , header.stamp.nsec: 0 0 temperature: 13.388652 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.689708 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032969.043165 s.(I~,B$AJ"J*J2J:JBJnJvJA{GaC@A&L1GC@A(Z~? A)A$&"AAoNA"AZAbAjArAzAAA.rU"@AMZrAg@AAJ Ax9AnAJGAL<*A}:?2Aɹҽ:AmBA}:?JAɹҽRAm٘i)I9g@Y G J<JJJJJE&K Y|X~?yγTGA`JE779) BhE[[Vb@[X~?[>[[[[BZYY i) qIG?i*@Ь<  )) kM@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032969.063165 s, next control iter: 1743032969.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032969.463165 s.e(I~,']$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065243< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743032969.463311F (some fields omitted in printout)AC@AFC@A7iZ~? AA$&"AAnNA"AZAbAjArAzAAA0. "@AQ_9[rAmg@AEA\AD18A9aA@ A΢<*Ay:?2A1Խ:ABAy:?JA1ԽRAYK@&8yeٓH`?כ?@п@C?`+? A?)K@ I٘i)I9g@Y G J<Jp<JJJKE&K.{> Y7hX~?yGA&8eJEj7j79)BeE[[uc@[X~?['[[[[BZYY i) 7I9DG?i-@‚< ))6@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032969.483165 s, next control iter: 1743032969.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6468, header.stamp.nsec: 00 temperature: 13.388428* salinity: 33.391743, density: 1025.000000* values[0]: 0.690817F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032969.883165 s.y(I~,))> @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032969.903165 s, next control iter: 1743032970.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743032970.303165 s.\(I~,g$AAq= ףD@A{-轉D@A5Z~? A^Ao$&"AACnNA"AZAbAjArAzAAAaڗݨ @A\rAĪh@AL[<AA4q5A>A`Ap<*AIq:?2ASֽ:ABAIq:?JASֽRA𼙘٘i)I9h@Y G J<JJJJ KE&K Y1X~?ypHApJEj7j7Ў9)B[[0e@[X~?[L[[[[BZYY i) 77:IG?i<4@< ))@~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032970.323165 s, next control iter: 1743032970.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6469*, header.stamp.nsec: 0*0 temperature: 13.388237** salinity: 33.391708*, density: 1025.000000** values[0]: 0.691779*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032970.723165 s.(I~,H$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065243< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743032970.723287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\E@AjGD@AZ~? AAU$&"AA8vnNA"AZAbAjArAzAAAZUJ @Ab[]rA!i@A;<A"A4A@l(Ap>Ař<*ADm:?2AVֽ:ABADm:?JAVֽRA٘i)I9!i@Y G J<JJJJKE&K YjX~?yHAvJEb77f9)B_E[[g@[@X~?[[[[[BZYY i) V:;IG?ii8@ < _))_@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032970.763165 s, next control iter: 1743032971.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032971.143165 s.Z/(I~,*ɢ$AAGzE@A!`E@A4Z~? ASA69$&"AAQOnNA"AZAbAjArAzAAAVc^@A+O^rAi@Aj7<<A_A2AoA@ÿAA<*ACi:?2Aֽ:ABACi:?JAֽRA9٘i)I9i@Y*G J<JJJJKE&K Y&W~?yN-IA{JEŧ7b79)B\E[[Eh@[oX~?[[[[[BZYY i)  x;I8G?i<@< O,))O,←D@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743032971.163165 s, next control iter: 1743032971.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743032971.563165 s.(I~,[ $AJ"J*J2J:J71?BJ71?nJ95vJAffffE@Aw;SE@AY~? A AT$&"AA(nNA"AZAbAjArAzAAA>@|)@A\_rA j@Aᣙ8ApAg1A`-AĿAR&<*APe:?2Aֽ:ABAPe:?JAֽRAYR@{1ypD8ٓH W?ݮ?ֿN`֗?@#? |4?`?)R@ I٘i)I9 j@YrG J<J"<JJJKE&K{> YW~?yx§IA1JE)79)BYE[[ti@[.[X~?[P[[[[BZYY iV=) V;Iv H?i?@p< ))쿩S܍@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032971.603165 s, next control iter: 1743032971.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6470, header.stamp.nsec: 00 temperature: 13.388087* salinity: 33.391705, density: 1025.000000* values[0]: 0.692683F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032971.983165 s.(I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743032971.983288F (some fields omitted in printout)AQF@Aa7F@ANY~? AAW#&"AAnNA"AZAbAjArAzAAA}Z@A$֪`rAJj@A+/:AdAqH0AAoƿAHD<*Aa:?2AËֽ:ABAa:?JAËֽRA٘i)I9j@YG J <JJJJ"KE&K YhW~?yŧIAJE{7{7&9)BVE[[3j@[FX~?[ [[[[BZYY i) ߥ;I^4H?iB@|< s))s꿩s@$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032972.003165 s, next control iter: 1743032972.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032972.403165 s.&(I~,$AJ"J*J2J:JBJnJvJA ףpF@AXF@A Y~? AAA#&"AAmNA"AZAbAjArAzAAA@@A(gSarAaj@A1AA?.ADA`FȿA~-<*AY:?2A"ֽ:A1BAY:?JA"ֽRA1٘i)I9j@YG Jҍ<JJJJ'KE&K Y W~?yȧ8JAJESI7SI791B)ٯBSE[[k@[ 3X~?[[[[[BZYY i) n;I_H?ivF@y< ))迩@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032972.423165 s, next control iter: 1743032972.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6471", header.stamp.nsec: 0"0 temperature: 13.387898"* salinity: 33.391697", density: 1025.000000"* values[0]: 0.693584"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032972.823165 s.(I~,24$AA\(G@A=bG@AY~? A(A#&"AAlmNA"AZAbAjArAzAAA<@A elevatorAngleAction: 0.076337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743032973.243285F (some fields omitted in printout)AGzG@AezG@AY~? AAz#&"AAvmNA"AZAbAjArAzAAA =c@A" 8drA elevatorAngleAction: 0.076337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743032974.503293F (some fields omitted in printout)Ap= H@AvH@A:Y~? A A3"&"AAmNA"AZAbAjArAzAAA2 @AvkirAZ%m@As<A!A Q(A/ANпAɅ<*A1:?2A׽:A!BA1:?JA׽RA!٘i)I9%m@YUG Jo<JJJJBKE&K Y2(W~?yاKAJE77779)ȯBHE[[dq@[W~?["[[[[BZYY i) B;;#@A9=krAØm@A˹;ApA 'AsAѿA<*A +:?2ALF׽:AutBA +:?JALF׽RAut٘i)I9m@YG Jf<JJJJGKE&K Y W~?yۧMLAJE;9)įBEE[[r@[=W~?[7&[[[[BZYY i) iJ elevatorAngleAction: 0.076337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743032975.763292F (some fields omitted in printout)J"J*J2J:JBJnJvJAJ@AQ%I@AX~? AA0"&"AALlNA"AZAbAjArAzAAAswy@Ab3(orAїn@Ao{AA/$AfAOӿAݠ<*A :?2Aֽ:A,^BA :?JAֽRA,^Y͡_@w$yE {ٓH`H?s߱?E!8L??`}`?)͡_@ I٘i)I9n@Y6G J{<B=JJJJRKE&K > YV~?y MAw$JEŧ7f90B)BBE[[t@[_W~?[.[[[[BZYY i) i elevatorAngleAction: 0.085085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743032977.023296F (some fields omitted in printout)A(\K@AHzBK@AګX~? A Ac!&"AAsFlNA"AZAbAjArAzAAA'N@Af urA?6p@Ap;A㹚Ae A@oA1ֿAK<*A:?2A׽:AU BA:?JA׽RAU ٘i)I96p@Y3G J<JJJJbKE&K YxV~?y9NAJE7S7&9)B=E[[Jx@[mW~?[o<[[[[BZYY i) ew$AA33333L@AI.!L@A\~X~? A(A &"AAlNA"AZAbAjArAzAAA'Wi @A)bIzrAEq@A=<A6AAFA׿A<*A9?2A׽:ABA9?JA׽RAYU)f@>y51I<ٓH@V?[? 'az?? ? ?)U)f@ I٘i)I9Eq@YG J<B=JF0JJJmKE&Kx> YfV~?yB OAJEb7b7Q9/B)B7E[[z@[;MW~?[E[[[[BZYY i) E elevatorAngleAction: 0.085085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743032978.283274F (some fields omitted in printout)J"J*J2J:JBJnJvJAQL@AHL@AhX~? A,A| &"AAkNA"AZAbAjArAzAAA@AX}rAq@Ae/<AAAA A ؿApթ<*A9?2AR׽:AnjBA9?JAR׽RAnj٘i)I9q@Y,G J<C=JJJJrKE&K YPV~?ysOAJE7779)B[[{@[v=W~?[J[[[[BZYY i) /OAJEj7Z7|9)B4E[[|@[.W~?[O[[[[BZYY i) ٧ elevatorAngleAction: 0.085085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743032979.543274F (some fields omitted in printout)A{GM@A'L5M@A&X~? A:Am}&"AAO{kNA"AZAbAjArAzAAA,H2@Ae0rAĞs@A"AG[AWAT=AڿAQ<*A9?2A\ֽ:ABA9?JA\ֽRA٘i)I9s@YFG JJ<JJJJKE&K YlV~?y:PAJE779)B.E[[@[9W~?[Y[[[[BZYY i) )I~,$AJ"J*J2J:JBJnJvJALN@AC2N@AX~? A>A#&"AAZkNA"AZAbAjArAzAAA!Z4^?ArA_Dt@A^RAh9A|ABA@ۿA0<*A9?2Aֽ:ABA9?JAֽRAYl@jy5޴SٓH``Ta? C?S F b?9?|^_?)l@ I٘i)I9Dt@YG J<B=JwJJJKE&KWx> YFU~?yc(QAjJE777<9)B[[@[W~?[_[[[[BZYY i)  elevatorAngleAction: 0.085085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743032980.803279F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #O@AX O@A$W~? AHATf&"AAkNA"AZAbAjArAzAAASq?A rAu@A<AAA9]A`IݿAa<*A9?2A~׽:ABA9?JA~׽RA٘i)I9u@YuG JN<JJJJKE&K YU~?y$RAJE7g9)B[[-@[V~?[i[[[[BZYY i) gyO@AW~? ARAf&"AAjNA"AZAbAjArAzAAAv%0(?AdYrAnv@AIjm<AAA`XA޿A<*A9?2AzW׽:AoBA9?JAzW׽RAo٘i)I9v@Y@G J<JJJJKE&K YU~?y1RAKE9)wB&E[[RH@[V~?[Ot[[[[BZYY i)  elevatorAngleAction: 0.085085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743032982.063285F (some fields omitted in printout)AfffffP@A RLP@AW~? A3XAA8&"AAjNA"AZAbAjArAzAAA(&}?AXRrAŋw@A^;APAAzmA#w߿A<*A,9?2Aֽ:ABA,9?JAֽRAYz3s@y;ٓH^@K? ݪ? -pw)??Kt? ?)z3s@ I٘i)I9w@YG JY<J'!JJJKE&KQx> YU~?y7oSAKE'9)rB[[-ւ@[V~?[y[[[[BZYY i) =SA KEb779)lB#E[[c@[fV~?[`[[[[ZZZZ¸>BZYY i¸>֩) f4tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6481, header.stamp.nsec: 00 temperature: 13.385728* salinity: 33.391552, density: 1025.000000* values[0]: 0.704462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032982.903165 s.m)I~,͹$AA ףp=Q@AD5%Y#Q@AW~? AAcAb&"AAjNA"AZAbAjArAzAAA);?AY\rA"x@A#AgtAaAkA 0jA+<*A?9?2AR$ֽ:AjBA?9?JAR$ֽRAj٘i)I9x@YG J<JJJJKE&K YsU~?yPEbTAKEŧ7b7Q9)fB[[@[&V~?[[[[[ZZZZBZYY i) h+@?'K?Mt? ?).y@ I٘i)I9{@YG J<J~=JJJKE&Kw> Y?U~?y(ZUAf !KE{7{79)QB[[@[dV~?["[[[[ZZZZBZYY i) Fۨ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743032985.843289F (some fields omitted in printout)AHz.T@ABT@AW~? A~A>2&"AApiNA"AZAbAjArAzAAA9ԫA£%rAH}@APJWA;A*A`ܿAAB7<*Aa9?2Aֽ:A<BAa9?JAֽRA<I٘i)I9}@YhG J`<JJJJKE&K YU~?yiwVA7KE77{7g9+B)>BE[[LJ@[XV~?[ŭ[[[[ZZZZBZYY i) wJJJKE&Kx> YtT~?y4VAA4ڿA zAxR*AE9?2Aֽ:A"q<BAE9?JAֽRA"q<٘i)I9~@YG J-JJJJKE&K YT~?yǎVAGKEZ7Z7'9)[[ll@[= ח))ח@y,YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032987.563165 s, next control iter: 1743032987.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6486, header.stamp.nsec: 00 temperature: 13.384600* salinity: 33.391483, density: 1025.000000* values[0]: 0.709994F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032987.943165 s.ed)I~,y]$AAzGV@Aؖ-V@AEV~? AA&"AA[iNA"AZAbAjArAzAAAڗHHA|prA'}@A/<A 9|=AsA ؿAiAeA*A9?2Aֽ:AS =BA9?JAֽRAS =٘i)I9}@YeG JcJJJJKE&K Y4T~?y[\VAQKER%9)$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743032988.363283F (some fields omitted in printout)A3333V@AWV@AֶV~? AA'&"AA.GiNA"AZAbAjArAzAAAbi)A/T3rA_Q}@AOċ<Ab=AA )׿A:Av*A9?2A;ս:AT=BA9?JA;սRAT=Y5\@Sy?=H<ٓH`,ؿ?j%`KؿӁ W1`Rx?`O?)5\@ I٘i)I9Q}@Y-G JZJ=JJJKE&K$w> YT~?yVAWKEb77(9)?B[[@[$V~?[Ҩ[[[[BZYY if)  wA?vrA.z@AځA`=AmAӿANYAΘ*A9?2A'׽:At=BA9?JA'׽RAt=Y枆@yi=8ٓH`ҿ)?@lx2`ҿ"9@*;?)枆@ I٘i)I9z@YG J屮JJ<JJJLE&K]x> YT~?yϨ&TArKEZ7SI7:9)RB[[ƍ@[V~?[X[[[[BZYY i) ;IiD@B= ))@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032990.483165 s, next control iter: 1743032990.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6489, header.stamp.nsec: 00 temperature: 13.385108* salinity: 33.391457, density: 1025.000000* values[0]: 0.707953F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032990.883165 s.y)I~,D$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065588< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743032990.883297F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8Y@AoB@Y@A pV~? AA&"AAhNA"AZAbAjArAzAAAOS1ABU2rAH6z@AesA=A A 7ҿAA*A9?2Aֽ:A.=BA9?JAֽRA.=٘i)I96z@YIG JMJJJJLE&K YxT~?yبSAwKEb77h>9)VBE[[P@[U~?[[[[[BZYY i) +F;Iig@C= s))sr@FѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032990.923165 s, next control iter: 1743032991.283182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743032991.303165 s.T)I~,ogӧ$AAq= ףY@A0,Y@AeV~? AAA\Q&"AAhNA"AZAbAjArAzAAAvrA,rAy@A;Ar=AvA`ѿAA9*A^9?2Ajgֽ:Avc=BA^9?JAjgֽRAvc=٘i)I9y@YG JJJJJLE&K YpT~?ysXSA|KEA9)[B[[ێ@[U~?[<[[[[BZYY i) D ;Ii@|C= {H)){H@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032991.323165 s, next control iter: 1743032991.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6490., header.stamp.nsec: 0.0 temperature: 13.385336.* salinity: 33.391422., density: 1025.000000.* values[0]: 0.706986.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032991.723165 s.)I~,H$AJ"J*J2J:JBJnJvJA(\Z@AUEY@AJ\V~? AA}&"AAӺhNA"AZAbAjArAzAAA A& rAjy@A2q<An͒=AAпA@A%*Ao9?2A61ֽ:A=BAo9?JA61ֽRA=٘i)I9y@YG JaJJJJLE&K YhT~?yRAKE77E9'B)^B E[[\f@[U~?[[[[[BZYY i) ɢ:Ii9@ D= ))W@yuGJʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032991.763165 s, next control iter: 1743032992.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743032992.143165 s.\/*I~, * $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065588< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743032992.143300F (some fields omitted in printout)AGzZ@AF`Z@A#SV~? ARAo,&"AAhNA"AZAbAjArAzAAAxNt AÂqkrAx@A*N<A=ApA пAAG*AU9?2AdHֽ:Ar=BAU9?JAdHֽRAr=٘i)I9x@Y?G J}JJJJ$LE&K Y`T~?yWRAKE{7{7(I9)cBE[[@[U~?[5 [[[[BZYY i) J 9Ii@E= 5))5@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032992.163165 s, next control iter: 1743032992.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743032992.563165 s.*I~,R $$AJ"J*J2J:JBJnJvJAffffZ@AMSZ@A{JV~? AA<&"AAhNA"AZAbAjArAzAAA<ϖ\m AԴerAw@Ay<AȠ=AAHοA H;At*A9?2A%ֽ:Ar<BA9?JA%ֽRAr Y[T~?y+RA࿑ ODKE7777L9)gB[[Y{@[U~?[[[[[BZYY i) .Ii@ӵD= 5{))5{T@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032992.583165 s, next control iter: 1743032992.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6491, header.stamp.nsec: 00 temperature: 13.385550* salinity: 33.391434, density: 1025.000000* values[0]: 0.705965F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032992.983165 s.*I~,>$AAQ[@At%7[@AUBV~? AA&"AABhNA"AZAbAjArAzAAAٗd3 AO)2sAqw@AAۉ=A'޿Air̿AjbA*A9?2Ac ׽:A<BA9?JAc ׽RA<٘i)I9qw@YG J=JJJJ.LE&K Y|VT~?yQAKEb77RP9)kB[[@[~U~?[I[[[[BZYY i) ҺIi@D= >w))>w(@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032993.003165 s, next control iter: 1743032993.383183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743032993.403165 s.&*I~,Y$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065588< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743032993.403284F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp[@AmY[@A:V~? AVAl&"AADhNA"AZAbAjArAzAAAe A AJsAv@AWA=A6[ۿAʿAAɎ*A9?2AqP׽:A<BA9?JAqP׽RA<٘i)I9v@YNG JJJJJ4LE&K YNQT~?yO nQAKE777S9)oB[[@[U~?[[[[[BZYY i) 8'Iię@D= r))r@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743032993.423165 s, next control iter: 1743032993.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6492", header.stamp.nsec: 0"0 temperature: 13.385784"* salinity: 33.391415", density: 1025.000000"* values[0]: 0.705092"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032993.823165 s.*I~,:t$AA\(\@Aٵ\@A3V~? AAX&"AA {hNA"AZAbAjArAzAAAwD AS>ω sAv@A:AU=AؿApȿAAP*A9?2AiP׽:A7<BA9?JAiP׽RA7<٘i)I9v@YG J*JJJJ9LE&K YLT~?yQAKE77}W9&B)rB E[[4@[U~?[q&[[[[BZYY i) eIi@:E= ]n))]n/=@ϸYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032993.863165 s, next control iter: 1743032994.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743032994.243165 s.#*I~,y$AJ"J*J2J:JBJnJvJAGz\@A'ez\@A,V~? AA,=&"AAphNA"AZAbAjArAzAAA%',F^9A l(OsA v@AEA=A?(ֿAƿAA*A9?2A;׽:Aj<BA9?JA;׽RAj<٘i)I9 v@YG JJJJJ>LE&K YFT~?yPAKEŧ7b7[9)vB[[@[U~?[ -[[[[BZYY iĦ) i\Ii@E= -Bj))-Bjǫ@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032994.263165 s, next control iter: 1743032994.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743032994.663165 s.**I~,q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743032994.663279F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6493, header.stamp.nsec: 00 temperature: 13.385975* salinity: 33.391403, density: 1025.000000* values[0]: 0.704321F (some fields omitted in printout)A]@A\@A&V~? A%A0 &"AAfhNA"AZAbAjArAzAAA> YDT~?yh%XPAӿKE7^9)yB[[0@[U~?[3[[[[BZYY i) pIi+@xVE= ee))eeR@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032994.683165 s, next control iter: 1743032995.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032995.083165 s.D1*I~,SŨ$AJ"J*J2J:JBJnJvJARk]@A{mQ]@AD!V~? A-Au &"AA ^hNA"AZAbAjArAzAAAKTAsAZ$u@A4<A?=A\#ѿA6ÿAAŎ*A9?2A[ֽ:A}<BA9?JA[ֽRA}<٘i)I9$u@Y3G J&JJJJILE&K YDBT~?y/.OAKEb7=b9)}B[[@[U~?[H:[[[[BZYY i) лIi@ E= ݙa))ݙaܬ@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032995.103165 s, next control iter: 1743032995.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032995.503165 s.7*I~,j4$AAp= ]@Au:]@A0V~? A5A p &"AAUhNA"AZAbAjArAzAAA)ZwAAvsA6t@AbԊ<Au=A6οA7ZAgA)*A9?2AHֽ:AX=BA9?JAHֽRAX=٘i)I9t@YG JnJJJJOLE&K Y?T~?y6OAKEb77e9)B E[[UE@[U~?[@[[[[BZYY i) YIi@PD= UD]))UD]Pg@y൪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032995.543165 s, next control iter: 1743032995.903189 s, wait time: 0.360024 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6494, header.stamp.nsec: 00 temperature: 13.386161* salinity: 33.391392, density: 1025.000000* values[0]: 0.703538F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032995.923165 s.7>*I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743032995.923343F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B^@AxZ~(^@AV~? A=A &"AANhNA"AZAbAjArAzAAA UA^y #sA:t@A d<A؄=A˿A﾿A@*AE*A9?2A ֽ:A[=BA9?JA ֽRA[=٘i)I9:t@YG JJJJJTLE&K Y=T~?y?NOAKE7hi9)B[[ϔ@[iU~?[G[[[[BZYY i) [WIi@~%E= X))X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032995.943165 s, next control iter: 1743032996.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032996.343165 s. Y;T~?yTQNAƿKE77j7p9'B)BE[[@[|U~?[T[[[[BZYY i) &Ii@D= GP))GP@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032996.803165 s, next control iter: 1743032997.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743032997.183165 s.R*I~,kK$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743032997.183279F (some fields omitted in printout);T~?)TQAQ_@AAk_@A V~? AUA &"AAZ=hNA"AZAbAjArAzAAAOtŞA9hF2sA%r@AAg=AÿA mA`[A9*A9?2Ae׽:A=BA9?JAe׽RA=٘i)I9r@YG J⁼JJJJdLE&K YWUIi@C= EC))ECECŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032998.043165 s, next control iter: 1743032998.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743032998.443165 s.J "J *J 2J :J H?BJ H?nJ p5vJ =f*I~,W]$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743032998.443288F (some fields omitted in printout)Az`@AH`@A_V~? AmAH)&"AAX3hNA"AZAbAjArAzAAAcAuAsAjq@A;A8/=A%AA`J!AuAڗ*A9?2Aeֽ:A5 =BA9?JAeֽRA5 =٘i)I9q@YG JJJJJtLE&K Y=T~?yt-MAKE{7{7~9)BE[[ÿ[U~?[o[[[[BZYY i) jdIi(@ D= >))>>"ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743032998.463165 s, next control iter: 1743032998.843183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6497, header.stamp.nsec: 00 temperature: 13.569973* salinity: 33.374985, density: 1025.000000* values[0]: 0.575067F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743032998.863165 s.+m*I~,>$AA33333a@AdXa@AV~? AuA&"AA1hNA"AZAbAjArAzAAAS|A3yanEsA q@ACy<A#=AA /AxA*A9?2A*(ֽ:Ag=BA9?JA*(ֽRAg=Yڦ@y}=y<ٓH1Ⱦ?d?@z$?ಿ`$(??)ڦ@ I٘i)I9 q@YG JJm<JJJzLE&Kw> Y^AT~?yL}LAKE)7ŧ7~9)B[[[U~?[9)BE[[1R[BU~?[9[[[[BZYY i) NڐIi@%pA= -))--תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033000.143165 s, next control iter: 1743033000.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033000.543165 s.I*I~,"$AA{Gb@A:b@AQV~? AA&"AA2hNA"AZAbAjArAzAAA묑&At8YsAn@Ax]A=AA@7?AmA+*Ay9?2AX׽:A$e=BAy9?JAX׽RA$e=٘i)I9n@YnG JEJJJJLE&K YNT~?yB:KAKEb77Ӑ9)B[[I%[U~?[[[[[BZYY i) wIi@^A= :))):):)۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033000.563165 s, next control iter: 1743033000.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6499, header.stamp.nsec: 00 temperature: 13.570478* salinity: 33.374992, density: 1025.000000* values[0]: 0.573817F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033000.963165 s.z*I~,=$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033000.963298F (some fields omitted in printout)J"J*J2J:JBJnJvJALc@Al@2c@A V~? A(Aw&"AA4hNA"AZAbAjArAzAAA!$AF4^sAhn@AVA*f=AbA ?AdA*Aӧ9?2AN׽:A9r=BAӧ9?JAN׽RA9r=Y>@.y8`=iٓH@{.? 2?mr? F~o?9{f@>@?)>@ I٘i)I9hn@YG JJˍ<JJJLE&Kbx> Y9UT~?yרJAKEŧ7i9,B)BE[[[U~?[}[[[[BZYY i) Ii@M#@= $))$$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033001.003165 s, next control iter: 1743033001.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033001.383165 s.ؕ*I~,'X$AAQc@AGq:c@Am V~? A3A&"AA7hNA"AZAbAjArAzAAAA[s}csAm@Aj8A@=Ak֩A ?A5YA楯*A9?2Aֽ:AQ=BA9?JAֽRAQ=٘i)I9m@YG JJJJJLE&K Yt[T~?yl_JAKE87'79)BE[[δ[U~?[[[[[BZYY i) IIiS@a#?= _ ))_ _ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033001.403165 s, next control iter: 1743033001.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6500&, header.stamp.nsec: 0&0 temperature: 13.570732&* salinity: 33.374977&, density: 1025.000000&* values[0]: 0.573186&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033001.803165 s.sA*I~,jgs$AJ"J*J2J:JBJnJvJAq= #d@AA] d@AEV~? A9A=&"AA;hNA"AZAbAjArAzAAAqA_!9OchsA2Bm@Axu9A]=AU[A`y?ALKA]*Aɟ9?2Asֽ:A1.=BAɟ9?JAsֽRA1.=I٘i)I9Bm@YfG JOJJJJLE&K YaT~?yIALE7779)¯B[[[XU~?[[[[[BZYY i) fIi@^>= S2))S2S2'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033001.843165 s, next control iter: 1743033002.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033002.223165 s.g*I~,H$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033002.223287F (some fields omitted in printout)A(\d@AbEud@AV~? A:A!&"AA~@hNA"AZAbAjArAzAAA4g6[AFmsAˡl@A><Au=A+िA22?A` ;ABļ*A9?2A9 ֽ:Aɇ=BA9?JA9 ֽRAɇ=٘i)I9l@YG JJJJJLE&K YgT~?y©IALEj7Z7)9)ǯB[[r[GU~?[Q[[[[BZYY i) IiO@9== ))gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033002.263165 s, next control iter: 1743033002.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033002.643165 s.zЩ*I~,*$AJ"J*J2J:JBJnJvJAGd@Ad@AV~? A5A &"AAEhNA"AZAbAjArAzAAAt,AHj%rsA-k@A<A<=ASA?A(Aʼ*A9?2Aս:A=BA9?JAսRA=٘i)I9k@YG JǼJJJJLE&K Y(nT~?y+˩IA LE77779)ͯB[[C[U~?[籩[[[[BZYY i) OIi@^== w))wwYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033002.663165 s, next control iter: 1743033003.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6501, header.stamp.nsec: 00 temperature: 13.571005* salinity: 33.374977, density: 1025.000000* values[0]: 0.572487F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033003.063165 s.*I~,R Ī$AAfffffe@A3OLe@AV~? A)ƪAni&"AA)LhNA"AZAbAjArAzAAAbAv: wsANk@A[<A&Ϯ=A8A`/?A A̼*AT9?2A?ֽ:A"=BAT9?JA?ֽRA"=Y*@y#ˮ=[<ٓHS?V?Y?]8T? ǵҵb?@r?)*@ I٘i)I9Nk@Y6G J ̼JvY<JJJLE&Kx> Y&wT~?yөHALE{7{7S9.B)ӯBE[[[8U~?[o[[[[BZYY i) ļIi@<= #))##LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033003.083165 s, next control iter: 1743033003.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033003.483165 s.t_*I~,ު$AJ"J*J2J:Jt?BJt?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033003.483270F (some fields omitted in printout)Ae@Ayvַe@AV~? AΪA_&"AA/ShNA"AZAbAjArAzAAASbEwA'?R{sAj@Av;6;A}=AA ?A`A %˼*A%9?2Aֽ:A=BA%9?JAֽRA=٘i)I9j@YG JZ̼JJJJLE&K Y%T~?y۩+HALEZ7Z79)ٯB[[?驿[:U~?[[[[[BZYY i) } ̼Ii@:=  ))  rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033003.503165 s, next control iter: 1743033003.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6502, header.stamp.nsec: 00 temperature: 13.571326* salinity: 33.374973, density: 1025.000000* values[0]: 0.571697F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033003.903165 s.Ƚ*I~,$AA ףp=f@A[#f@AA%V~? AժA3&"AA[hNA"AZAbAjArAzAAAwCH^AǤYsA/i@AA YȦT~?ySFA-LEŧ7b7>9)B[[Y([ V~?[ة[[[[ZZ¸BZYY i¸Խ=) ռIi@6= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033005.183165 s, next control iter: 1743033005.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033005.583165 s.*I~,Se$AARg@Auog@A2@V~? A#A%"AA%hNA"AZAbAjArAzAAAC/f AzǬsAIg@Aڛ;A\=AlAy?A``AA,׼*A9?2Aֽ:Ad=BA9?JAֽRAd=٘i)I9Ig@Y G J ӼJJJJLE&K YpT~?yEA3LE7Ի90B)B E[[[V~?[Hߩ[[[[ZZBZYY i) `ɼIi@+q5= ))龩yV+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033005.603165 s, next control iter: 1743033005.983183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6504, header.stamp.nsec: 00 temperature: 13.571911* salinity: 33.375008, density: 1025.000000* values[0]: 0.570122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033006.003165 s.~ *I~,e4$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743033006.003297F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= Wh@A\ elevatorAngleAction: 0.083370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033007.263294F (some fields omitted in printout)Ai@Aei@AcV~? AAm~%"AAihNA"AZAbAjArAzAAAliX Aܚ5sAEd@A~IA0=ALA2?A(A a̼*A9?2Acֽ:A;BA9?JAcֽRA;YȨ@y0=nٓH?/?r? ?᡿+isD?)Ȩ@ I٘i)I9d@Y G JB=JؽJJJLE&Kv> YT~?y$5DAHLE{7j7)9)B[['[2V~?[[[[[ZZBZYY iB=) ꚼIi@ӛ0= f~ƾ))f~ƾf~ƾxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033007.303165 s, next control iter: 1743033007.663175 s, wait time: 0.360010 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 65066, header.stamp.nsec: 060 temperature: 13.5726016* salinity: 33.3750006, density: 1025.0000006* values[0]: 0.5682836F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033007.683165 s.l*I~,^$AJ"J*J2J:J{?BJ{?nJ5vJAQj@Ai@AmV~? AAW%"AAhNA"AZAbAjArAzAAA-%AA:sA]ic@Ae)xA۔<A肿Aeq?A@A䢼*A19?2AVֽ:AM(BA19?JAVֽRAM(٘i)I9ic@Yg G JC=JJJJLE&K YT~?y",CAMLE779)B'E[[[E;V~?[[[[[ZZBZYY i) OIi@ .= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033007.683165 s, next control iter: 1743033008.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743033008.103165 s.+I~,̚$AA= ףpj@AVj@AwV~? AV"Aq[%"AAhNA"AZAbAjArAzAAAX\91(A>4CsAhb@APA<ARA`kR?A`^Ap*A9?2ARDֽ:ANiBA9?JARDֽRANi٘i)I9b@Y G J9JJJJLE&K YU~?y3CASLE7T93B)B(E[[w[GDV~?[[[[[ZZBZYY i) ARIi@ʆ-= &ƴ))&ƴ&ƴrYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033008.143165 s, next control iter: 1743033008.503183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743033008.523165 s.J +I~"J*J2J,5|!$A:Jc?BJc?nJs5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073858< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743033008.523350F (some fields omitted in printout)A(j@A<j@AtV~? A)A%"AAhNA"AZAbAjArAzAAA%AK麳sAb@A<ALAw{A@1?A +Ai&*AR9?2AqWֽ:AyBAR9?JAqWֽRAy٘i)I9b@Y G J8QJJJJLE&K Y\U~?y`;CAXLE7779)B[[M[MV~?[R [[[[ZZBZYY i4=)  uIi@OW,= ~ݫ))~ݫ~ݫy=A(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033008.543165 s, next control iter: 1743033008.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6507, header.stamp.nsec: 00 temperature: 13.572832* salinity: 33.375000, density: 1025.000000* values[0]: 0.567667F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033008.943165 s.Wd+I~,>]<$AAzGk@Asd-k@AߍV~? A0Ay=%"AAhNA"AZAbAjArAzAAA# ALݻ'sA]b@A$:AYdAA:vA`?A+A?ƻ*AR9?2Aֽ:A"BAR9?JAֽRA"٘i)I9]b@Y G J JJJJLE&K YU~?yBGCA^LE94B)!B+E[[C[mWV~?[|[[[[ZZBZYY i) u_Ii@d+= ))y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033008.963165 s, next control iter: 1743033009.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033009.363165 s.+I~,}>W$AJ"J*J2J:JBJnJvJA3333k@Ab*k@AřV~? A8A%"AAFiNA"AZAbAjArAzAAAxcApsA>b@AG<A?ApA ?A@AA*A9?2Aֽ:AüBA9?JAֽRAüY@<qyBG<ٓH?@? ?W??? U?)@ I٘i)I9>b@Y G JB=J5JJJME&K`x> YB-U~?y"JsCAqcLEb7b79)"B[[ [vaV~?[[[[[BZYY iURm=) MIiB@J)= ))y4I=n+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033009.383165 s, next control iter: 1743033009.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6508&, header.stamp.nsec: 0&0 temperature: 13.572906&* salinity: 33.375027&, density: 1025.000000&* values[0]: 0.567399&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033009.783165 s.U+I~,r$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057940< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033009.783280F (some fields omitted in printout)AQl@Ael@A#V~? A.?A %%"AAiNA"AZAbAjArAzAAAaeA.=sA:b@A<A)0AkA@?A !A:*A#9?2Aֽ:AmBA#9?JAֽRAm⼙٘i)I9:b@Y G J)&C=JJJJME&K Y=U~?yCQCAhLEŧ796B)$B/E[[qш[kV~?[[[[[BZYY i =) r} elevatorAngleAction: 0.067892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033011.043290F (some fields omitted in printout)A{Gam@A1Gm@AV~? ASA %"AASiNA"AZAbAjArAzAAA2A_sA7b@A3-AԇAy\A` 1?A2AIm<*As9?2Aս:AKBAs9?JAսRAK٘i)I9b@Y G JNM<JJJJME&K YoU~?yf DAxLEb77i9)B[[[kV~?[/[[[[BZYY i) 0 Ii@4C#= _l))_l_l'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033011.083165 s, next control iter: 1743033011.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033011.463165 s.S7+I~,ۤݬ$AAm@Aؼm@A%V~? AZA %"AAhiNA"AZAbAjArAzAAA7 >ARsA0Tc@AGAaAeWA`?A^A!<*AĔ9?2Aս:ABAĔ9?JAսRAY,*@WyeٓH@-M??XR?Ro??๨D?),*@ I٘i)I9Tc@Y[ G J<JJJJME&K*w> YU~?y8mDAW~LE9)B5E[[g[/V~?[T5[[[[BZYY ik=) qIi{@ = 0Z))0Z0Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033011.503165 s, next control iter: 1743033011.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6510, header.stamp.nsec: 00 temperature: 13.572630* salinity: 33.375027, density: 1025.000000* values[0]: 0.567858F (some fields omitted in printout)BU~?)B8m rAdjusting time to match Gazebo time: 1743033011.883165 s.y=+I~,D$AJ"J*J2J:J_?BJ_?nJn5vJAQ8n@A;n@AV~? AoaA%"AA~iNA"AZAbAjArAzAAA`G1zAҳsA|c@AtAgA7%RA?ACAa<*A9?2ADֽ:A1BA9?JADֽRA1٘i)I9c@Y G J'<JJJJ ME&K YU~?ysDALEŧ7b799B)B9E[[o4{[XV~?[;[[[[BZYY i) 7һIiRx@= PH))PHPH*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033011.903165 s, next control iter: 1743033012.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033012.303165 s.VD+I~,wg$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057525< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743033012.303278F (some fields omitted in printout)Aq= ףn@AȗPn@AV~? AhA(%"AA3iNA"AZAbAjArAzAAAl{uAN_ elevatorAngleAction: 0.057525< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743033013.563284F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffo@A_#Io@A)W~? A,{A%"AAyiNA"AZAbAjArAzAAArVr+Aa|sA f@A<A5Ab<A?A?A<*A9?2A ׽:A BA9?JA ׽RA Ysl@=y0d<ٓH?t? yྰ??@gA?R??)sl@ I٘i)I9 f@Y G J%<J/JJJ6ME&K_x> YU~?y`nFA=LE779;B) B?E[[i[V~?[Q[[[[BZYY i) k|1Iim@= 6))66,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033013.583165 s, next control iter: 1743033013.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6512, header.stamp.nsec: 00 temperature: 13.571987* salinity: 33.375046, density: 1025.000000* values[0]: 0.569194F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033013.983165 s._+I~,~$AAQp@A7p@A?:W~? AZA%%"AAiNA"AZAbAjArAzAAA`rA(?{BsAf@A(b;A7SAw7A`t?AwA <*A&9?2A7ֽ:ABA&9?JA7ֽRA٘i)I9f@YZ G JӮ<B=JJJJ;ME&K   9YU~?  9yNFALEb77 9 elevatorAngleAction: 0.066656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743033014.823273F (some fields omitted in printout)A\(q@AGq@A\W~? AdA!%"AAc)jNA"AZAbAjArAzAAAmƿA~sAyg@A(sAjA-A?AN-A'<*Ah9?2Aֽ:AZ-BAh9?JAֽRAZ-٘i)I9g@Y G Jk<JJJJFME&K Y!V~?y'GALEj7Z7 9=B)BFE[[r[[^W~?[a[[[[BZYY i) X8Iic@= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033014.863165 s, next control iter: 1743033015.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033015.243165 s.s+I~J"J,mϭ$A*J2J:J?BJ?nJ5vJAGzq@Aezq@AnW~? A@A%%"AA7DjNA"AZAbAjArAzAAA@9ۜ?A8ƹ.sAkSh@AՊAyA)v(A@7X?AAB<*AJ9?2A3ֽ:AlBAJ9?JA3ֽRAl٘i)I9Sh@Ye G J,<JJJJKME&K Y6V~?y HALEj7? 9>B)BIE[[V[bW~?[Cg[[[[BZYY i) ~:Iiia@C= @\))@\@\yr=f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033015.263165 s, next control iter: 1743033015.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033015.663165 s.z+I~,q$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6514, header.stamp.nsec: 00 temperature: 13.571260* salinity: 33.375053, density: 1025.000000* values[0]: 0.570682F (some fields omitted in printout)Ar@Aq@AW~? AA<%"AA_jNA"AZAbAjArAzAAA^/o?A Y@MV~?yQhHA"LE{7 9)B[[JR["W~?[ql[[[[BZYY i)  :IiG]@ = ))Ź*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033015.683165 s, next control iter: 1743033016.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033016.083165 s.D+I~, S$AJ"J*J2J:J?BJ?nJ05vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251118> elevatorAngleAction: 0.066656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743033016.083340F (some fields omitted in printout)ARkr@AݰmQr@AʓW~? AA%"AA{jNA"AZAbAjArAzAAAs8?Aeц"sAZi@A;ACAԳA\?A?+A"V<*AX9?2ABֽ:AJBAX9?JABֽRAJ𼙘٘i)I9Zi@YG J<C=JJJJVME&K YcV~?yHALE{7j 9)BLE[[M[ 2W~?[q[[[[BZYY i) <;IiY@6 = ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033016.103165 s, next control iter: 1743033016.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033016.503165 s.+I~,@4 $AAp= r@AZr@A֦W~? AA`%"AA0jNA"AZAbAjArAzAAA_T?AQ3{sA,i@A$X<ALA@`A]?Ap߿AK<*A(9?2AIֽ:A3BA(9?JAIֽRA3뼙٘i)I9i@YNG J<B=JJJJ[ME&K YzV~?yɴIALEŧ7b7 9@B)BPE[[3I[BW~?[v[[[[BZYY i) |Rz;Ii%V@ = ))R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033016.543165 s, next control iter: 1743033016.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6515, header.stamp.nsec: 00 temperature: 13.570944* salinity: 33.375069, density: 1025.000000* values[0]: 0.571354F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033016.923165 s.J "J *J 2J :J D?BJ D?nJ _5vJ :+I~,;$AA(\Bs@Ax(s@A@W~? AA%"AAPjNA"AZAbAjArAzAAAn;?A7,@tAgAj@Aq<AķA0A@W?AS޿AY<*A9?2A\ֽ:ABA9?JA\ֽRA鼙٘i)I9Aj@YG J<C=JJJJaME&K YeV~?yzIALE77 9AB)BSE[[/uD[lRW~?[{[[[[BZYY ik=) A;Ii'S@T#= U<))U<U<*YcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033016.943165 s, next control iter: 1743033017.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033017.343165 s.<+I~,U$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075401< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743033017.343305F (some fields omitted in printout)AHzs@A$"s@AW~? AĮA~%"AAjNA"AZAbAjArAzAAAON?AG];tAAj@AK<ANAPA?As4޿Ai=<*As9?2A9ֽ:AnBAs9?JA9ֽRAn켙٘i)I9j@YG JƂ<JJJJfME&K YV~?yAIALEZ7SI7* 9)B[[?[!cW~?[[[[[BZYY i) \;IiP@?x= <=))<=<=k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033017.383165 s, next control iter: 1743033017.743174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6516&, header.stamp.nsec: 0&0 temperature: 13.570627&* salinity: 33.375092&, density: 1025.000000&* values[0]: 0.571963&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033017.763165 s.7+I~,p$AJ"J*J2J:Jl?BJl?nJ5vJAt@A_s@AW~? A糫A(%"AA#jNA"AZAbAjArAzAAAd?A1tAik@A-t:AA AH?AzݿAY<*A9?2Aս:AӁBA9?JAսRAӁYz@o" y~u:ٓH$v?T?OL???Q?`%N?U?)z@ II٘i)I9k@YG J<J';JJJlME&Ku> YkV~?yê-JA" LEb77# 9BB)BVE[['/;[sW~?[[[[[[BZYY i) 9;Ii/L@= @ ^=))~|@ ^=@ ^=۱*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033017.783165 s, next control iter: 1743033018.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033018.183165 s.ˢ+I~,$AAQt@Atxkt@AW~? A긫A%"AAkNA"AZAbAjArAzAAAkEiC?A+ tAk@A}:5AyԃAA?AܿAJ<*A_9?2Aս:A:BA_9?JAսRA:٘i)I9k@Y\G J<JJJJqME&K YV~?y@ȪJALE{7{7U' 9)BZE[[6['W~?[[[[[BZYY i) -;Ii5H@S"= -=)) -=-=yU=k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033018.203165 s, next control iter: 1743033018.583191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743033018.603165 s.74+I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075401< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.419982*J2J2 time: 1743033018.603274F (some fields omitted in printout):JBJnJvJA= ףt@Aɍt@AB X~? A˽Ad%"AA.kNA"AZAbAjArAzAAAz$%1?A1(&tAl@AA gA#4A ?A`ۿAe<*A9?2AԽ:AuBA9?JAԽRAu٘i)I9l@YG J,<JJJJvME&K YV~?y̪JALE)7)7* 9CB)B]E[[1[W~?[[[[[BZYY i)  Ѫ5KALE777. 9DB)B^E[[G)-[W~?[S[[[[BZYY i) z@x< >))>>ٺ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033019.483165 s, next control iter: 1743033019.843183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6518, header.stamp.nsec: 00 temperature: 13.570028* salinity: 33.375114, density: 1025.000000* values[0]: 0.573141F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033019.863165 s.++I~,>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075401< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033019.863300F (some fields omitted in printout)A33333v@Ax!v@ATKX~? A˫AR%"AARkNA"AZAbAjArAzAAA`*@A:7tAs[m@A <A/Am޾A ?A1ٿAX<*A9?2A:ֽ:ABA9?JA:ֽRAY-!@޾y彋< <ٓH??୾xڿ??Dt?-]?`?)-!@ I٘i)I9[m@YvG J؇<C=J?-JJJME&Ksu> Y;;W~?yt٪KA޾LE7{75 9EB)گBdE[[#[uW~?[.[[[[BZYY i) 0;))>?y7>7>)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033019.883165 s, next control iter: 1743033020.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033020.283165 s.6R+I~,$AJ"J*J2J:JBJnJvJAQv@Aev@AFaX~? AЫA%"AAXkNA"AZAbAjArAzAAA24?@AQclCtAm@Ag<AZAӾA?A@ؿA} <*AG9?2Aֽ:Aw BAG9?JAֽRAw ٘i)I9m@YG J4<JJJJME&K YTW~?y*ݪHLALEj7Z7@9 9)ׯBgE[[ [))  (> (>*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033020.303165 s, next control iter: 1743033020.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6519., header.stamp.nsec: 0.0 temperature: 13.569697.* salinity: 33.375122., density: 1025.000000.* values[0]: 0.573750.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033020.703165 s.պ+I~, -$AAףp= w@Aj@+v@AwX~? A4ԫA%"AAkNA"AZAbAjArAzAAA tZ @AyctAAn@Ai<AxAɾA 3?A ؿA=<*A9?2AԽ:A BA9?JAԽRA ٘i)I9An@YG J<JJJEJME&K YvnW~?yLALEj7< 9)ӯB[[gN[hW~?[[[[[BZYY i) pZ));>;>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033020.723165 s, next control iter: 1743033021.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033021.123165 s.7+I~,]G$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075401< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743033021.123320F (some fields omitted in printout)A)\uw@AAS[w@AX~? AEثA0W%"AAkNA"AZAbAjArAzAAA)q| @AiӦOtAغn@A;AKFA$ϿA@m?A`!8׿A <*AC9?2AԽ:Ae BAC9?JAԽRAe ٘i)I9n@YLG J <JJJJME&K YW~?yMALE77j@ 9FB)ЯBjE[[׈[X~?[[[[[BZYY i =)  j))N>N>*YRYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033021.143165 s, next control iter: 1743033021.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033021.543165 s.I+I~,b$AA{Gw@AU0w@AƤX~? A3ܫA%"AAlNA"AZAbAjArAzAAA䧸e @Ap tAo)) Oa> Oa>&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033021.583165 s, next control iter: 1743033021.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6520, header.stamp.nsec: 00 temperature: 13.569385* salinity: 33.375141, density: 1025.000000* values[0]: 0.574369F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033021.963165 s.{+I~,}$AJ"J*J2J:J ?BJ ?nJ.5vJALx@A82x@AŻX~? A߫Aj%"AA8lNA"AZAbAjArAzAAAD8@A̓#tAo@A]{AAAH?A տAy<*A-9?2AԽ:ANBA-9?JAԽRANYU@ny+혽|ٓH#??@Կ5?F?? Sk4?)U@ I٘i)I9o@YG J<J{JJJME&K3t> Y^W~?y1MAnME77j7G 9)ȯBpE[[ [.X~?[[[[[BZYY i) N))dUv@Ht>@Ht>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033022.003165 s, next control iter: 1743033022.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033022.383165 s.+I~,#$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240560> elevatorAngleAction: 0.084493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743033022.383268F (some fields omitted in printout)AQx@A66;x@AX~? AAt%"AA[lNA"AZAbAjArAzAAA;2@AQjt?%tAPp@AىA"jA}A?A@gԿA<*A%9?2A4ս:ABA%9?JA4սRA٘i)I9Pp@YCG J<JJJJME&K YW~?y/NA MEb77*K 9GB)įBsE[[c6[BX~?[d[[[[BZYY i) 5ۋ))>>yj=*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033022.403165 s, next control iter: 1743033022.783175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6521*, header.stamp.nsec: 0*0 temperature: 13.569024** salinity: 33.375141*, density: 1025.000000** values[0]: 0.575102*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033022.803165 s.zA+I~,g$AJ"J*J2J:J9?BJ9?nJ`5vJAq= #y@AA y@AzX~? A"A.%"AAlNA"AZAbAjArAzAAA_@A6a'tAp@A;AGAu1AK?A@ӿA8<*A9?2A"ӽ:ABA9?JA"ӽRA٘i)I9p@YG JD<JJJJME&K YW~?yNAME7)7N 9IB)¯BwE[[?e[WX~?[[[[[BZYY i) ei)) 8U>8U>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033022.843165 s, next control iter: 1743033023.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033023.223165 s.g+I~,Hί$AA(\y@A&qVDuy@A.Y~? A{A%"AAlNA"AZAbAjArAzAAAb?@A#m)tAKmq@A;;AAA@}?AӿA&<*A9?2AԽ:AdBA9?JAԽRAd٘i)I9mq@YG J<JJJJME&K Y\ X~?yNAME{7{7UR 9)B[[[lX~?[[[[[BZYY i) ?))>>*Y%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033023.243165 s, next control iter: 1743033023.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033023.643165 s.u+I~,*$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033023.643284F (some fields omitted in printout)AGy@A DOy@AY~? AA%"AAlNA"AZAbAjArAzAAA |{a@A 'Na+tAq@A?_<A6̣AAd?A&ҿA <*A'9?2ATս:A@BA'9?JATսRA@٘i)I9q@YGG Jp<JJJJME&K Y'X~?ycOAME777U 9)BzE[[W[X~?[[[[[BZYY i) 샢))Ǡ>Ǡ>*YYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6522, header.stamp.nsec: 00 temperature: 13.568622* salinity: 33.375164, density: 1025.000000]:* values[0]: 0.575818F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743033023.663165 s, next control iter: 1743033024.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033024.063165 s.,I~,_ $AAfffffz@A%TLz@A52Y~? AAn%"AA0lNA"AZAbAjArAzAAAm#' o@A(>-tAr@A<AHAnAa?A~FѿA<*A9?2Aս:AtBA9?JAսRAtY@apy<ٓH??JM`mͿ` ?a?ٴ? ~??)@ I٘i)I9r@YG JЫ<JJJJME&Ks> Y{BX~?yOAapMESI7SI7Y 9)B}E[[[JX~?[lª[[[[BZYY i) E))utj>j>g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033024.103165 s, next control iter: 1743033024.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033024.483165 s.}_,I~,$AJ"J*J2J:J?BJ?nJ5vJAz@A:wշz@AJY~? AAD4%"AAmNA"AZAbAjArAzAAA'@A7&/tA!s@Ai><A+AZA?AeпAc<*A9?2Aս:AlBA9?JAսRAl٘i)I9!s@YG J!<JJJJME&K Y]X~?yCPA$MEb77] 9)BE[[%ݾ[X~?[Ū[[[[BZYY i) N>))!>!>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033024.503165 s, next control iter: 1743033024.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6523, header.stamp.nsec: 00 temperature: 13.568252* salinity: 33.375164, density: 1025.000000* values[0]: 0.576598F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033024.903165 s. ,I~,9$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257810> elevatorAngleAction: 0.084493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743033024.903291F (some fields omitted in printout)A ףp={@A|\#{@AcY~? AaA%"AA4mNA"AZAbAjArAzAAA>^*@A60tATs@Ac8AAAfGA@/?AοAl<*A9?2Apӽ:ABA9?JApӽRA٘i)I9s@YZG Jƻ<JJJJME&K Y^yX~?yPA)ME7` 9JB)BE[[3Ծ[X~?[Ȫ[[[[BZYY i) )) >>N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033024.943165 s, next control iter: 1743033025.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033025.323165 s.o,I~,T$AJ"J*J2J:J?BJ?nJ5vJA\{@A|ݎ{@A{Y~? AA%"AAZmNA"AZAbAjArAzAAAHJ@A|E2tAet@A`=A7A8o4AT?A>EͿA1<*A9?2A3 ӽ:ABA9?JA3 ӽRA٘i)I9et@YG Jh<JJJJME&K YϔX~?y#QA/ME{7{7@d 9)BE[[Xʾ[ZX~?[˪[[[[BZYY i) ))>>*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743033025.343165 s, next control iter: 1743033025.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6524*, header.stamp.nsec: 0*0 temperature: 13.567851** salinity: 33.375191*, density: 1025.000000** values[0]: 0.577422*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033025.743165 s.W,I~,yo$AAGz|@ArMd{@A|Y~? AlAA%"AAmNA"AZAbAjArAzAAAl;TI-@A\3tAu@APAаA Acw?A˿A<*A9?2Aӽ:AmBA9?JAӽRAm٘i)I9u@Y)G J<JJJJME&K YBX~?yQA4MEŧ7ŧ7g 9)BE[[l[ X~?[Ϊ[[[[BZYY i) U))->->*Y%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033025.783165 s, next control iter: 1743033026.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033026.163165 s.}",I~,q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033026.163286F (some fields omitted in printout)J"J*J2J:JBJnJvJA|@A:e|@AsY~? AAh%"AA@mNA"AZAbAjArAzAAA\@A2ٟ*5tA0u@AaAڱA" Aݘ?AɿAM<*Ax9?2AFXԽ:ABAx9?JAFXԽRAY@Z yձkbٓH? fd?!?-=??3?@7Z?)@ I٘i)I9u@YG JA<JjNJJJME&Kr> Y6X~?y. RAZ 9ME77kk 9SB)B[[q[Y~?[KѪ[[[[BZYY i) ))rE>E>^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033026.183165 s, next control iter: 1743033026.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033026.583165 s.#(,I~,3S$AAR|@A\m|@AY~? AAF=%"AA/mNA"AZAbAjArAzAAA@AcVy6tAvv@AOAAA?A]ǿA9<*A49?2ACMս:ABA49?JACMսRA٘i)I9vv@YG J<JJJJME&K Y(X~?y]RA?ME7o 9)BE[[m[Y~?[Ӫ[[[[BZYY i) ))hPIb>Ib>k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033026.623165 s, next control iter: 1743033026.983182 s, wait time: 0.360017 s (X~?) ] tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6525 , header.stamp.nsec: 0 0 temperature: 13.567424 * salinity: 33.375183 , density: 1025.000000 * values[0]: 0.578324 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033027.003165 s.x 0,I~,L4$AJ"J*J2J:JBJnJvJAp= W}@A9B<}@AY~? AA%"AAXmNA"AZAbAjArAzAAA(]Ծ@A-έ7tA&w@A%<AZAYA?AſA`$<*A:?2Aӽ:ABA:?JAӽRA٘i)I9&w@YlG Jy<JJJJME&K YY~?yRADME777r 9RB)BE[[Ƣ[4Y~?[Y֪[[[[BZYY i) )) X>X> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033027.043165 s, next control iter: 1743033027.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033027.423165 s.u6,I~,۰$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743033027.423304F (some fields omitted in printout)A(\}@Ap^}}@A2Y~? AA%"AAnNA"AZAbAjArAzAAAg\@A8tAiw@A=j<A?AA?A1)ĿA<*A~ :?2A: Խ:AGBA~ :?JA: ԽRAG٘i)I9w@YG J<B=JJJJME&K Y Y~?yqSAIME+v 9)BE[[ɼ[}LY~?[ت[[[[BZYY iP=) _5))b>b>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033027.443165 s, next control iter: 1743033027.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6526, header.stamp.nsec: 00 temperature: 13.566948* salinity: 33.375217, density: 1025.000000* values[0]: 0.579237F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033027.843165 s.<,I~,$AJ"J*J2J:JBJnJvJAHz.~@AQ~@AZ~? AOA%"AAB>nNA"AZAbAjArAzAAA\ @A9tAx@Ag|<A8A7^A`? ?A]¿A?<*AD:?2A!bԽ:A*BAD:?JA!bԽRA*٘i)I9x@YAG J<C=JJJJME&K YBZYY i¸> ) 5 Y1XY~?y;cTATMEj7Z7V} 9)BE[[[%|Y~?[ܪ[[[[ZZZZBZYY i) F'Y~?[ު[[[[ZZZZBZYY i) ]|$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082582< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743033029.943279F (some fields omitted in printout)AzG@A g-@AlZ~? AB AP%"AAoNA"AZAbAjArAzAAAzo #@An=tA|@AA 2A~.=Ad?A?kAq<*AF:?2AOwӽ:AԻBAF:?JAOwӽRAԻ٘i)I9|@YG J<JJJJNE&K YY~?y|MVAjME77 9QB)mBE[[7[MY~?[[[[[ZZZZBZYY i) $AJ"J*J2J:J?BJ?nJ-5vJA3333@AUO@A^Z~? A A3A%"AAL(oNA"AZAbAjArAzAAA Yrٽ#@Ap=tA*}@A%̜;AռA>=Ao?A"}A<*AD:?2A\Խ:A;BAD:?JA\ԽRA;Y@=y)ռٜ;ٓH?@$ |bn??`Mz?s??)@ I٘i)I9*}@YG J4<B=J>JJJ NE&Kpp> Y.Y~?yqVA=oMEb7A 9)hBE[[c#[*Y~?[[[[[ZZZZBZYY iWX) ZtA }@A`x<Ah+AIת=Ay?A Ax<*Au>:?2AԽ:A#8#<BAu>:?JAԽRA#8#<٘i)I9}@YcG J~<C=JJJJNE&K YoZ~?y`VAtME7{7֒ 9)cBE[[[VZ~?[F[[[[ZZZZBZYY iH) l@tA~~@At<A;A=A`a?AWA) <*A[:?2Aҽ:APÂ<BA[:?JAҽRAPÂ<٘i)I9~@YG JR<JJJJNE&K YZ~?yVAzMEj7SI7k 9PB)`BE[[[)Z~?[N[[[[ZZZZBZYY i) ytA8~@A;<A<A=A ?A\A7;*AXY:?2A@ҽ:Aޫ<BAXY:?JA@ҽRAޫ<٘i)I98~@YG J<JJJJNE&K Y9Z~?yCVAMEb77 9)^BE[[ʽ[yCZ~?[.[[[[ZZZZBZYY i) 53etA`R~@AHA=A >A0?A ŇQ?A:*AN:?2Aӽ:A5#<BAN:?JAӽRA5#<٘i)I9R~@YG Jz;JJJJ"NE&K Y+VZ~?yWA QDMEj7Z7 9OB)]BE[[Fꟽ[f]Z~?[[[[[BZYY i) όPtAR~@AJA/=A-'>A`?A.!?AL*AA:?2AԽ:A@<BAA:?JAԽRA@y/=tJJٓHS?Ŀ? ?s?ۗ?.C ?)A@ I٘i)I9Y J7B=JG(>JJJ(NE&K"s> YrZ~?yGVA&>ME)7ŧ7, 9)\BE[[ wl[wZ~?[q[[[[BZYY ig) {?tA8~@AΌAW=AK<>Ar?A-:?ASٿ*Aw5:?2Aս:A<<BAw5:?JAսRA<<٘i)I98~@YG JtC=JJJJ-NE&K YZ~?yVAME7777 9)]B[[,b[Z~?[[[[[BZYY i䆽) .tA>~@ACRAw=AWP>AP?Az?A|**A2P:?2Aӽ:At=BA2P:?JAӽRAt=٘i)I9~@YG JJJJJ2NE&K YZ~?ylOVAMEj7j7V 9NB)^BE[[['Z~?[ [[[[BZYY i) iAHw?A`髮?A/@e*AQ:?2A\ӽ:A? =BAQ:?JA\ӽRA? =I٘i)I9}@YfG JEJJJJ8NE&K YZ~?yVAME77 9)`BE[[P;[Z~?[[[[[BZYY i)  Al?A`r?AOD*AO:?2ALӽ:A=BAO:?JALӽRA=٘i)I9D}@Y&G J}JJJJ=NE&K YZ~?yUAME{7{7 9MB)cBE[[<[Z~?[[[[[BZYY i) ;IiH?u< O?))O?O?cǪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033034.163165 s, next control iter: 1743033034.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033034.563165 s.J "J ,I~*J2J,N $A:JB?BJB?nJ5vJAffff愹@AkzP̄@A[~? AF AP%"AApNA"AZAbAjArAzAAAC`)@AA@f_?A@?A+*AuM:?2AԽ:Ah=BAuM:?JAԽRAh=YX0=H>y Q=nӍ<ٓHE?$пe?i?b?c?岿 ҭ?m?)X0= I٘i)I9|@YG JvJ=JJJCNE&Kr> YZ~?yHtUAH>MEŧ77 9)gBE[[<=[CZ~?[[[[[BZYY i) lC;Iis5?8B; T?))FtT?T?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033034.583165 s, next control iter: 1743033034.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6533, header.stamp.nsec: 00 temperature: 13.564898* salinity: 33.375332, density: 1025.000000* values[0]: 0.582838F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033034.983165 s.,I~,쾲$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239236@ elevatorAngleAction: -0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743033034.983333F (some fields omitted in printout)AQ@A+7@A[~? A: Ac%"AA%pNA"AZAbAjArAzAAAx?*@Aj 0AO?AR?AN*AK:?2AԽ:A=BAK:?JAԽRA=٘i)I9<|@YG JJJJJHNE&K YH[~?yUAMEb7 9LB)jB¹E[[*I=[[~?[6[[[[BZYY i) -;Ii#?+; 9Z?))lڄ9Z?9Z?<ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033035.023165 s, next control iter: 1743033035.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033035.403165 s.&,I~,ٲ$AJ"J*J2J:J#?BJ#?nJa5vJA ףp@A3FY@A][~? AAy%"AAOqNA"AZAbAjArAzAAA@-!+@AԾsr;tAd{@A3 ;AU=A>A >?A@DG?AMM*Ah:?2ADӽ:AE0=BAh:?JADӽRAE0=٘i)I9{@Y-G JJJJJMNE&K Y3[~?yTAME77A 9KB)nBŹE[[=[C/[~?[[[[[BZYY i) S;Ii,?; _?)) _?_?8تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033035.423165 s, next control iter: 1743033035.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6534, header.stamp.nsec: 00 temperature: 13.565015* salinity: 33.375324, density: 1025.000000* values[0]: 0.582304F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033035.823165 s.,I~,-$AA\(@A|@A[~? AAϒ%"AA\(qNA"AZAbAjArAzAAA3ܪ+@AJH:tAL{@AY1A=AZG>A+?A?AX*Ak:?2AuԽ:Aw =BAk:?JAuԽRAw =٘i)I9{@YG JﭼJJJJSNE&K YN[~?yoCTAMEֽ 9)sB[[ =[J[~?[[[[[BZYY i) ~;Ii6?ʫ; >e?))>e?>e?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033035.863165 s, next control iter: 1743033036.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033036.243165 s.,I~,$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200682 time: 1743033036.243346F (some fields omitted in printout)AGz@AGQgz@A\~? AA%"AAHOqNA"AZAbAjArAzAAA&Y,@AFe9tAz@A=Aq=Aۯ>A 7?A?A*Aj:?2A6ս:A@=BAj:?JA6սRA@=٘i)I9z@Y{G JfJJJJXNE&K Yj[~?y&SAMEl 9)wBȹE[[>[d[~?[[[[[BZYY i) "B;Ii>;; ؋j?))؋j?؋j?تYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033036.283165 s, next control iter: 1743033036.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033036.663165 s.,I~,q*$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6535, header.stamp.nsec: 00 temperature: 13.565169* salinity: 33.375340, density: 1025.000000* values[0]: 0.581718F (some fields omitted in printout)A@A"冹@A>2\~? AhAj%"AAvqNA"AZAbAjArAzAAAƆg,@ATâ8tAy@Ay4A@=Ah7>A?A?A>G*A?i:?2Aս:Aw*=BA?i:?JAսRAw*=Y>>y=kٓH ^?ֿͰ? \??@U?@\ _?)> I٘i)I9y@Y#G JJM;JJJ]NE&K:t> Y[~?ytSA>ME777 9JB)zB˹E[[M>[[[~?[[[[[BZYY i) O;Ii}>'; no?))Gwno?no?תYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033036.683165 s, next control iter: 1743033037.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033037.083165 s.D,I~,SE$AJ"J*J2J:J?BJ?nJ'5vJARk@AQnQ@AK\~? AA%"AAqNA"AZAbAjArAzAAAș-@Af7tA@cy@AA4=AN>A?Ay?A"z*A8g:?2ATս:A5=BA8g:?JATսRA5=٘i)I9cy@YG JJJJJcNE&K Y[~?y SAME77 9GB)|B͹E[[~1>[[~?[1[[[[BZYY i) *:Iir>d\; `ou?)) `ou?`ou?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033037.103165 s, next control iter: 1743033037.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033037.503165 s.,I~,U4`$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743033037.503293F (some fields omitted in printout)Ap= ׇ@Aξ򼇹@Ad\~? AAn%"AAqNA"AZAbAjArAzAAA!F'.@Aw-%G6tAx@A6r;A1=A>A6?A6^?Aa崼*A߀:?2Aӽ:A^=BA߀:?JAӽRA^=٘i)I9x@YmG J,JJJJhNE&K YI[~?yRAME{7j7, 9FB)BйE[[G>[ô[~?[[[[[BZYY i) 'a9Ii>T5; z?))z?z?4ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033037.523165 s, next control iter: 1743033037.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6536, header.stamp.nsec: 00 temperature: 13.565310* salinity: 33.375351, density: 1025.000000* values[0]: 0.581109F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033037.923165 s.:,I~,{$AJ"J*J2J:JBJnJvJA(\B@Aw(@A~\~? AaA?%"AAVqNA"AZAbAjArAzAAA'տ.@Ax;4tAQ4x@Au<A=A>A:?A?A4*AW:?2AԽ:A4=BAW:?JAԽRA4=٘i)I94x@YG JyJJJJnNE&K Y[~?y9RAME77 9EB)BӹE[[]>[[~?[[[[[BZYY i) 7Iizf>p; m@?))m@?m@?lϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033037.943165 s, next control iter: 1743033038.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033038.343165 s.<,I~,$AAHz@A@A\~? AAj%"AA`rNA"AZAbAjArAzAAABۊW/@A&<3tAw@As<A=A>AF?A?A8ȱ*A~:?2A֬Խ:A=BA~:?JA֬ԽRA=٘i)I9w@YG J=JJJJsNE&K Y[~?yQAME7W 9)B[[}!t>[[~?[ު[[[[BZYY i) lԺIiM8>:  ?)) ? ?T˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033038.363165 s, next control iter: 1743033038.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6537&, header.stamp.nsec: 0&0 temperature: 13.565493&* salinity: 33.375359&, density: 1025.000000&* values[0]: 0.580508&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033038.763165 s.;,I~,0ذ$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033038.763289F (some fields omitted in printout)A@A'y@A\~? AA>%"AA15rNA"AZAbAjArAzAAA0JR/@Ao2tA4 w@A%<Agw=Ac>AS\?A|?A)ө*A4|:?2Azս:A=BA4|:?JAzսRA=YͿy>%>yu=G&<ٓH6?ܿ`bM?Ń??\? @?@5?)Ϳy> I٘i)I9 w@Y[G JB=J4gJJJxNE&Ku> Y]\~?yߪnQA>MEb77 9)BֹE[[$>[\~?[ܪ[[[[BZYY i) ]'Ii=: х?))^zх?х? ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033038.803165 s, next control iter: 1743033039.163181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033039.183165 s.,I~,k˳$AAQ@A<k@A\~? AA%"AAZrNA"AZAbAjArAzAAA B0@AAa4?A?A0Ÿ*A&y:?2AgNֽ:A1<BA&y:?JAgNֽRA1<٘i)I9v@YG JC=JJJJ~NE&K Y \~?y۪QAME77{7 9DB)BٹE[[7O>[\~?[ڪ[[[[BZYY i) IdIi7=Y^9 ?)) ??êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033039.223165 s, next control iter: 1743033039.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033039.603165 s.>4,I~,̚$AJ"J*J2J:JBJnJvJA= ף@A+.։@A6\~? A,A%"AArNA"AZAbAjArAzAAA#d0@AX.tAbu@A(YA5=Ag?A0 ?AN?A*A':?2A`ս:AZ<BA':?JA`սRAZ<٘i)I9u@YG JJJJJNE&K Y9\~?yתPAME777 9>B)BܹE[[>[1:\~?[ ت[[[[BZYY i) II?iB h?))h?h?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033039.623165 s, next control iter: 1743033040.003182 s, wait time: 0.380017 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6538 , header.stamp.nsec: 0 0 temperature: 13.565608 * salinity: 33.375397 , density: 1025.000000 * values[0]: 0.579922 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033040.023165 s.Z-I~,$|$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743033040.023348F (some fields omitted in printout)A(\@ALB@A\~? A;A7%"AArNA"AZAbAjArAzAAA6 -0@A ,tAu@ADAr=AVH?A`?AŐ?A*A&:?2ACս:A'Z<BA&:?JACսRA'Z<٘i)I9u@YkG J#JJJJNE&K Y*S\~?yӪLPAME7 9=B)B߹E[[>[T\~?[Wժ[[[[BZYY i:) {II?i;{% .?)).?.?PY66YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033040.063165 s, next control iter: 1743033040.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033040.443165 s.J "J *J 2J :J b?BJ b?nJ 5vJ 8-I~,B]$AAzNJ@A@A]~? A#AIr%"AArNA"AZAbAjArAzAAA:`_1@AD<>h +tAsu@ALAN&=A*\ ?A?An?A*A:?2Aս:A=<BA:?JAսRA=<٘i)I9u@Y!G JJJJJNE&K Ynl\~?yϪOAMEj7Z7B 9:B)B޹E[[S>[go\~?[oҪ[[[[BZYY i) SλIm I?iӽ= ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033040.463165 s, next control iter: 1743033040.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6539, header.stamp.nsec: 00 temperature: 13.565747* salinity: 33.375408, density: 1025.000000* values[0]: 0.579397F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033040.863165 s.+ -I~,>7$AA33333@A#J @A)]~? AA%"AAQrNA"AZAbAjArAzAAA"g1@A,X )tAt@A)rA?=A]?A ?AH?AK*A}:?2Aս:A"<BA}:?JAսRA"Y?y;=rٓH? `]?@? ??<?EN?)R> I٘i)I9t@YG JԏJ)JJJNE&Ku> YP\~?y,˪OAY?ME)7ŧ7 99B)BE[[>[\~?[_Ϫ[[[[BZYY i) {I I?i/ =?))t}=?=?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033040.903165 s, next control iter: 1743033041.263178 s, wait time: 0.360013 s"P\~?)",˪ rAdjusting time to match Gazebo time: 1743033041.283165 s.4R-I~,R$AJ"J*J2J:JC?BJC?nJw5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247517@ elevatorAngleAction: -0.074994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743033041.283267F (some fields omitted in printout)AQ@A@AZA]~? AA|%"AAssNA"AZAbAjArAzAAA(,<߯1@A&tAt@AG6<Aʇ=Ac?A%M?AS"?A*Amu:?2Asս:Ad=BAmu:?JAsսRAd=٘i)I9t@YG JJJJJNE&K Y5\~?yvƪ4OAMEŧ7b7m 9)BE[[>[\~?[̪[[[[BZYY i) 8SII?imwG M{?)) M{?M{?yhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033041.323165 s, next control iter: 1743033041.683177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 65402, header.stamp.nsec: 020 temperature: 13.5658432* salinity: 33.3754042, density: 1025.0000002* values[0]: 0.5789222F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033041.703165 s.ֺ-I~,m$AAףp= @AΌ~4@AX]~? AA3%"AA?6sNA"AZAbAjArAzAAA1@AIF$tAKs@A<A$y=Al?A?A@?A̓*A:?2AqԽ:Ar=BA:?JAqԽRAr=٘i)I9s@YBG JB=JJJJNE&K Y\~?yNANE77 98B)BE[[c>[˽\~?[Ȫ[[[[BZYY i) II?iME; nG?))nG?nG?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033041.723165 s, next control iter: 1743033042.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033042.123165 s.;!-I~,m⇴$AJ"J*J2J:JBJnJvJA)\u@Aб[@Ap]~? AK߫AEz%"AAYsNA"AZAbAjArAzAAAK^=2@AƋr"tAs@AYk<Ax=AE?A(?A?A+U*Ax:?2ADSս:Aca=BAx:?JADSսRAca=٘i)I9s@YG JHC=JJJJNE&K Y\~?y ~NANE7777 9)B[[3>[\~?[Ī[[[[BZYY i) Tu%I_H?iЩ ]Y ?))??/Yd YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033042.143165 s, next control iter: 1743033042.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033042.543165 s.I(-I~,â$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743033042.543280F (some fields omitted in printout)A{Gጹ@A42nj@A#]~? Ax۫Ah%"AA|sNA"AZAbAjArAzAAA1=+q2@A5 |JA tAr@A;ASӊ=A$?A?A`?Aꎼ*A-q:?2A ֽ:A=BA-q:?JA ֽRA=٘i)I9r@YG J䐼JJJJNE&K Y\~?yW#NA NE{7{7, 97B)BE[[>[\~?[ [[[[BZYY i) 15IGH?ixr J?))J?J? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033042.563165 s, next control iter: 1743033042.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6541, header.stamp.nsec: 00 temperature: 13.565969* salinity: 33.375435, density: 1025.000000* values[0]: 0.578412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033042.963165 s.|.-I~,$AJ"J*J2J:J?BJ?nJD5vJAL@Aw2@A]~? A׫Aa%"AAsNA"AZAbAjArAzAAA%u2@AA|tA ,r@AA A~=Ae*?Aj?AI?A^ዼ*A3i:?2Aֽ:A ]=BA3i:?JAֽRA ]=Y:M> I٘i)I9,r@YdG JlJR;JJJNE&Kv> Y \~?y貪MA?*?NE77 96B)BE[[K>[ ]~?[[[[[BZYY i) vDILH?iq޾B] ?))x??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033042.983165 s, next control iter: 1743033043.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033043.383165 s.5-I~,4ش$AAQ@A]4d<@Ae]~? AcӫA+^%"AAsNA"AZAbAjArAzAAA^ͨ 3@A%pRtAq@AGA=A/?A*?A?Ad?Aҷ?A]➼*A(V:?2Aս:Af=BA(V:?JAսRAf=٘i)I9Bp@Y:G JšJJJJNE&K YR]~?y+KLA%NE77 90B)BE[[&?[6o]~?[Ī[[[[BZYY i) IH?i ʻ 4?))4?4?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033044.663165 s, next control iter: 1743033045.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6543, header.stamp.nsec: 00 temperature: 13.566172* salinity: 33.375473, density: 1025.000000* values[0]: 0.577463F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033045.063165 s.P-I~,N D$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743033045.063286F (some fields omitted in printout)Afffff@APL@A ^~? AA%"AAFtNA"AZAbAjArAzAAA۩4@A>fotA;o@A~|<Acl=AC?A?Az?A*AK:?2Aս:A&=BAK:?JAսRA&=Y^ ?(D?yg=}<ٓH?`!) Œ?` ?V?ڤ?`_(]? ?)^ ? I٘i)I9o@YG JJs<JJJNE&Kv> YNg]~?yKA(D?+NE7)7 9)B[[?[e]~?[¥[[[[BZYY i) IGH?i4-lݻ T ?))T ?T ?yt૽ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033045.083165 s, next control iter: 1743033045.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033045.483165 s.J "J *J 2J :J ?BJ ?nJ 5vJ _W-I~,^$AAя@AJVշ@A ^~? AļA%"AAftNA"AZAbAjArAzAAAE;YT4@Aq tA,o@Ae<AkA=AI?A`?A@z=?A*AvA:?2Ahֽ:A=BAvA:?JAhֽRA=٘i)I9,o@YG JDJJJJNE&K Y{]~?y}KA0NE77B 9/B)BE[[?[c]~?[[[[[BZYY i) 1I?H?i: ?))??֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033045.503165 s, next control iter: 1743033045.883192 s, wait time: 0.380027 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6544, header.stamp.nsec: 00 temperature: 13.566331* salinity: 33.375473, density: 1025.000000* values[0]: 0.576898F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033045.903165 s.]-I~,y$AA ףp=@AZ#@AM5^~? AطAWo%"AAtNA"AZAbAjArAzAAA ax4@Ah/9 tAn@A<A6=AqN?AS?A`?A*A7:?2AIֽ:Aԯ=BA7:?JAIֽRAԯ=٘i)I9n@Y9G JoJJJJNE&K Y]~?yۊKA5NE7 9,B)BE[[$?[%]~?[[[[[BZYY i) IH?i F~ XԵ?))XԵ?XԵ?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033045.923165 s, next control iter: 1743033046.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033046.323165 s.rd-I~,$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033046.323295F (some fields omitted in printout)A\@A_F܎@AI^~? A˲A%"AAХtNA"AZAbAjArAzAAAoG4@A6]mtAe n@A:A=AgS?A`;?A+?A@۫*A".:?2Ac;׽:A=BA".:?JAc;׽RA=٘i)I9 n@YG J JJJJNE&K YU]~?yJA;NE{7{7m 9+B)BE[[*?[]~?[y[[[[BZYY i) /IIsH?i|OP ¸?))¸?¸?~ުYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743033046.343165 s, next control iter: 1743033046.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6545*, header.stamp.nsec: 0*0 temperature: 13.566483** salinity: 33.375481*, density: 1025.000000** values[0]: 0.576317*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033046.743165 s.Wk-I~,q$AAGz@A+d@A]^~? AA]4%"AAwtNA"AZAbAjArAzAAA 5@AfCtA{m@Ae_A=AMbY?A Z?A i?A*A%:?2A+׽:A=BA%:?JA+׽RA=٘i)I9{m@YG J?JJJJNE&K Y]~?y~HJA@NEb7ŧ7 9*B)BE[[0?[]~?[[[[[BZYY i) զIH?iV% &?))&?&?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033046.763165 s, next control iter: 1743033047.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033047.163165 s.t}r-I~,qʵ$AJ"J*J2J:JBJnJvJA@Awe@Alq^~? AOA%"AAtNA"AZAbAjArAzAAAL(+I5@Aed٤tAl@AeA?=Ax^?A\?A@8?AӖ*At:?2A׽:AX=BAt:?JA׽RAX=Y:&?oS^?y =ߍٓH ??@s8V?`4X?a?`?r@x6?):&? I٘i)I9l@Y0G JήJr<JJJNE&K5y> Y]~?ywIAS^?FNESI7SI7 9)ïB[['6?[Q]~?[[[[[BZYY i) .IH?i e ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033047.183165 s, next control iter: 1743033047.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033047.583165 s.x-I~,R$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033047.583273F (some fields omitted in printout)AR둹@AYnё@A^~? A⢫AV%"AA.uNA"AZAbAjArAzAAA{Z5@A'n^sAPl@A@AL=A$c?A |F?A _?A鹼*Ab:?2A.]׽:AW=BAb:?JA.]׽RAW=٘i)I9Pl@YG J JJJJNE&K Y#]~?y7qgIAKNE777-" 9)B)ƯBE[[h?A`?A ^M?AePļ*A :?2AAֽ:AH=BA :?JAAֽRAH=٘i)I9k@YrG JtJJJJNE&K Y^]~?yjHAPNE7% 9&B)ȯBE[[BC?[x(^~?[)}[[[[BZYY i) ἼIzH?iT{ z~?))z~?z~?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033048.043165 s, next control iter: 1743033048.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033048.423165 s.u-I~,$AA(\’@A|E{@AV^~? AA%"AA9uNA"AZAbAjArAzAAA(hJ5@A~ׇsA)k@AZt?<AԾ=Arm?A`}?A`?Aͼ*A:?2A|ֽ:A=BA:?JA|ֽRA=٘i)I9k@Y G JȼJJJJNE&K Y^~?ycHAVNE77X) 9$B)̯BE[[I?[>^~?[v[[[[BZYY i) ;ļI&lH?i & ry?))ry?ry?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033048.443165 s, next control iter: 1743033048.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6547, header.stamp.nsec: 00 temperature: 13.566857* salinity: 33.375481, density: 1025.000000* values[0]: 0.575036F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033048.843165 s.J "J ތ-I~*J2J,5$A:J5?BJ5?nJ\5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200602 time: 1743033048.843372F (some fields omitted in printout)AHz.@A#M@A^~? A呫AKK%"AAUuNA"AZAbAjArAzAAA-6@ACWsAXj@Aʍ<AH=Ar?A%F?A@?AvӼ*A9?2Agֽ:A=BA9?JAgֽRA=٘i)I9Xj@YG JмJJJJNE&K Y^~?y]HA[NEb7, 9#B)ЯBE[[=O?[S^~?[o[[[[BZYY i) ˼I]H?i) y?))y?y?aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033048.883165 s, next control iter: 1743033049.243278 s, wait time: 0.360113 s rAdjusting time to match Gazebo time: 1743033049.263165 s.-I~,P$AA@Azlˀ@Al^~? AA%"AA quNA"AZAbAjArAzAAAPc6@AScsAi@Aab<Ap=A#x?AX?A@J?A Rռ*AA9?2AWֽ:A=BAA9?JAWֽRA=YYZ@?rx?y=?c<ٓH@?`a#?PN?;?P? :5^?T?)YZ@? I٘i)I9i@Y3G JռJ;<JJJNE&Kx> Y#^~?yUGArx?`NE77770 9)֯B[[QU?[g^~?[i[[[[BZYY i) ?ҼINH?i2 l?))l?l?YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033049.283165 s, next control iter: 1743033049.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 65482, header.stamp.nsec: 020 temperature: 13.5670802* salinity: 33.3755152, density: 1025.0000002* values[0]: 0.5742622F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033049.683165 s.l-I~,gk$AJ"J*J2J:JBJnJvJAQ@A듹@A^~? AA1%"AAԋuNA"AZAbAjArAzAAA*6@AERsAh@A2/M;Al=AÛ}?A?A@L?Au4Ӽ*A9?2A,׽:A7=BA9?JA,׽RA7=٘i)I9h@Y G JԼJJJJOE&K Y3^~?yN&GAfNEj7Z74 9B)ׯBE[[Ep[?[{^~?[a[[[[BZYY i) ڼId?H?iy8 e?))e?e??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033049.683165 s, next control iter: 1743033050.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033050.103165 s.-I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743033050.103311F (some fields omitted in printout)A= ףp@AGV@A^~? AAQ%"AAuNA"AZAbAjArAzAAAik;P6@AIsZsAyBh@Ab Ak=A?Aia?A@?AeIм*A9?2A׽:A=BA9?JA׽RA=I٘i)I9Bh@Y[ G J ҼJJJJ OE&K YC^~?yLGFAkNE77{77 9)ݯB[[a?[6^~?[Z[[[[BZYY i) ;Id/H?iΔy> f?))f?f?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033050.123165 s, next control iter: 1743033050.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033050.523165 s.-I~,{$AJ"J*J2J:J?BJ?nJ 5vJA(ܔ@A/6”@A_~? AyA%"AAuNA"AZAbAjArAzAAAq6@AlnsAg@A숼Aw=A??A !?AX=?Atϼ*A9?2A3׽:AO>=BA9?JA3׽RAO>=٘i)I9g@Y G JϼJJJJOE&K YS^~?y @7FApNEb77C; 9B)B E[[g?[W^~?[PS[[[[ZZ¸BZYY i¸=) ;ռI H?i*B m?))m?m?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033050.543165 s, next control iter: 1743033050.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6549, header.stamp.nsec: 00 temperature: 13.567330* salinity: 33.375500, density: 1025.000000* values[0]: 0.573500F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033050.943165 s.Zd-I~,J]$AAzG@A0-@A_~? AYsA %"AAwuNA"AZAbAjArAzAAA8L2/7@A5SWsAf@A|A!=A׆?A_?A?A0м*A9?2A׽:A8=BA9?JA׽RA8=٘i)I9f@Y G JGϼJJJJOE&K Yc^~?y8EAvNE77{7> 9)B[[m?[^~?[K[[[[ZZBZYY i) r<ɼIpH?ib\E xx?))xx?xx?wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033050.963165 s, next control iter: 1743033051.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033051.363165 s.-I~,p>׶$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:J< rudderAngleAction: -0.261799BJ> elevatorAngleAction: 0.082952nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743033051.363269F (some fields omitted in printout)A3333@A^'@A!_~? AlA^%"AAuNA"AZAbAjArAzAAA,K_7@A'sAr"f@A9ŻAM=AX?A!?A@?AT*Ad9?2A׽:AI<BAd9?JA׽RAI Yp^~?y 1JEAG?{NE{7nB 9B)BE[[ %t?[^~?[D[[[[ZZBZYY i) GI:G?iOL w?))w?w?y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033051.383165 s, next control iter: 1743033051.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6550&, header.stamp.nsec: 0&0 temperature: 13.567575&* salinity: 33.375534&, density: 1025.000000&* values[0]: 0.572724&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033051.783165 s.X-I~,$AAQ@A?s֧@A0_~? AifA%"AAevNA"AZAbAjArAzAAAmck7@AsA Fe@A;Af=AӋ?A 9V?A?Am*A9?2A'ֽ:AS<BA9?JA'ֽRAS<٘i)I9Fe@Y G J6C=JJJJOE&K Yw~^~?yT)DA RDNE77F 9B)B E[[Yz?[N^~?[3<[[[[ZZBZYY i) zSIG?ieR S}?))S}?S}?yH=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033051.803165 s, next control iter: 1743033052.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033052.203165 s.-I~J"J, $A*J2J:J~?BJ~?nJ5vJAףp=@AV$&p@A?_~? A_A%"AAevNA"AZAbAjArAzAAA0=7@Ag)sAld@Ax<Amu=A*^?AȎ?A`[?Av*A9?2Aݟֽ:Akw<BA9?JAݟֽRAkw<٘i)I9ld@Y G JcJJJJ$OE&K Y^~?y!`DANE77I 9)B[[J?[/^~?[-4[[[[ZZBZYY i) RbIyG?iW  ?)) ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033052.223165 s, next control iter: 1743033052.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033052.623165 s.W-I~,]'$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082952< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033052.623275F (some fields omitted in printout)A)\@A qۖ@AiN_~? AYA%"AA5vNA"AZAbAjArAzAAApђN7@AA%KsAZc@Aq<A}0=A?A?A ?A/ռ*A9?2Aֽ:A?E;BA9?JAֽRA?E;٘i)I9c@Y G JJJJEJ*OE&K Yn^~?yCANE77{7.M 9B)BE[[bk?[^~?[+[[[[ZZBZYY i) nI"G?iMZ X?))X?X?xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033052.643165 s, next control iter: 1743033053.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6551 , header.stamp.nsec: 0 0 temperature: 13.567906 * salinity: 33.375549 , density: 1025.000000 * values[0]: 0.571762 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033053.043165 s.-I~,B$AJ"J*J2J:JBJnJvJA{Ga@Ar/0G@Az\_~? AMRAB%"AAoKvNA"AZAbAjArAzAAA[ ]8@AdǛsAc@A;AvV<Am?A ?A?A:1*Aa9?2Aֽ:ABAa9?JAֽRA٘i)I9c@Y( G JAżJJJJ/OE&K Y^~?y&vCANEŧ77P 9)B[[ލ?[2 _~?[#[[[[ZZBZYY i) h{IG?i\$\ ?))??XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033053.083165 s, next control iter: 1743033053.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033053.463165 s.Y-I~,]$AA̗@A"@Aj_~? AlKA%"AAt`vNA"AZAbAjArAzAAA*;8@A-SsAb@A瞻A=<A Yݱ^~?y jCA;?NE{7j7XT 9B)BE[[~?[=_~?[>[[[[ZZBZYY i@=) vIG?i^3b ?))??B\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033053.503165 s, next control iter: 1743033053.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6552, header.stamp.nsec: 00 temperature: 13.568156* salinity: 33.375515, density: 1025.000000* values[0]: 0.570987F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033053.883165 s.y-I~,Qx$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033053.883302F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@A ;@AHw_~? AtDA&%"AAtvNA"AZAbAjArAzAAA)Kc8@AzPsA(b@AvAhA Ә?AoY?A &a?A;!*A9?2Akqֽ:AοBA9?JAkqֽRAο٘i)I9(b@Y G J UC=JJJJ:OE&K Yм^~?y^CANE77W 9)B[[֌?[&_~?[[[[[ZZBZYY iH=) sI>G?ifWf ?))??)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033053.903165 s, next control iter: 1743033054.283182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033054.303165 s.S-I~,jg$AAq= ף@Ax‰@A_~? Ag=A%"AAtvNA"AZAbAjArAzAAA3ǽR/8@AWĿsA a@Al`A[A;h?A?A?A*A{9?2Acֽ:ACBA{9?JAcֽRAC٘i)I9a@Y G J?JJJJ?OE&K Y^~?yRCANEj7Z7[ 9)B[[?[{4_~?[ [[[[ZZBZYY i) _IzG?i>Ej ?))??)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033054.343165 s, next control iter: 1743033054.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6553., header.stamp.nsec: 0.0 temperature: 13.568266.* salinity: 33.375553., density: 1025.000000.* values[0]: 0.570612.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033054.723165 s.-I~,H$AJ"J*J2J:JBJnJvJA(\@AHK@AB_~? AF6A:%"AAivNA"AZAbAjArAzAAA(W8@AHȇjsA5a@A6AsA?A?A ?ACMʹ*A9?2Aֽ:AмBA9?JAֽRAм٘i)I9a@Yz G J)B=JJJJEOE&K Y^~?yFCANE7ŧ7_ 9B)BE[[q+?[A_~?[[[[[BZYY i) )LIfG?i=El @?))@?@?yJ=3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033054.763165 s, next control iter: 1743033055.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033055.143165 s.S/-I~,)ɷ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033055.143270F (some fields omitted in printout)AGz@Ax)u`@A _~? A/A%"AAvNA"AZAbAjArAzAAAx8@AnsAa@AR {:Av1A?A'?A ?AvO;*A09?2A)ֽ:A}BA09?JA)ֽRA}缙٘i)I9a@Y G J:C=JJJJJOE&K Y^~?ys:CANEZ7Z7b 9B)BE[[W?[N_~?[[[[[BZYY i) {8IRG?il &?))&?&?n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033055.163165 s, next control iter: 1743033055.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033055.563165 s.-I~J,R $A"J*J2J:J?BJ?nJ(5vJAffff晹@AP̙@AX_~? A'AhS%"AA-vNA"AZAbAjArAzAAAg S8@Aז͒sAL b@AnJ<A9WA_?A@s?A%E?A;*A9?2A>׽:ANBA9?JA>׽RANY=?MJ?yg5W^J<ٓHV?ڞ"#l?]??M??)=? I٘i)I9 b@Y G Ji;JVJJJOOE&Kx> Y^~?yCAJ?NE{7j7Cf 9)B[[?[Y_~?[[[[[BZYY ig=) a((I>G?i伿q ;?));?;?**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033055.603165 s, next control iter: 1743033055.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6554, header.stamp.nsec: 00 temperature: 13.568198* salinity: 33.375553, density: 1025.000000* values[0]: 0.570582F (some fields omitted in printout)B^~?)B rAdjusting time to match Gazebo time: 1743033055.983165 s.-I~,$AAQ@A7@A)_~? Ap A5%"AAvNA"AZAbAjArAzAAA6۪9@A1sAAb@A-ً<A&wA?A?Aw?A<*A9?2AhL׽:ABA9?JAhL׽RA٘i)I9Ab@Y G J<JJJJUOE&K Y^~?yةCANEb77i 9)B[[?[d_~?[[[[[BZYY i) I)G?i0Nu VV?))VV?VV?|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033056.023165 s, next control iter: 1743033056.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033056.403165 s.&.I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056576< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033056.403292F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AC,c@A}_~? AAVr%"AAvNA"AZAbAjArAzAAAK\jn59@AF2sA%b@A{O<A螈AN?A.?A?Aç_<*A|9?2A ׽:A BA|9?JA ׽RA ٘i)I9b@Y G J=<B=JJJJZOE&K YV^~?y$ЩDANEj7j7nm 9B)BE[[Gڟ?[o_~?[ܩ[[[[BZYY i=) IG?iUww @))@@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033056.423165 s, next control iter: 1743033056.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6555", header.stamp.nsec: 0"0 temperature: 13.568053"* salinity: 33.375557", density: 1025.000000"* values[0]: 0.570882"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033056.823165 s. .I~,)4$AA\(@A[@AV_~? AA%"AAWvNA"AZAbAjArAzAAAkGS9@A\]sAb@A:A=LA?ADO?At?AĊ<*AM9?2AԘֽ:A BAM9?JAԘֽRA ٘i)I9b@Y$ G Jky<C=JJJJ`OE&K Y^~?yǩ\DANE77{7q 9 B)BE[[1 ?[x_~?[]ө[[[[BZYY i) `ICG?iAx gL@))gL@gL@y'h=X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033056.843165 s, next control iter: 1743033057.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033057.243165 s..I~,XO$AJ"J*J2J:JBJnJvJAGz@Acz@A_~? A AP%"AAvNA"AZAbAjArAzAAAwo9@AS.8dsA9vc@Aq9,AA?A\n?A?AA<*A.9?2A47ֽ:ABA.9?JA47ֽRA٘i)I9vc@Yo G J <JJJJeOE&K Y_~?yFDANE7t 9)B[[T8?[z_~?[ɩ[[[[BZYY i) ˻ͻIvF?iw X@))X@X@yX=H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033057.263165 s, next control iter: 1743033057.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743033057.663165 s..I~,qj$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033057.663293F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6556, header.stamp.nsec: 00 temperature: 13.567810* salinity: 33.375576, density: 1025.000000* values[0]: 0.571419F (some fields omitted in printout)A@AB囹@A_~? AgA *%"AA wNA"AZAbAjArAzAAA9@A=sAdd@AAmA!?AE?A)?A<*AF9?2Aֽ:A8BAF9?JAֽRA8Y??L?yhJٓH`l? cPP??`BTH?q`?)?? I٘i)I9d@Y G Jx<J^JJJjOE&Kw> Y5 _~?y EAL?NE)7)7.x 9)B[[He?[_~?[[[[[BZYY i) IXF?iXĿwR{ l@))l@l@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033057.683165 s, next control iter: 1743033058.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033058.083165 s.D!.I~, S$AJ"J*J2J:JH?BJH?nJc5vJARk@AmQ@A_~? AAھ%"AAwNA"AZAbAjArAzAAAx1x9@A<@sAd@AoAbAò?A@E?AQ?A<*A9?2A[ֽ:ABA9?JA[ֽRA٘i)I9d@Y G Jo<JJJJpOE&K Y_~?ysEANE777{ 9B)BE[[;?[ڐ_~?[[[[[BZYY i) RxI F?iƿ<} @))@@`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033058.123165 s, next control iter: 1743033058.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033058.503165 s.'.I~,e4$AAp= ל@AG󼜹@A_~? A AT%"AA;%wNA"AZAbAjArAzAAA}̻9@A(OAbsA'e@APAA-y?A@qn?A`v?Aa<*Ax9?2Aֽ:A% BAx9?JAֽRA% ٘i)I9'e@Yw G J`<JJJJuOE&K Y_~?y[EANEŧ77Y 9)ޯB[[į?[k_~?[_[[[[BZYY i) NfIF?iƿt~ @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033058.543165 s, next control iter: 1743033058.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6557, header.stamp.nsec: 00 temperature: 13.567487* salinity: 33.375565, density: 1025.000000* values[0]: 0.572108F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033058.923165 s.J "J *J 2J :J u?BJ u?nJ 5vJ :..I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743033058.923288F (some fields omitted in printout)A(\B@Ahx(@A+_~? AMA%"AA0wNA"AZAbAjArAzAAAt9@A sAge@A3<A%nA64?A t?A ?AYS<*A29?2A=׽:ArBA29?JA=׽RAr٘i)I9e@Y G J<JJJJzOE&K Y~_~?yBFANE777 9)ٯB[[?[7_~?[[[[[BZYY i) i*ITF?izƿ ~ ! @))! @! @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033058.943165 s, next control iter: 1743033059.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033059.343165 s.<5.I~,ո$AAHz@Ao$@A_~? AAY%"AA;wNA"AZAbAjArAzAAAy u9@Ao\IsALf@A<AFA1?A̲?A?Ab<*A9?2Ak׽:AFBA9?JAk׽RAF٘i)I9Lf@Y) G J<B=JJJJOE&K Y!_~?yFANE 9)ԯB[[$?[=_~?[ [[[[BZYY i) F>ܺI!F?i ſ:| d @))d @d @;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033059.383165 s, next control iter: 1743033059.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6558&, header.stamp.nsec: 0&0 temperature: 13.567183&* salinity: 33.375572&, density: 1025.000000&* values[0]: 0.572825&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033059.763165 s.@;.I~,E$AJ"J*J2J:JBJnJvJA@A@AT_~? A۪A%"AAEwNA"AZAbAjArAzAAAZ9@AsAf@A*<A͘A~?A@?A@?Acϩ<*AV9?2AG׽:A<BAV9?JAG׽RA<YK?]W?yȘ,<ٓH`W?@ɂ?? ?_`?`"e?@)?)K? I٘i)I9f@Y G J<C=J,:JJJOE&Kx> Y$_~?yQGAW?NEb77 9B)ίBE[[S?[{_~?[R[[[[BZYY i)  FIkF?iƿ~ 0F @))0F @0F @?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033059.783165 s, next control iter: 1743033060.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033060.183165 s.B.I~, $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743033060.183297F (some fields omitted in printout)AQ@A@jk@A"`~? AӪAj%"AANwNA"AZAbAjArAzAAA* :@AtLsAjg@A_;AVAp?A?A?A<*A9?2ACֽ:A~BA9?JACֽRA~٘i)I9jg@Y G Jo<B=JJJJOE&K Y'_~?ywGANE)7ŧ7 9)ɯB[[?[_~?[[[[[BZYY i)  ,9IDVF?iǿP F@))F@F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033060.223165 s, next control iter: 1743033060.583192 s, wait time: 0.360027 s rAdjusting time to match Gazebo time: 1743033060.603165 s.14I.I~,&$AJ"J*J2J:JBJnJvJA= ף@A4ތ֞@Am`~? A˪AO&"AAAWwNA"AZAbAjArAzAAAI?:@ATbxzsAg@A˛A┽A?A"?A`9 ?Aa׭<*A9?2Aֽ:ABA9?JAֽRA٘i)I9g@Y0 G J<C=JJJJOE&K Y)_~?yyGANE7777D 9)ůB[[9?[_~?[|[[[[BZYY i) P:I@F?i{ǿV {k@)){k@{k@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033060.623165 s, next control iter: 1743033061.003174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6559 , header.stamp.nsec: 0 0 temperature: 13.566884 * salinity: 33.375580 , density: 1025.000000 * values[0]: 0.573534 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033061.023165 s.ZP.I~, |A$AA(\@ACB@A5 `~? AêAW&"AA^wNA"AZAbAjArAzAAAQi *:@AiusASh@AFsA[A_?AG?A`"?Ac<*A-9?2ADIֽ:A@BA-9?JADIֽRA@٘i)I9h@Y G J<B=JJJJOE&K Y@,_~?yqDHANE7{7ٔ 9)B[[?[_~?[r[[[[BZYY i) ;I+F?i'ƿ} @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033061.063165 s, next control iter: 1743033061.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033061.443165 s.2V.I~,)]\$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743033061.443281F (some fields omitted in printout)Azǟ@A.Ȗ@Ay`~? AA&"AAewNA"AZAbAjArAzAAA}3@ 7:@AFpsA@i@A AʋA??A`μ?A 6?A<*A99?2A^ֽ:ABA99?JA^ֽRA٘i)I9i@Y G J<C=JJJJOE&K Y._~?y@hHANE{7j7n 9B)BE[[?[_~?[0i[[[[BZYY i) @;IyF?iÿz @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033061.463165 s, next control iter: 1743033061.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6560, header.stamp.nsec: 00 temperature: 13.566598* salinity: 33.375584, density: 1025.000000* values[0]: 0.574262F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033061.863165 s.+].I~,>w$AA33333@Am@A7`~? AA!&"AAkwNA"AZAbAjArAzAAAQ|dB:@AW=wksA_i@A:!AlAsJ?A ?AH?A<*A9?2Akֽ:As^BA9?JAkֽRAs^YjT?`?y6@"ٓH8@Ղ`>?&@ʒ?;`F?)jT? I٘i)I9i@Y6G JΦ<J9f<JJJOE&KOx> Y._~?yq_ IA`?OEb7b7 9)B[[GC?[_~?[a_[[[[BZYY i=) };IRF?iĿ{ ;&@));&@;&@ο*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033061.903165 s, next control iter: 1743033062.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033062.283165 s.6Rd.I~,$AJ"J*J2J:JBJnJvJAQ@Ak{@Am`~? AA &"AA9qwNA"AZAbAjArAzAAA{ L:@A^9fsA/j@A/;A_-A?Aj(?AAX?Al<*Af9?2A} ׽:AJBAf9?JA} ׽RAJ٘i)I9/j@YG J<JJJJOE&K Y@._~?yVhIAOE7777 9)B[[s?[_~?[U[[[[BZYY i) ŝ;I/E?iĿl{ @))@@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033062.323165 s, next control iter: 1743033062.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6561., header.stamp.nsec: 0.0 temperature: 13.566299.* salinity: 33.375584., density: 1025.000000.* values[0]: 0.574923.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033062.703165 s.ٺj.I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074666< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743033062.703299F (some fields omitted in printout)Aףp= @A]lZ)@A`~? A棪AZ&"AAuwNA"AZAbAjArAzAAAmS=T:@AU>bsAȪj@AX<AA?AK?A d?AM<*A9?2Ae׽:ABA9?JAe׽RA󼙘٘i)I9j@YG JT<JJJJOE&K Y-_~?yMIA OE7{7/ 9B)BE[[I?[Z_~?[K[[[[BZYY i) ;I2E?iHÿy L@))L@L@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033062.723165 s, next control iter: 1743033063.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033063.123165 s.8q.I~,aǹ$AJ"J*J2J:JBJnJvJA)\u@A[@A?`~? A؛A&"AAeywNA"AZAbAjArAzAAAwZ:@A"S']sAk@A1<AۅAX?A?An?A8K<*A9?2Ald׽:AhBA9?JAld׽RAh٘i)I9k@YG J/<JJJJOE&K Y-_~?yE%JAOEZ7Z7Ħ 9)B[[?[Z_~?[B[[[[BZYY i) p};IsE?iw n@))n@n@yܘ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033063.143165 s, next control iter: 1743033063.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033063.543165 s.Ix.I~,$AA{G᡹@A֊6ǡ@A`~? AǓAb&"AAF|wNA"AZAbAjArAzAAA&_:@Aas:XsAђk@AG<AUA[?A@ H?Au?AkK<*A]9?2A7׽:A\BA]9?JA7׽RA\٘i)I9k@Y`G J<B=JJJJOE&K Ya-_~?y7<JAOEŧ7b7Y 9)B[[?[_~?[K8[[[[BZYY i) _;I E?ir ,v@)),v@,v@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033063.563165 s, next control iter: 1743033063.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6562, header.stamp.nsec: 00 temperature: 13.566066* salinity: 33.375599, density: 1025.000000* values[0]: 0.575506F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033063.963165 s.~.I~,@$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J< rudderAngleAction: -0.261799"J> elevatorAngleAction: 0.074666*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000500:JBJ dt: 0.420014nJ2 time: 1743033063.963306vJF (some fields omitted in printout)AL@Aۻ2@A`~? AA2&"AA[~wNA"AZAbAjArAzAAAdSb:@A RLSsAql@AUV9:AAi?A`\s?Az?AB<*A9?2Aֽ:ABA9?JAֽRAY[?h?yT9:ٓH`?@? ?* 1@R?`*G?8?)[? I٘i)I9l@YG J<C=J';JJJOE&K,x> Y8*_~?yv3JAh?OE77 9)B[[['?[ _~?[.[[[[BZYY i) E KA!OEŧ7b7 9B)BE[[/S?[_~?[$[[[[BZYY i) r( elevatorAngleAction: 0.074666< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743033065.223293F (some fields omitted in printout)A(\@AvöEu@A `~? AwsA@ &"AAwNA"AZAbAjArAzAAADc:@A=DsA=m@A{gAcA?A@%Az?A<*A9?2A}ֽ:A5 BA9?JA}ֽRA5 ٘i)I9m@YG J=<JJJJOE&K Y _~?y5KA,OEŧ7b7 9)B[[?[ږ_~?[[[[[BZYY i) #; Y_~?yLAs?7OE7{7ڿ 9B)BE[[?[_~?[[[[[BZYY i) Y elevatorAngleAction: 0.074666< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743033066.483297F (some fields omitted in printout)AѤ@Aq= ׷@Ag`~? AE[A&"AAzwNA"AZAbAjArAzAAA&uU:@AR_¼5sAn@A#<A嗓A5?AA`"c?A<*A}9?2Aao׽:AOBA}9?JAao׽RAO٘i)I9n@YsG Jܓ<JJJJOE&K Y_~?y?MA elevatorAngleAction: 0.083703< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743033067.743291F (some fields omitted in printout)AGz@A'd@A`~? A7CAG &"AAmwNA"AZAbAjArAzAAA-L8:@A9bh 'sAހp@AĻAlAE?AsjA@75?A<*Am9?2Abֽ:AImBAm9?JAbֽRAIm٘i)I9p@Y`G J<B=JJJJOE&K Y^~?yn?NALOE77j7/ 9)|B[[%u?[d_~?[ڨ[[[[BZYY i)  Y^~?yݨNAx?ROEj7 9)xB[[?[Y_~?[ Ѩ[[[[BZYY i) B elevatorAngleAction: 0.083703< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033069.003334F (some fields omitted in printout)Ap= W@AO<@A`~? Ad+Au &"AAYwNA"AZAbAjArAzAAAW :@AqbȂsA5r@A\AA ?A`IÿA s?A<*A9?2A-ֽ:A<[BA9?JA-ֽRA<[٘i)I95r@YjG JO<JJJJOE&K YN^~?yŲ{OA\OEb7b7 9)pB E[[?[KB_~?[e[[[[BZYY i)  elevatorAngleAction: 0.083703< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743033070.263309F (some fields omitted in printout)A@A#J{@A_~? AAY&"AA=wNA"AZAbAjArAzAAA)">9@A=M.) sAs@AV<AA̰?A`sɿA@R?Ap<*A\9?2AQ׽:AlBA\9?JAQ׽RAlY v?Y?yHlq<ٓHmٿ [:/?&? lڿ@#@)?~??) v? I٘i)I9s@Y{G J<J{lJJJ PE&K`x> YU^~?yPA?lOE{7j7 9B)dBE[[]@[/_~?[⥨[[[[BZYY i)  ^ elevatorAngleAction: 0.083703< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743033071.523323F (some fields omitted in printout)A(ܩ@Au©@A_~? AAP&"AAwNA"AZAbAjArAzAAAlB9@ArATu@AN?A௽A@AοA'?A7<*A9?2Ar ֽ:AwBA9?JAr ֽRAw٘i)I9u@YG J<C=JJJJPE&K Y^~?ynRA SD}OE77o 9B)VBE[[@[^~?[[[[[BZYY i) p[$AA3333@AL@A_~? AAG&"AAwNA"AZAbAjArAzAAAt9W9@AүrA@w@A^AiA@A@3ѿA?A4<*A49?2A<>ֽ:ABA49?JA<>ֽRAY{?@ye_ٓH_߿.@П?a?`J߿@%?dދ?){? I٘i)I9@w@Y|G J2<B=JBJJJ&PE&Kw> Y^~?yRA@OE77 9B)NBE[[ @[^~?[~[[[[BZYY i)  elevatorAngleAction: 0.092660< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743033072.783328F (some fields omitted in printout)AQ@AX@A_~? A+A&"AAvNA"AZAbAjArAzAAA=g99@AiBrAJw@A?A&A @AҿA@?Au<*A9?2AVֽ:ATBA9?JAVֽRAT٘i)I9w@YG J5<C=JJJJ,PE&K Y~^~?yuSAOEj7j70 9)HB[[f @[%^~?[sv[[[[ZZZZ¸>BZYY i¸>Dת) BE[[@[^~?[g[[[[ZZZZBZYY i) ! YD^~?y f-UAM @OE7777 9 B)4BE[[[@[o^~?[Y[[[[ZZZZBZYY i) ji8@Ab$rAi|@AmAۼAS@A<׿A r\?A9<*A9?2Aֽ:A /:BA9?JAֽRA /:٘i)I9i|@YG Jb<JJJJLPE&K Y4#^~?yWUAOE 9B)*BE[[@[G^~?[L[[[[ZZZZBZYY i) #5vJA(\@ARAE@Al_~? AγA&"AAuyvNA"AZAbAjArAzAAA;ʊA8@AarA|@AyAiA>.@A`@ؿA?A Ň<*A,9?2Aֽ:AmG<BA,9?JAֽRAmG<٘i)I9|@YG J<JJJJQPE&K Y^~?yP&VAOEŧ7ŧ7E 9)&B[[@[l3^~?["F[[[[ZZZZBZYY i) 5vJ H/I~,c $$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033076.563293F (some fields omitted in printout)Affff殹@A~*O̮@AP_~? AA&"AAuPvNA"AZAbAjArAzAAA7@Aɕ*rA]}@A ;As^<A'@AٿAŠ?A;*A9?2A 5ֽ:A<BA9?JA 5ֽRAJJJ\PE&Kv> Y]~?yB\VA@OEZ7SI7p 9B)E[[v@[& ^~?[9[[[[ZZZZBZYY i r) *W$AAQ@A7@AB_~? AjAG&"AA:vNA"AZAbAjArAzAAAD7@AC.rA}@Ai<A- =A @AuڿA ]?AZ۷9*A9?2Aս:A-<BA9?JAսRA-<٘i)I9}@YaG JW;JJJJbPE&K Y]~?y&<>VAOE77 9)%B[[6@[[]~?[3[[[[BZYY i/) E@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033077.003165 s, next control iter: 1743033077.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033077.403165 s. 'V/I~,>Y$AJ"J*J2J:JBJnJvJA ףp@A _@A>3_~? A˘A&"AA$vNA"AZAbAjArAzAAA=07@A:rAɗ}@AW0<A9=A-T@A =ۿA`?A*A9?2Aս:A0<BA9?JAսRA0<٘i)I9}@YXG JJJJJgPE&K Y#]~?y5!VAOE7777 9B)'BE[[ia@[H]~?[/.[[[[BZYY i) 835vJAGz@A/dz@A8_~? A؋A&"AAuuNA"AZAbAjArAzAAA8y77@A8E rA(}@AOAWz=A@AܿA`?A%6*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9(}@YG JDJJJJrPE&K Y]~?yJ(UAOEj7j7' 9B)-BE[[@ @[w]~?[V#[[[[BZYY i)   Y]~?yN"UAI@OE77[+ 9B)2BE[[!@[h]~?[#[[[[BZYY i~j) ;IC?iFϫ ?))?ʇR@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033078.683165 s, next control iter: 1743033079.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033079.083165 s.Dq/I~,SŽ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057321< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033079.083279F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@A4OpQ@A^~? AMA&"AAuNA"AZAbAjArAzAAAut6@AskxrAo|@ATA=A@AH޿A ?AU*A:9?2Az׽:A; =BA:9?JAz׽RA; =٘i)I9o|@YG JoJJJJ|PE&K Y9{]~?yS.UAOEb77. 9)5B[[Q #@[!]~?[![[[[BZYY i) |;IC?i4C  ">)) ">S@{ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033079.103165 s, next control iter: 1743033079.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033079.503165 s.w/I~,U4$AAp= ױ@A}𼱹@A^~? A0yAa8&"AA+uNA"AZAbAjArAzAAAQx6@AIpBrA#{@A(LAy=AN@A!߿A Ś?A*A9?2A<ֽ:A =BA9?JA<ֽRA =٘i)I9{@Y\G J JJJJPE&K Y}f]~?yXTAOEj7SI72 9B):BE[[_$@[j]~?[Q[[[[BZYY i) ;I@C?iŻ{Xp K<))K<jrU@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033079.543165 s, next control iter: 1743033079.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6578, header.stamp.nsec: 00 temperature: 13.383970* salinity: 33.391697, density: 1025.000000* values[0]: 0.708581F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033079.923165 s.:~/I~,$AJ"J*J2J:JBJnJvJA(\B@A y(@A*^~? A/sAή&"AA-uNA"AZAbAjArAzAAAwqlk6@A]rAqs{@AA-=A2@A߿AaJ?A|*A09?2A[ֽ:A=BA09?JA[ֽRA=٘i)I9s{@Y G JQJJJJPE&K YQ]~?y]vTAOE{7j76 9B)AB[[%@[ S]~?[[[[[BZYY i) ޸;IC?iz癹 9;))9;V@y$kAتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033079.963165 s, next control iter: 1743033080.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033080.343165 s.ʈ@AH^~? AgAP&"AAn\uNA"AZAbAjArAzAAA U5@AkÔ{rA-Cz@AeN<A=A @AA?AB*A"9?2AXս:A d =BA"9?JAXսRA d =YZ@@y=<ٓH`C@A`-?` C4?`?@?)Z@ I٘i)I9Cz@YQG JJ/<JJJPE&Kw> Yq&]~?ySA@OE7{7F= 9!B)OBڹE[[G(@[ #]~?[[[[[BZYY i) II;IC?iƪ=]Z: aW8))aW8TY@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033080.783165 s, next control iter: 1743033081.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033081.183165 s.˒/I~,^K$AAQ@Ahxk@Aǚ^~? AaAI&"AA@uNA"AZAbAjArAzAAA_l5@AY{rAޥy@Ag<As=A!@AAN?Ag`*At9?2A*ֽ:A =BAt9?JA*ֽRA =٘i)I9y@YG JRJJJJPE&K Y]~?yHSAOE77@ 9#B)UB׹E[[U,*@[ ]~?[[[[[BZYY i) G ;IeC?i >es: 6))68[@>ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033081.223165 s, next control iter: 1743033081.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033081.603165 s.J "J *J 2J :J 4?BJ 4?nJ =5vJ @4/I~,Ԛf$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743033081.603286F (some fields omitted in printout)A= ף@AwhXֳ@A^~? AG\Ar&"AAd$uNA"AZAbAjArAzAAA@w5@A5XrAl y@Az;A(=A`"@A`4A@?Aٰ*Aɴ9?2ANֽ:A]=BAɴ9?JANֽRA]=٘i)I9 y@YG J{JJJJPE&K YS\~?yRAOEŧ7b7pD 9)ZB[[+@[%\~?[[[[[BZYY i) Ѕ:IC?i)D>^: x5))x5Ѧ\@FЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033081.643165 s, next control iter: 1743033082.003187 s, wait time: 0.360022 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6580 , header.stamp.nsec: 0 0 temperature: 13.384518 * salinity: 33.391724 , density: 1025.000000 * values[0]: 0.706252 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033082.023165 s.Z/I~,{$AA(\@A6B@At^~? AVAT&"AAuNA"AZAbAjArAzAAAѽ^YS5@AoFƖrA|x@ALAN=A#@A`A 3?AΧ*A9?2Aֽ:Ag:=BA9?JAֽRAg:=I٘i)I9|x@Y<G JJJJJPE&K Y\~?y8uRAPE7777H 9$B)`BԹE[[,@[\~?[Q[[[[BZYY i) #9IC?iH> (;  4)) 4^@y<Z̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033082.063165 s, next control iter: 1743033082.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033082.443165 s.3æ/I~,-]$AJ"J*J2J:J4?BJ4?nJl=5vJAzǴ@Aɩ@Aa^~? AQAHG&"AAtNA"AZAbAjArAzAAAJ5@AcrAw@A"~AyΑ=A%@A@YAy?A„*Aջ9?2A+׽:A}<BAջ9?JA+׽RA}<٘i)I9w@YG JaJJJJPE&K Y2\~?y RAPE)7ŧ7K 9'B)gBйE[[OQ.@[\~?[[[[[BZYY i) IC?i>+W; 2))2_@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033082.463165 s, next control iter: 1743033082.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6581, header.stamp.nsec: 00 temperature: 13.384802* salinity: 33.391708, density: 1025.000000* values[0]: 0.705073F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033082.863165 s.+/I~,>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743033082.863331F (some fields omitted in printout)A33333@A`$@AM^~? A[LAͭ&"AA(tNA"AZAbAjArAzAAAyp4@A+7_rAlw@A~A==A_&@AE)A?Aٜ*A9?2A?׽:A<BA9?JA?׽RA Y\~?y`QAN&@ PE771O 9)lB[[ij/@[ۧ\~?[p[[[[BZYY i) ]ȺI9C?i_>t; 41))41`@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033082.903165 s, next control iter: 1743033083.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033083.283165 s.7R/I~,Ҿ$AJ"J*J2J:JBJnJvJAQ@Aaۢ@A8^~? AMGA&"AAtNA"AZAbAjArAzAAAA/4@AtIrAjv@AOAэ=A£'@AouA?A*A/9?2A ֽ:A<<BA/9?JA ֽRA<<٘i)I9v@YGG JzJJJJPE&K Y֛\~?yKQAPE{7j7R 9(B)qB͹E[[1@[\~?[@[[[[BZYY i) ƒ!IC?iL>; /))/Tb@jêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033083.303165 s, next control iter: 1743033083.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6582., header.stamp.nsec: 0.0 temperature: 13.385056.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.704007.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033083.703165 s.պ/I~, $AAףp= @A2@A7$^~? A_BAxs&"AAtNA"AZAbAjArAzAAAs_4@ABGrA~ev@Aa;AM =A(@A4A@?A睼*A{9?2A[ֽ:A<BA{9?JA[ֽRA<٘i)I9ev@YG JB=JJJJPE&K Y\~?yFPAPEb77\V 9*B)wBʹE[[q2@[xu\~?[A[[[[BZYY i) _IC?i>F; ya.))ya. Y9\~?yiէOA,@(PE77a 9-B)BĹE[[6@[)\~?[][[[[BZYY in) ̻IE D?i^,?; .*)).*1g@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033084.983165 s, next control iter: 1743033085.363178 s, wait time: 0.380013 s9\~?)iէ rAdjusting time to match Gazebo time: 1743033085.383165 s./I~,'X$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077603< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033085.383273F (some fields omitted in printout)AQ@A;@A]~? A/AO&"AAtNA"AZAbAjArAzAAA^T&\3@A<5rAct@AA!=Ag!.@AmA@?A3*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9ct@YG JJJJJPE&K Y5 \~?yѧuOA.PESI787d 9.B)BE[[7@[\~?[[[[[BZYY i) NIGD?i0:?R; ())(Ui@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033085.403165 s, next control iter: 1743033085.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6584", header.stamp.nsec: 0"0 temperature: 13.385579"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.701909"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033085.803165 s.yA/I~,gs$AJ"J*J2J:JBJnJvJAq= #@A @A]~? A+A4 &"AAsNA"AZAbAjArAzAAA>m3@Avu|rAs@AuMAτ=A>z/@A@A)K?A낼*AR9?2A6׽:A~<BAR9?JA6׽RA~<٘i)I9s@YxG JJJJJPE&K Y\~?yͧOA3PEb77Fh 91B)BE[[/9@[Z[~?[[[[[BZYY i)  AI "D?iI?`%< }f'))}f'8j@嶪YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743033085.823165 s, next control iter: 1743033086.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033086.223165 s.g/I~,H$AA(\@AkFu@A-]~? A'A &"AAsNA"AZAbAjArAzAAAeu/2@AB(,yrAs@AׇA =A0@A@UAv?A2*A9?2A.8׽:A<BA9?JA.8׽RA<٘i)I9s@Y6G J怼JJJJPE&K Y[~?y ʧNA8PE{7{7k 92B)BE[[:@[[~?[ [[[[BZYY i) I-D?i&[?]A < d&))d&Ql@y:ڞYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033086.243165 s, next control iter: 1743033086.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033086.643165 s./I~,0*$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077603< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033086.643298F (some fields omitted in printout)AG@A;ู@A]~? A#A &"AAsNA"AZAbAjArAzAAA4T"2{2@A+!wrAs@A5BA!F=A2@AA?A$*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9s@YG JJJJJPE&K Y[~?y\ƧfNA>PEZ7qo 9)B[[;@[v[~?[Kާ[[[[BZYY i) u$I:D?i>n?"z< $))${m@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6585, header.stamp.nsec: 0Y0 temperature: 13.385783* salinity: 33.391735, density: 1025.000000* values[0]: 0.701030F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743033086.663165 s, next control iter: 1743033087.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033087.063165 s./I~,R Ŀ$AAfffff@A.RL@At]~? AA!!&"AAysNA"AZAbAjArAzAAAӸFK2@Au1urARr@AcAU=AT3@A`XAr?A *A9?2Aֽ:A|=BA9?JAֽRA|=YM%@S3@yR=.XdٓHYPտrE?L,L?]1zL ?)M%@ I٘i)I9r@YG JJ;JJJPE&Kw> Y[~?ynç NAS3@CPE77s 94B)BE[[R)=@[[~?[ܧ[[[[BZYY i) H3I/HD?i~z?(Q < D#))D#n@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033087.083165 s, next control iter: 1743033087.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033087.483165 s.s_/I~,޿$AJ"J*J2J:JBJnJvJAѹ@Ayvַ@As]]~? A$AHk!&"AAcsNA"AZAbAjArAzAAA E2@Aii>rrA2r@Aю-<A=A4@A`A?A*Ak9?2A<2ֽ:AU =BAk9?JA<2ֽRAU =٘i)I92r@YhG JsJJJJPE&K YK[~?yMAHPE777v 95B)BE[[{>@[[~?[Eۧ[[[[BZYY i) iCIgVD?i@?H)< !))!:p@1êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033087.503165 s, next control iter: 1743033087.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6586, header.stamp.nsec: 00 temperature: 13.385995* salinity: 33.391739, density: 1025.000000* values[0]: 0.700137F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033087.903165 s./I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077603< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743033087.903330F (some fields omitted in printout)A ףp=@A~P#@AF]~? AA!&"AAV@sNA"AZAbAjArAzAAA'1@A|prAtq@A:<A=A5@A@5A?A*AK9?2Aֽ:Ad =BAK9?JAֽRAd =٘i)I9q@YG J피JJJJPE&K Y[~?yNMANPE7)71z 96B)BE[[?@[\v[~?[ڧ[[[[BZYY i) RIweD?i ?@\3< $ ))$ q@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033087.943165 s, next control iter: 1743033088.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033088.323165 s.u0I~,!$AJ"J*J2J:J3?BJ3?nJ;5vJA\@AL܎@At.]~? A7A!&"AAsNA"AZAbAjArAzAAA@kSv1@AFGnrAz4q@Aa<A=A,7@AhA@{=?A*A9?2ARֽ:A =BA9?JARֽRA =٘i)I94q@YG JB=JJJJPE&K Yi[~?yLASPE777} 98B)BE[[YA@[\[~?[ا[[[[BZYY i) ^bIyuD?iܔ?>< r*))r*Cr@+ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033088.343165 s, next control iter: 1743033088.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6587*, header.stamp.nsec: 0*0 temperature: 13.386223** salinity: 33.391743*, density: 1025.000000** values[0]: 0.699161*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033088.743165 s.W 0I~,/$AAGz@A܄{e@A]~? AAv6"&"AArNA"AZAbAjArAzAAAU.1@A4`lrA`p@Ay;A>=AL8@AAZ?A*A9?2Aֽ:Ap =BA9?JAֽRAp =٘i)I9p@Y~G JߚC=JJJJPE&K YcN[~?yLAXPEŧ77\ 99B)BE[[cB@[C[~?[ ا[[[[BZYY i) .qID?ir?kJ< r))rCPt@OͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033088.763165 s, next control iter: 1743033089.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033089.163165 s.z}0I~,qJ$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077603< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743033089.163292F (some fields omitted in printout)A@Ac{-e@A\~? AALt"&"AArNA"AZAbAjArAzAAAcN40@ApjrA0p@AAs=Ae9@A1A?u?A%*A9?2A;"׽:A =BA9?JA;"׽RA =Yf+@9@y+=FEٓHοⲿ`Q?tx?`𜀿N?)f+@ I٘i)I90p@Y/G JWJn<JJJPE&KPx> Y2[~?y-LA9@^PE7777 9)B[[C@[)[~?[Iק[[[[BZYY i) I6D?i?&R<  u)) uu@yЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033089.203165 s, next control iter: 1743033089.563180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033089.583165 s.0I~, Se$AAR뻹@Acwѻ@AZ\~? A A"&"AArNA"AZAbAjArAzAAAty0@A㲵irAo@AA=A=9;@A@AL?A{*A9?2A^H׽:A =BA9?JA^H׽RA =٘i)I9o@YG JkB=JJJJQE&K Y~[~?yKAcPE77 9:B)BE[[D@[Q[~?[֧[[[[BZYY i) ID?i?&[< O))Ofw@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033089.603165 s, next control iter: 1743033089.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6588, header.stamp.nsec: 00 temperature: 13.386482* salinity: 33.391766, density: 1025.000000* values[0]: 0.698136F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033090.003165 s.{ 0I~,Y4$AJ"J*J2J:JBJnJvJAp= W@A*9'<@A\~? A1 A"&"AArNA"AZAbAjArAzAAA\:Q0@A)z:agrA*o@A'vAJd=A<@A`AO?A*A9?2A׽:AF =BA9?JA׽RAF =٘i)I9*o@YG JC=JJJJQE&K YZ~?yybKAiPE)7ŧ7 9;B)¯BE[[GF@[Z~?[F֧[[[[BZYY i) ID?is?e< ))\x@ תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033090.043165 s, next control iter: 1743033090.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033090.423165 s.u&0I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077603< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033090.423291F (some fields omitted in printout)A(\¼@A=y@AT\~? AA#&"AAerNA"AZAbAjArAzAAA`}0@AerAn@AӻA =A=@AmFA?A*A9?2AFֽ:A!=BA9?JAFֽRA!=٘i)I9n@Y<G J壼JJJJQE&K YZ~?yfJAnPE77 9=B)ȯBE[[G@[Z~?[֧[[[[BZYY i2) 5I0D?i'?+p< k))k y@ ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033090.443165 s, next control iter: 1743033090.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6589, header.stamp.nsec: 00 temperature: 13.386743* salinity: 33.391743, density: 1025.000000* values[0]: 0.697133F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033090.843165 s.,0I~,$AJ"J*J2J:JBJnJvJAHz.@Ax@A\~? AAM#&"AA@rNA"AZAbAjArAzAAA4X# x/@A;FdrA,n@AF;AC=A?@AjA?AA*AƦ9?2ABֽ:Ai=BAƦ9?JABֽRAi=٘i)I9n@YG JvJJJJQE&K Y-Z~?ySJAsPEŧ7b7G 9>B)ίBE[[H@[Z~?[է[[[[BZYY i) ǞIqD?i? }< )) {@mܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033090.863165 s, next control iter: 1743033091.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033091.263165 s.40I~,8$AA@A@A\~? AAU|#&"AArNA"AZAbAjArAzAAAK֥.@AZbѓbrAym@A/Zp<Aܡ=ACG@@AAg?AI*A9?2A0ֽ:Ao=BA9?JA0ֽRAo=Y(T2@KZ@@y<ء=q<ٓHmO? ?5@ ??)(T2@ I٘i)I9ym@YG J.JC<JJJQE&Kw> Y5Z~?y"*JAZ@@ TDyPEܖ 9@B)ԯBE[[J@[fZ~?[է[[[[BZYY i) 6IZD?i?i< ))^|@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033091.283165 s, next control iter: 1743033091.663185 s, wait time: 0.380020 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 65902, header.stamp.nsec: 020 temperature: 13.3870292* salinity: 33.3917502, density: 1025.0000002* values[0]: 0.6960002F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033091.683165 s.l:0I~,c$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743033091.683269F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AzS 뽹@Aj\~? AA#&"AAqNA"AZAbAjArAzAAApLDI.@ADarAl@APƒ<A=AA@A A@b?AQ*Aț9?2Aֽ:A^g=BAț9?JAֽRA^g=٘i)I9l@Y*G JJJJJQE&K Y?Z~?yIA~PE)7q 9AB)گBE[[`K@[DZ~?[(֧[[[[BZYY i) IE?i?"ن< z))z}@yNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033091.683165 s, next control iter: 1743033092.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743033092.103165 s.A0I~,Ț$AA= ףp@ANV@AhQ\~? AA#&"AA qNA"AZAbAjArAzAAAN/G-@A U`rAEl@A<A#Υ=A*B@AAV9?A_L*A9?2Awֽ:A `=BA9?JAwֽRA `=٘i)I9El@YG J{JJJJ#QE&K YHqZ~?yPIAPE7777 9)ޯB[[jL@[SyZ~?[֧[[[[BZYY i) I+E?iw?ы< T7))T7a~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033092.143165 s, next control iter: 1743033092.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033092.523165 s.G0I~,=|!$AJ"J*J2J:J2?BJ2?nJ:5vJA(ܾ@AH¾@A8\~? AAD#&"AAǨqNA"AZAbAjArAzAAA.O-@Ah6_rAk@A/A#=AGD@A4A U?AB*A9?2AGֽ:Aa6=BA9?JAGֽRAa6=٘i)I9k@YnG J޷JJJJ(QE&K YOUZ~?yHAPE7 9BB)BE[[M@[`Z~?[ק[[[[BZYY i) كICE?i?R< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033092.563165 s, next control iter: 1743033092.923195 s, wait time: 0.360030 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6591, header.stamp.nsec: 00 temperature: 13.387328* salinity: 33.391743, density: 1025.000000* values[0]: 0.694827F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033092.943165 s.mdN0I~,]<$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743033092.943320F (some fields omitted in printout)AzG@A?Û-@A\~? A#A$&"AATqNA"AZAbAjArAzAAAߗ|,@A,@1^rAk@ATAѪ=AEE@A`YAzo?Aݷ*Aӌ9?2A8׽:Ae=BAӌ9?JA8׽RAe=٘i)I9k@YG JVJJJJ.QE&K YY9Z~?y[wHAPEb772 9CB)BE[[$O@[HZ~?[ק[[[[BZYY i) üIW]E?iy?;X< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033092.983165 s, next control iter: 1743033093.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033093.363165 s.U0I~,>W$AJ"J*J2J:JBJnJvJA3333@A?@A!\~? AA7$&"AA[qNA"AZAbAjArAzAAAm#+@APE]rAtj@AA5=ATF@A A`?A*AI9?2A0׽:A{#=BAI9?JA0׽RA{#=YI8@lF@y.=(.ٓHҠDѵoz?x@ԋ;֐o?)I8@ I٘i)I9tj@YG J;J(b<JJJ3QE&KHx> Y(Z~?yHAF@PE77Ǩ 9AB)BE[[ fP@[j/Z~?[}ا[[[[BZYY i) 8˼IfwE?ij?n%< u))uU@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033093.403165 s, next control iter: 1743033093.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6592&, header.stamp.nsec: 0&0 temperature: 13.387611&* salinity: 33.391754&, density: 1025.000000&* values[0]: 0.693641&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033093.783165 s.Y[0I~,r$AAQ@AP@A[~? AHAS$&"AA4qNA"AZAbAjArAzAAANPp]F+@AOs\rAi@A7A=A ;H@A;)A U?Azü*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9i@YPG J羼JJJJ9QE&K YZ~?yGAPEb7b7\ 9BB)BE[[Q@[Z~?[q٧[[[[BZYY i) #ҼI5E?i/?z< 5))5 @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033093.823165 s, next control iter: 1743033094.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033094.203165 s.c0I~, $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743033094.203328F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@AS'p@A[~? AAl$&"AAqNA"AZAbAjArAzAAAq*@AO\![rA,i@Aj¸AiN=AHA`%:Ac?A{xͼ*A=9?2AVֽ:AY=BA=9?JAVֽRAY=٘i)I9,i@Y G JǼJJJJ>QE&K YY~?ytGAPE 9)BE[[)R@[Y~?[ڧ[[[[BZYY i) aټIέE?id@-W<  )) @[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033094.243165 s, next control iter: 1743033094.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033094.623165 s.]i0I~,v$AA)\@A@A[~? AAd$&"AApNA"AZAbAjArAzAAAQfr;*@A;[rA|h@A&5<A*v=AjGA@HAs?Aּ*A|9?2Aս:AI =BA|9?JAսRAI =٘i)I9|h@Y~ G JѼJJJJCQE&K YY~?y'FAPE77 9CB)BE[[T@[Y~?[ۧ[[[[BZYY i) 1 IQE?i@ϸ<  )) 1@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033094.663165 s, next control iter: 1743033095.023180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6593 , header.stamp.nsec: 0 0 temperature: 13.387904 * salinity: 33.391769 , density: 1025.000000 * values[0]: 0.692428 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033095.043165 s.p0I~,$AJ"J*J2J:JBJnJvJA{Ga@A/G@A2[~? A5A$&"AApNA"AZAbAjArAzAAAԑ/q)@AH4גZrAmg@Ae<A=A.%FA`UA"?A ݼ*Ay9?2Aս:Ao"=BAy9?JAսRAo"=٘i)I9g@Y G JڼJJJJIQE&K Y`Y~?y٥0FAPE7 9)BE[[XU@[Y~?[$ݧ[[[[ZZ¸BZYY i¸V=) ռIE?i3 @I< ɂ ))ɂ v΃@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033095.083165 s, next control iter: 1743033095.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033095.463165 s.Yw0I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743033095.463323F (some fields omitted in printout)A@A)x @AQ[~? AAv$&"AA̘pNA"AZAbAjArAzAAA4U(@A0%ZrA g@AٸX<A]=ADA__A >?A޼*A_w9?2A ֽ:A4!=BA_w9?JA ֽRA4!=YjZ?@)Dy;=Y<ٓHf?@&-R }?@?7?)jZ?@ I٘i)I9 g@Y G JN޼JE<JJJNQE&Kw> Y¹@Agj[~? AA$&"AAqpNA"AZAbAjArAzAAA7(@A;YrA=f@A0E;A=A3vCAdA@?A *Ã9?2AOֽ:A<BÃ9?JAOֽRA<٘i)I9=f@Y G JJJJJSQE&K YtY~?y 9EAPEŧ7b7G 9DB)BE[[IW@[9Y~?[S[[[[ZZBZYY i) !IF?iW@@z< u )) u  @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033095.923165 s, next control iter: 1743033096.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033096.303165 s.T0I~,og$AAq= ף¹@A j¹@AoP[~? AA$&"AA9JpNA"AZAbAjArAzAAAn'@An]YrA,_e@A=cAS=A7sBA=yA1?AMd*A ]:?2A&}½:A60<BA ]:?JA&}½RA60<٘i)I9_e@Y G JmJJJJYQE&K YWY~?yDAPE77{7 9)B|E[[ Y@[ɇY~?[[[[[ZZBZYY i) pڰI?&F?i@/< g))@y&@=(تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033096.343165 s, next control iter: 1743033096.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6595*, header.stamp.nsec: 0*0 temperature: 13.388633** salinity: 33.391758*, density: 1025.000000** values[0]: 0.689550*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033096.723165 s.0I~,H.$AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743033096.723325F (some fields omitted in printout)A(\ù@AG¹@Ai6[~? AvA$&"AA"pNA"AZAbAjArAzAAAn4D&@AدiYrAd@AAgy=AAA@ ~A?A*Az:?2Aeý:Aφ_<BAz:?JAeýRAφ_<٘i)I9d@Y G JJJJJ^QE&K Y;Y~?y8BDAPE7r 9)ByE[[?Z@[pY~?[[[[[ZZBZYY i) ĤIFF?i@h<  )) A@vYdYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033096.743165 s, next control iter: 1743033097.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033097.143165 s.S/0I~,)I$AAGzù@A'`ù@A^[~? AdA1$&"AAToNA"AZAbAjArAzAAAeX^&@A!wYrA?c@AA5=A@A@فA lD?Aϼ*A:?2AŽ:AG;BA:?JAŽRAG;٘i)I9c@Y G J'JJJJdQE&K YY~?yШCAPEb7b7 9)&BvE[[s[@[YY~?[[[[[ZZBZYY i) [I4hF?i@#< g))gۆ@~YlrYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033097.163165 s, next control iter: 1743033097.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033097.563165 s.0I~,N d$AJ"J*J2J:JBJnJvJAffffù@ArCQù@AO[~? ArA$&"AAoNA"AZAbAjArAzAAA|Y%@A?rYrA'c@AaջA<A?AA .Aĭ*A:?2AXȽ:ABA:?JAXȽRAYD@݇?y<ջٓHG`?ƚ"¿ @J jz?)D@ I٘i)I9'c@Y@ G J¼JLJJJiQE&KF> YY~?yCA?PE7777 9)+BsE[[\@[BY~?[A[[[[ZZBZYY i=) SIUF?i@1<  0)) 0w@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033097.603165 s, next control iter: 1743033097.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6596, header.stamp.nsec: 00 temperature: 13.388994* salinity: 33.391754, density: 1025.000000* values[0]: 0.688000F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033097.983165 s.0I~,~$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033097.983298F (some fields omitted in printout)AQĹ@A)$7Ĺ@A@Z~? AA$&"AAWoNA"AZAbAjArAzAAAU"%@AgfYrAʡb@Am;A?/<A6K>A%AYۘA#S*AK:?2Ag/˽:AQ BAK:?JAg/˽RAQ I٘i)I9b@Y G JJJJJnQE&K YX~?yn{CAPEb772 9)/BpE[[]@[,Y~?[[[[[ZZBZYY i) I;F?iQ"@< ))@ʃYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033098.003165 s, next control iter: 1743033098.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033098.403165 s.&0I~,͙$AJ"J*J2J:JBJnJvJA ףpĹ@AK[Ĺ@A2Z~? AA$&"AA؄oNA"AZAbAjArAzAAAE>ٚ[$@Am'YrA elevatorAngleAction: 0.079279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743033099.243295F (some fields omitted in printout)AGzŹ@AczŹ@A(Z~? AAg$&"AA5oNA"AZAbAjArAzAAAOh;H#@A&ZrAa@AEP<AA>`:A@rAs밿A ?*Ad:?2AMѽ:AfƼBAd:?JAMѽRAfƼ٘i)I9a@Ys G J+JJJJ~QE&K YX~?y\ CAPE{7j7 9)6B[[5va@[X~?[2[[[[BZYY i) MIIfG?ih/@Ņ< ))݉@yG=,*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743033099.263165 s, next control iter: 1743033099.643185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743033099.663165 s.0I~,q$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6598, header.stamp.nsec: 00 temperature: 13.389389* salinity: 33.391724, density: 1025.000000* values[0]: 0.686503F (some fields omitted in printout)Aƹ@A"Ź@A2Z~? AA|$&"AAoNA"AZAbAjArAzAAApa"@A[rAa@AyA?0A9AbfA`@AZ@;*AvU:?2Aҽ:A9BAvU:?JAҽRA9YK@9y05ٓHA?Zܥ?`gϿ 2~z?`>?@;q[?)K@ I٘i)I9a@Yt G J99J+JJJQE&Kv> YVxX~?yECA9PEZ7Z7 9DB)5BhE[[˨b@[X~?[[[[[BZYY ih=) 8IAG?il2@ja< e))eav@ll*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033099.683165 s, next control iter: 1743033100.063177 s, wait time: 0.380012 s>VxX~?)> rAdjusting time to match Gazebo time: 1743033100.083165 s.D0I~,S$AJ"J*J2J:JBJnJvJARkƹ@A"rlQƹ@AJfZ~? AA|$&"AA:nNA"AZAbAjArAzAAASO"@A!k[rAa@Aj oAGWA7A WABA[;*AF:?2Ahӽ:ABAF:?JAhӽRA٘i)I9a@Y G J;JJJJQE&K Y\X~?yCAPE7{7 9)4BeE[[c@[>X~?[[[[[BZYY i =) = (IhG?i5@< W))W@*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743033100.103165 s, next control iter: 1743033100.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033100.503165 s.0I~,a4 $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033100.503307F (some fields omitted in printout)Ap= ƹ@Aƹ@AuLZ~? AA]u$&"AAnNA"AZAbAjArAzAAAC>tq!@AQE\rA:?2ACԽ:AO BA\>:?JACԽRAO ٘i)I9@P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033100.523165 s, next control iter: 1743033100.903184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6599, header.stamp.nsec: 00 temperature: 13.389385* salinity: 33.391720, density: 1025.000000* values[0]: 0.686630F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033100.923165 s.80I~,;$AJ"J*J2J:J/?BJ/?nJP85vJA(\Bǹ@Aڦx(ǹ@A2Z~? AEA^$&"AAnNA"AZAbAjArAzAAA5Uy @A"I ]rApb@A.6AA5"5A 2AſAK:j<*A7:?2A;ս:ABA7:?JA;սRA٘i)I9b@Y G J0U<JJJJQE&K Y&X~?yCAPEb7b7G 9)0B_E[[O5f@[ X~?[[[[[BZYY i)  YIG?i=@{< L))L<@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033100.943165 s, next control iter: 1743033101.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033101.343165 s.<0I~,U$AAHzǹ@A?ǹ@A Z~? AAC$&"AAqnNA"AZAbAjArAzAAA!39 @AF]rAJb@AoX:AuA3AtAA)W<*A3:?2A 0ֽ:ABA3:?JA 0ֽRA٘i)I9b@Y' G Jy<JJJJQE&K Y X~?yC2DAPE777 9),B\E[[_g@[tX~?[H[[[[BZYY i) IiG?igB@< ))ь@yۇ=*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743033101.363165 s, next control iter: 1743033101.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6600&, header.stamp.nsec: 0&0 temperature: 13.389267&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.687255&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033101.763165 s.70I~,p$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033101.763269F (some fields omitted in printout)Aȹ@Ar3܀ǹ@AyY~? ARA%$&"AA KnNA"AZAbAjArAzAAA~k$=@AHX^rAIsc@AkI<AAc2AKA`ÿAuُ<*A;0:?2Aֽ:AR BA;0:?JAֽRAR YQ@r2yI<ٓH>3?~?`eֿ`??6-?b?)Q@ I٘i)I9sc@Ym G J<JǓJJJQE&KG|> Y5W~?yODAr2PE77r 9))B[[Oh@[jX~?[[[[[BZYY i) ̻I H?i,E@a< ߜ))ߜh@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033101.803165 s, next control iter: 1743033102.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033102.183165 s.0I~,V$AAQȹ@A7N kȹ@AY~? AA$&"AAw$nNA"AZAbAjArAzAAA7& @A,g_rAc@A8<AɚA 1A AſA=<*A-:?2A3׽:A BA-:?JA3׽RA ٘i)I9c@Y G J<B=JJJJQE&K YW~?y[DAQE7{7 9)%BYE[[ci@[VX~?[[[[[BZYY i) yAI8H?iUH@6= D))D쿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033102.223165 s, next control iter: 1743033102.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033102.603165 s.640I~,$AJ"J*J2J:JBJnJvJA= ףȹ@Aȹ@AY~? AA#&"AAmNA"AZAbAjArAzAAAcep@Ao-arAwd@ARnV<AԝAQ/A AoǿAO2<*A-,:?2At׽:A BA-,:?JAt׽RA ٘i)I9wd@Y G J4<C=JJJJQE&K Y9W~?ygç`EA QE{7 9) BVE[[gj@[BX~?[ [[[[BZYY i) 菻IdH?iK@0{= ))鿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033102.623165 s, next control iter: 1743033103.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6601 , header.stamp.nsec: 0 0 temperature: 13.389083 * salinity: 33.391693 , density: 1025.000000 * values[0]: 0.688146 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033103.023165 s.Z0I~,|$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743033103.023313F (some fields omitted in printout)A(\ɹ@A1 Bɹ@AY~? AA#&"AAmNA"AZAbAjArAzAAA"@~@AbtbrA e@A;ARA .AA`CɿAQ<*AG+:?2Aֽ:ADcBAG+:?JAֽRADc٘i)I9e@Yc G Jl<B=JJJJQE&K YW~?ysƧEAQE7)73 9)BSE[[ l@[.X~?[T[[[[BZYY i) cIpH?iO@&= ߟ))ߟ翩'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033103.043165 s, next control iter: 1743033103.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033103.443165 s.60I~,:]$AJ"J*J2J:JBJnJvJAzɹ@AWɹ@AvY~? A\A#&"AAmNA"AZAbAjArAzAAAo,]t@AjncrAe@A" %AYAbA-A@A@˿Aqι<*A+:?2A}ֽ:AaBA+:?JA}ֽRAa٘i)I9e@Y G J<C=JJJJQE&K Y$AA33333ʹ@Aʹ@AY~? AAtb#&"AAËmNA"AZAbAjArAzAAAaqF@A KerA=f@A*^A A+A`cA7̿AR<*A1+:?2Apֽ:ABA1+:?JApֽRAY$4X@p+yANJٓH@g? ?@1ܿࢿ*?@ü?`Kq?)$4X@ I٘i)I9=f@Y G J<J}JJJQE&Ky>   9YlW~?  9y_ͧFA+QE7] 9)BME[[A[n@[hX~?[[[[[BZYY i) @ԺI2H?iV@+^ = ))㿩O@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033103.903165 s, next control iter: 1743033104.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033104.283165 s.:R1I~,$AJ"J*J2J:J0?BJ0?nJ+95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033104.283298F (some fields omitted in printout)AQʹ@AHʹ@AhY~? ARA&2#&"AA$fmNA"AZAbAjArAzAAA6Y@AfrA?f@ArAқA*A<A@ǴοA(<*A+:?2Aֽ:Ag BA+:?JAֽRAg ٘i)I9f@Y G J<JJJJQE&K YSW~?y>ѧFAQE7777 9) BNE[[-o@[uW~?[[[[[BZYY i) ?:II?iY@: = #))#࿩@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033104.323165 s, next control iter: 1743033104.683181 s, wait time: 0.360016 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6603., header.stamp.nsec: 0.0 temperature: 13.388633.* salinity: 33.391705., density: 1025.000000.* values[0]: 0.690417.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033104.703165 s.ֺ 1I~,-$AAףp= ˹@A 4ʹ@AEPY~? A A"&"AA@mNA"AZAbAjArAzAAA@A:Ii`@ޮ= ܿ))ܿ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033105.163165 s, next control iter: 1743033105.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033105.543165 s.I1I~,b$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743033105.543297F (some fields omitted in printout)A{G˹@AL3˹@AY~? AAЎ"&"AAlNA"AZAbAjArAzAAA )@AelrAh@A"<AAq&AoAҿA<*A+:?2A׽:ABA+:?JA׽RA٘i)I9h@Y G Jɧ<JJJJQE&K Y}W~?yܧ YV~?yHA\%4QE)7ŧ7H 9)BBE[[t@[ɬW~?[+[[[[BZYY i) \?B;Iif@= ׿))׿_-@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033106.003165 s, next control iter: 1743033106.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033106.383165 s.%1I~,'$AAQ̹@A ;̹@AX~? AtA"&"AA3lNA"AZAbAjArAzAAAdWa@A7prAQi@A;A:mA6$A@5UAӿA<*A;*:?2AwE׽:ABA;*:?JAwE׽RA٘i)I9i@Y4G J<JJJJQE&K YV~?y0HA:QEZ7Z7 9)B[[;;u@[BW~?[0[[[[BZYY i) fp;Iiri@h= Aտ))Aտ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033106.403165 s, next control iter: 1743033106.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6605", header.stamp.nsec: 0"0 temperature: 13.388217"* salinity: 33.391651", density: 1025.000000"* values[0]: 0.692628"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033106.803165 s.vA,1I~,wg$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198932 time: 1743033106.803267F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #͹@AP ͹@AtX~? AAf!&"AAYlNA"AZAbAjArAzAAAͽYFC@AԖ7rrA -j@A^㙻AKrAe"A A`1ԿAV<*AP):?2Aֽ:AiBAP):?JAֽRAi٘i)I9-j@YG Jq<B=JJJJQE&K YV~?yaIA?QES77s 90B)߯B?E[[^v@[W~?[4[[[[BZYY i) X;Iiwl@V= {ҿ)){ҿ elevatorAngleAction: 0.075280< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743033108.063280F (some fields omitted in printout)Afffffι@ARLι@AFX~? A@&A &"AA lNA"AZAbAjArAzAAAFq\ @A.K yrA:k@A8'AͬASA[uA7׿A<*A/":?2A׽:AaBA/":?JA׽RAaYcDe@0y>(ٓH E:?? Kɞ?2??)cDe@ I٘i)I9k@YyG J<J:<JJJQE&Kx> Y[yV~?yJAOQE773& 9)үB[[y@[[XW~?[B[[[[BZYY i) ;Iiu@/= [2̿))[2̿D@ݸ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033108.103165 s, next control iter: 1743033108.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033108.483165 s.w_G1I~,$AJ"J*J2J:J1?BJ1?nJX:5vJAι@AX<׷ι@A|X~? AP*AC &"AAkNA"AZAbAjArAzAAA4 @AMݚ{rA5l@A:A!LÄ́A6A ؿA=<*A :?2Aj׽:AMBA :?JAj׽RAM٘i)I95l@YG J<JJJJQE&K Y cV~?yJATQE777) 9)ίB7E[[z@[QHW~?[oG[[[[BZYY i)  elevatorAngleAction: 0.075280< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033109.323286F (some fields omitted in printout)J"J*J2J:JBJnJvJA\Ϲ@AWvϹ@A{PX~? A2A= &"AAkNA"AZAbAjArAzAAA胯@A`@PӀrAm@A<AӥAApA`ٿAm<*A':?2A׽:A)BA':?JA׽RA)٘i)I9m@YMG Jd<JJJJRE&K Ye6V~?y KA_QE)7b70 9)ƯB[[h#}@[F)W~?[SQ[[[[BZYY i) , Y V~?y?KLAPjQE77{78 9)B.E[[s`@[z W~?[[[[[[BZYY i) K elevatorAngleAction: 0.075280< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033110.583294F (some fields omitted in printout)ARй@AMpй@AQX~? A@A&"AAYkNA"AZAbAjArAzAAAE#?A\HrAN}n@A1A<AAAܿA8<*A :?2A+ֽ:A8 BA :?JA+ֽRA8 ٘i)I9}n@Y&G J<JJJJRE&K Y1U~?ySLAoQEb77; 9)B[[?@[V~?[`[[[[BZYY i) DiZ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743033111.843307F (some fields omitted in printout)AHz.ҹ@A)ҹ@AW~? AOA&"AAHjNA"AZAbAjArAzAAÅ6v?ADburA p@A/AA#AjAD޿A;w<*A9?2A׽:A}4 BA9?JA׽RA}4 ٘i)I9 p@YG J<JJJJ RE&K Y޹U~?y-MAQEŧ7b7sF 9)B[[Z@[V~?[p[[[[BZYY i) Kz#?AକrA p@A~<Ac[AAA߿AY<*A9?2A|׽:Aս BA9?JA|׽RAս YPr@y Z<ٓH`W?}? B` د?? ??)Pr@ I٘i)I9p@YhG JV<J"@JJJ%RE&Kx> YU~?y@40NAQEb7 J 9)B&E[[x@[yV~?[0v[[[[BZYY i) ڋ elevatorAngleAction: 0.084170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033113.103285F (some fields omitted in printout)A= ףpӹ@AUVӹ@AɘW~? A_A&"AA4jNA"AZAbAjArAzAAA㢄?A*])!UrAcq@A`<A%RA=AA5A<*A9?2Ap׽:A8BA9?JAp׽RA8٘i)I9q@YG JΝ<JJJJ0RE&K Y؂U~?yANAQE73Q 9)B#E[[Ô@[V~?[Q[[[[BZYY i) $AJ"J*J2J:JA3?BJA3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033114.363289F (some fields omitted in printout)A3333Թ@AÝ #Թ@AaW~? A*qAU&"AANjNA"AZAbAjArAzAAACLA!3ڦrAPs@A=xA -AZ A@3߿AH2Ab+<*A9?2AQ4ֽ:A7BA9?JAQ4ֽRA7Yx@E y (zyٓH%@I?q?@X9=mK?@?` ?)x@ I٘i)I9Ps@YG J%<J JJJ@RE&Kx> YNU~?yAV:PAE QEb77[ 9)BE[[<@[V~?[h[[[[BZYY i) nU~?y~]PAQE77_ 9)B[[Ʌ@[i~V~?[:[[[[BZYY i) jĸ elevatorAngleAction: 0.084170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033115.623275F (some fields omitted in printout)A)\չ@A%չ@Ay.W~? AeAC&"AA/iNA"AZAbAjArAzAAAMpOA zrABu@A-;AגAWAݿA$A<*A9?2A&׽:ABA9?JA&׽RA٘i)I9Bu@YEG J<JJJJPRE&K YU~?ykQAQE)7ŧ7f 9)B[[@[iV~?[[[[[BZYY i) ]o YCU~?yzxRAQEb77m 9)yB[[c@[UV~?[[[[[BZYY i)  elevatorAngleAction: 0.084170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743033116.883282F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8׹@Az):׹@AV~? AA&"AAiNA"AZAbAjArAzAAAӖUAvo*rA8w@A A<A$AbA;ۿA@}Aה<*A9?2AK׽:ABBA9?JAK׽RAB٘i)I98w@YwG J*<JJJEJ`RE&K YT~?yRAQE7)7tq 9)tB[[@[KV~?[[[[[BZYY i) 5BZYY i¸>Ԫ) w7))>-@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033117.743165 s, next control iter: 1743033118.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033118.143165 s.Y/1I~,*$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033118.143289F (some fields omitted in printout)AGzع@Ay`ع@AV~? AA&"AAjriNA"AZAbAjArAzAAA=@A*trALky@AڋA AFA@T&ٿAAC=*A9?2A;ֽ:AYyBA9?JA;ֽRAYy٘i)I9ky@YG J<JJJJpRE&K YT~?yUTAQE774| 9-B)bBE[[_)@[<1V~?[hȨ[[[[ZZZZBZYY i) {9 YɾT~?yСTAQEŧ77 9)[B[[>@[)V~?[Ψ[[[[ZZZZBZYY i) = +))+@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033119.443165 s, next control iter: 1743033119.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6618", header.stamp.nsec: 0"0 temperature: 13.385032"* salinity: 33.391468", density: 1025.000000"* values[0]: 0.708038"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033119.823165 s.1I~,:$AA\(ڹ@A[^ڹ@AОV~? AƩAb&"AA!iNA"AZAbAjArAzAAAEr pA;prAQv|@A<AɼAʨAIտA A<*A09?2AUֽ:AJ6];BA09?JAUֽRAJ6];٘i)I9v|@YG JO<JJJJRE&K YT~?yUAQE7777 9)JB[[W@[V~?[[[[[ZZZZBZYY i) JJJRE&K(x> Y;T~?yʨCVAyQEb77 9(B)>BE[[n@[V~?[N[[[[ZZZZBZYY i{) "Zk5vJARk۹@A~mQ۹@A|V~? AEܩA9&"AAhNA"AZAbAjArAzAAAֈlOAI;rA}@AĻAI<AuA EӿAeA;*A9?2A"ֽ:AFG<BA9?JA"ֽRAFG<٘i)I9}@YKG J <JJJJRE&K Y݁T~?yӨ9VAQEŧ7I 9)5vJAݹ@A8ܹ@AUV~? A8A&"AARhNA"AZAbAjArAzAAAP\ AA<_rA":}@As|;AE|=AA`{ϿA+AT:*A&9?2A7ֽ:AR =BA&9?JA7ֽRAR =Yl@2yD|=z|;ٓHO8ɿZ^?$O@O$Lɿ`w@ o?@h?)l@ I٘i)I9:}@YG JB=J@>JJJRE&Kw> Y,cT~?yUA REb77 9)=BE[[4'@[U~?[[[[[BZYY i9g) G5vJA= ףݹ@As`ݹ@A?EV~? A A&"AAhNA"AZAbAjArAzAAA[K A4sA7o|@AV<A =AqݿA ˿A`jhAN*A9?2Aս:Ay=BA9?JAսRAy=٘i)I9o|@YG J̆JJJJRE&K YXT~?yMUARE{7j7ʪ 9)CB[[C=@[U~?[[[[[BZYY i) F;IiG@B= u))u>_@:ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033123.643165 s, next control iter: 1743033124.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6622 , header.stamp.nsec: 0 0 temperature: 13.384775 * salinity: 33.391422 , density: 1025.000000 * values[0]: 0.709605 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033124.023165 s.Z@2I~,|$AA(\޹@ADB޹@A=V~? ADA93&"AAhNA"AZAbAjArAzAAA AbsA5{@Ai+=<A'=AڿAʿA!AOߠ*A]9?2ASKֽ:AA=BA]9?JASKֽRAA=٘i)I9{@YTG JŚJJJJRE&K YpRT~?yTAREZ7_ 9)HB[[1ȑ@[xU~?["[[[[BZYY i%) ;Ii@`C= u-q))u-q,@ypgЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033124.043165 s, next control iter: 1743033124.423183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033124.443165 s.9F2I~,F]$AJ"J*J2J:J5?BJ5?nJb>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743033124.443322F (some fields omitted in printout)Az޹@Ap|홭޹@A6V~? A A̛&"AAhNA"AZAbAjArAzAAAZFCK AtT sAb{@AAi=AcؿA2ȿAAE*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9b{@YG JJJJJRE&K YLT~?ysTA RE7ŧ7 9&B)KB E[[R@[NU~?[)[[[[BZYY i) ;Ii.@5D= ml))mlt@y@hӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033124.463165 s, next control iter: 1743033124.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6623, header.stamp.nsec: 00 temperature: 13.384963* salinity: 33.391388, density: 1025.000000* values[0]: 0.708817F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033124.863165 s.+M2I~,>7$AA33333߹@Aƅ!߹@AS0V~? A A}&"AAuhNA"AZAbAjArAzAAAw&C AMLmsAz@A Y!JT~?yW  TAuտ&REj7j7 9)OB[[ݒ@[U~?[/[[[[BZYY i) ׃;IiϘ@3C= h))h@yqoԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033124.903165 s, next control iter: 1743033125.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033125.283165 s.5RT2I~,R$AJ"J*J2J:JBJnJvJAQ߹@A7߹@Ac*V~? A(A]j &"AA"lhNA"AZAbAjArAzAAA jLwA"ЗsAJz@AuAm=AҿApĿA`3A*At9?2A<׽:AiR=BAt9?JA<׽RAiR=٘i)I9Jz@YVG JmJJJJRE&K YfGT~?y)SA+RE777 9)TB[[bh@[U~?[X6[[[[BZYY i) rK;Ii@[C= +d))+d]@ԪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033125.303165 s, next control iter: 1743033125.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6624., header.stamp.nsec: 0.0 temperature: 13.385180.* salinity: 33.391357., density: 1025.000000.* values[0]: 0.707858.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033125.703165 s.ҺZ2I~,m$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033125.703280F (some fields omitted in printout)Aףp= @A+߹@A$V~? A0A &"AAchNA"AZAbAjArAzAAAK(j A+sAy@A_A=ABпA¿A@Ap*A9?2A7ֽ:A'=BA9?JA7ֽRA'=٘i)I9y@YG JϧB=JJJJRE&K YDT~?y1@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033125.723165 s, next control iter: 1743033126.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743033126.123165 s.9a2I~,e$AJ"J*J2J:J5?BJ5?nJ=5vJA)\u@AĬ[@A V~? A8A5 &"AA[hNA"AZAbAjArAzAAAtqAeeE sA.y@Ad$Au=AͿAA@A٘*A9?2A1ֽ:AG=BA9?JA1ֽRAG=٘i)I9.y@YG J[C=JJJJRE&K YAT~?y:RA6RE{7j7J 9)]B[[~@[AU~?[C[[[[BZYY i)  :Ii˘@8C= ~[))~[@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033126.143165 s, next control iter: 1743033126.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033126.543165 s.Ih2I~,â$AA{G@A7+1@AV~? A@AК &"AAThNA"AZAbAjArAzAAAA\YTA|5m%sAx@A"<Aύ=A"˿A1A .A*Am9?2A5ֽ:A"=BAm9?JA5ֽRA"=٘i)I9x@YOG J-JJJJRE&K Y5?T~?ybClRA;REZ7 9)bB[[@[U~?[NJ[[[[BZYY i) m9Ii&@<D= U)W))U)W*@dϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033126.563165 s, next control iter: 1743033126.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6625, header.stamp.nsec: 00 temperature: 13.385401* salinity: 33.391376, density: 1025.000000* values[0]: 0.706894F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033126.963165 s.xn2I~,$AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::J( dropWeightState: 1BJnJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743033126.963284F (some fields omitted in printout)AL@Aȳ˷2@AV~? AHA &"AACNhNA"AZAbAjArAzAAAKoA;q9M*sANx@AQX<A=AȿA`AM@AE*A9?2Akֽ:AJ=BA9?JAkֽRAJ=Y@nȿy=k<ٓH`[t? ?9On?}ъ?`e?)@ I٘i)I9x@YG J㰼JJJJRE&Kx> YY?T~?y0L RAnȿ@RE77{7u 9)fB[[Y@[U~?[P[[[[BZYY i) Ii@>SC= 5R))5RT@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033126.983165 s, next control iter: 1743033127.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033127.383165 s.u2I~,w$AAQ@As9>@AtV~? APAb &"AAHhNA"AZAbAjArAzAAAzEA70/sAsw@Az<A==AſA4AkPA(*A9?2ASֽ:AQ=BA9?JASֽRAQ=٘i)I9sw@YG JlJJJJRE&K Y|?T~?yTQAFRE77 9'B)kBE[[2@[DU~?[W[[[[BZYY i) btƺIi:@B= m}N))m}N-@@&ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033127.423165 s, next control iter: 1743033127.783179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6626", header.stamp.nsec: 0"0 temperature: 13.568769"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.578027"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033127.803165 s.xA|2I~,g$AJ"J*J2J:J?BJ?nJ)5vJAq= #@A. @AV~? AXAY &"AADhNA"AZAbAjArAzAAA~hAsn 4sAv@A|İ;A'a=AHDÿA@_A;^Ac*A9?2AǾֽ:A<BA9?JAǾֽRA<٘i)I9v@YEG JJJJJRE&K Y?T~?y]BQAKREŧ7b7 9)oB[[&@[U~?[T^[[[[BZYY i) , Ii @B= %J))%J!˯@?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033127.823165 s, next control iter: 1743033128.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033128.223165 s.g2I~,H$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743033128.223289F (some fields omitted in printout)A(\@ACu@AVV~? A`Aa) &"AA @hNA"AZAbAjArAzAAAza̓Aq9sA.bv@AQNAދ=AA OAiA"*A9?2A$׽:AL<BA9?JA$׽RAL<٘i)I9bv@YG J.JJJJRE&K Y?T~?yfPAQRE7{75 9)tB[[nǿ[U~?[e[[[[BZYY i) d]Ii@bB= E))EEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033128.243165 s, next control iter: 1743033128.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033128.643165 s.{Љ2I~,*)$AJ"J*J2J:J?BJ?nJ5vJAG@AE@A V~? AhA&"AA=hNA"AZAbAjArAzAAAHAD"=sAu@AI;A=ATݽA@JA@rAW*A9?2AR׽:AQ<BA9?JAR׽RAQ<٘i)I9u@YG J$B=JJJJRE&K Y?T~?yho{PAVREb77 9)wB[[Bſ[U~?[k[[[[BZYY i) Ii4@B= uA))uAuA YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033128.663165 s, next control iter: 1743033129.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6627, header.stamp.nsec: 00 temperature: 13.569053* salinity: 33.374985, density: 1025.000000* values[0]: 0.577361F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033129.063165 s.2I~,R D$AAfffff@A]mOL@A\ V~? ApA&"AA:hNA"AZAbAjArAzAAA!AXG8BsANlu@A+-Ay=ABA=AwA&*Aa9?2AP5׽:A <BAa9?JAP5׽RA YBT~?y*x PAf[REj7Z7` 9)|BE[[ÿ[[U~?[^r[[[[BZYY i') IIix@A=  =)) = = YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033129.103165 s, next control iter: 1743033129.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033129.483165 s.x_2I~,^$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033129.483274F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A{Է@A V~? AxAP&"AAA9hNA"AZAbAjArAzAAAnVJA;GsAt@A1Ae_=AڹA2A1{A*A9?2Aֽ:AI<BA9?JAֽRAI<٘i)I9t@YG J JJJJSE&K YET~?y쀩OAaRE777 9)B[[[U~?[ y[[[[BZYY i) 8˻Ii@|,A= 8))88YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033129.523165 s, next control iter: 1743033129.883179 s, wait time: 0.360014 sET~?)쀩tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6628, header.stamp.nsec: 00 temperature: 13.569275* salinity: 33.375000, density: 1025.000000* values[0]: 0.576783F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033129.903165 s.ȝ2I~,y$AA ףp=@A?a#@A V~? AဪA9&"AA8hNA"AZAbAjArAzAAA8SA.LsA2}t@Ap;A=A:AVh?A{AE*A(9?2Awֽ:A<BA(9?JAwֽRA<I٘i)I9}t@YG JB=JJJJSE&K YHT~?yhOAfRE 9)B[[[U~?[[[[[BZYY i) $RIi@@= _m4))_m4_m4˹YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033129.923165 s, next control iter: 1743033130.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033130.323165 s.z2I~,6$AJ"J*J2J:JBJnJvJA\@AO@A V~? AAw&"AA8hNA"AZAbAjArAzAAAcBAyQsAt@Ar<AR=AӵA ?A`yAА*A9?2A8ֽ:A@=BA9?JA8ֽRA@=٘i)I9t@YG JC=JJJJ SE&K YKT~?yp OAkRE77 9)BE[[+[U~?[h[[[[BZYY i) =Ii[@t@= {0)){0{0y%UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033130.343165 s, next control iter: 1743033130.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6629*, header.stamp.nsec: 0*0 temperature: 13.569510** salinity: 33.374981*, density: 1025.000000** values[0]: 0.576225*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033130.743165 s.W2I~,u$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743033130.743357F (some fields omitted in printout)AGz@Ac~nh@A V~? AAw&"AA9hNA"AZAbAjArAzAAADjbAEVsAs@AT<A;=AA`w?A \uAį*Aa9?2ACֽ:A(=BAa9?JACֽRA(=٘i)I9s@Y:G JB=JJJJSE&K YNT~?y3NA VDqREb7 9)B[[Yc[GU~?[[[[[BZYY i) BIiY@r@= ׶+))׶+׶+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033130.783165 s, next control iter: 1743033131.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033131.163165 s.t}2I~,q$AJ"J*J2J:JBJnJvJA@A%e@A"V~? AA(&"AA@;hNA"AZAbAjArAzAAA-CUA~[sA_s@A{I1<A=AruAT?AnA57*A9?2Aڗֽ:A[=BA9?JAڗֽRA[=Ycu@]y=1<ٓHq? YTT~?yУUNA]vREj7j7K 9(B)BE[[q7[U~?[[[[[BZYY i) !#Iio@F?= _'))_'_'\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033131.183165 s, next control iter: 1743033131.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033131.583165 s.2I~,R$AAR@AKTo@AV~? A(A<&"AA=hNA"AZAbAjArAzAAA_[=zA3di`sA8r@AYAad=A|A!?A@ eAЊ*A9?2A ׽:A3s=BA9?JA ׽RA3s=٘i)I9r@YG JJJJJSE&K YZT~?ynMA{REb77 9)B[[ [U~?[Z[[[[BZYY i) gJ3Ii@IV>= /#))/#/#׿YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033131.603165 s, next control iter: 1743033131.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6630, header.stamp.nsec: 00 temperature: 13.569722* salinity: 33.375004, density: 1025.000000* values[0]: 0.575653F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033132.003165 s.w 2I~,H4$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033132.003280F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A<<@AV~? A2A&"AAAhNA"AZAbAjArAzAAA "\AMQesAt(r@ARA=A5 A [?A@XA*A_9?2AU׽:A=BA_9?JAU׽RA=٘i)I9(r@YbG JԉJJJJ"SE&K Y~`T~?y MARE{7j7u 9)B)BE[[o۳[IU~?[[[[[BZYY i) BIi&@== ))êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033132.043165 s, next control iter: 1743033132.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033132.423165 s.u2I~,$AA(\@Alw@AV~? A8A&"AA2EhNA"AZAbAjArAzAAA$ ZN8A|f7jsAʴq@A7AE=AcA ?A;JAP*A;9?2APX׽:A=BA;9?JAPX׽RA=٘i)I9q@YG JJJJJ'SE&K YXfT~?y@MARE77 9)B[[뫱[U~?[[[[[BZYY i) SRIiǓ@(== G))GGƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033132.463165 s, next control iter: 1743033132.823179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6631, header.stamp.nsec: 00 temperature: 13.569945* salinity: 33.374989, density: 1025.000000* values[0]: 0.575118F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033132.843165 s.2I~,5$AJ"J*J2J:JBJnJvJAHz.@A%̴@AV~? A9A6f&"AAJhNA"AZAbAjArAzAAA%gl A= osA=q@AxTAw=AӣA?A,9AV둼*AW9?2A ׽:A=BAW9?JA ׽RA=٘i)I9=q@YG J؍JJJJ-SE&K Y2lT~?yHƩLAREb77 9)B[[{["U~?[:[[[[BZYY i) aIi@ <= ))ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033132.883165 s, next control iter: 1743033133.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033133.263165 s.2I~,'P$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033133.263293F (some fields omitted in printout)A@AAF@@A%V~? A3A+&"AAOhNA"AZAbAjArAzAAAާxA|ssAp@AMɺA7=ATA*9?A%AS*AѺ9?2A-ֽ:A. =BAѺ9?JA-ֽRA. =Y@nXy7=ɺٓH@}? x?`i?@cH?@y²)Y?)@ I٘i)I9p@YG JٕJq<JJJ2SE&Kw> YtT~?yΩ~LAXRE77j76 9*B)BE[[[N[U~?[ɴ[[[[BZYY i) _qIi@Y;= ی))ییΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033133.303165 s, next control iter: 1743033133.663179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6632., header.stamp.nsec: 0.0 temperature: 13.570163.* salinity: 33.375000., density: 1025.000000.* values[0]: 0.574570.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033133.683165 s.l2I~,^k$AJ"J*J2J:JBJnJvJAQ@A+j0 @A!V~? A&ɪA.&"AATVhNA"AZAbAjArAzAAAҶ,IAjͮxsA9p@A5/<A|=AמAv?ATA䓤*A9?2A/ֽ:A=BA9?JA/ֽRA=٘i)I99p@Y5G JJJJJ7SE&K   9Yp}T~?  9y שLAREb77 9.B)BE[[-[gU~?[X[[[[BZYY i) PIi@a\:= . )). . ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033133.683165 s, next control iter: 1743033134.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743033134.103165 s.2I~,$AA= ףp@Ao/iV@A&V~? AѪA&"AA]hNA"AZAbAjArAzAAA]AVP}sAo@AB܍<A9=A0MA/P?AkAƪ*A9?2Aֽ:AX=BA9?JAֽRAX=٘i)I9o@YG JJJJJ=SE&K YT~?ynߩKARE{7{7` 9)B[[[U~?[[[[[BZYY iK) Iiސ@In9= S))SS$ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033134.143165 s, next control iter: 1743033134.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033134.523165 s.2I~,{$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743033134.523274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A@Ac,V~? AتAI%"AAehNA"AZAbAjArAzAAA]$AAzG@A9Z-@A2V~? AA_%"AAnhNA"AZAbAjArAzAAAAaYS A)ZL>CsAߌn@A>;Av=AA y ?A@|A*A!9?2A}ֽ:A!4=BA!9?JA}ֽRA!4=٘i)I9n@Y0G J檼JJJJGSE&K YNT~?y3JAREj7Z7 9/B)BE[[[V~?[Ω[[[[BZYY i) ޖIi@aF8= 3))33}תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033134.983165 s, next control iter: 1743033135.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033135.363165 s.2I~,>$AJ"J*J2J:JBJnJvJA3333@Az@A#9V~? AA%"AA xhNA"AZAbAjArAzAAA0!j A= 6sAgn@AKADϞ=A|:A?A KA#⥼*A٪9?2A,׽:A&=BA٪9?JA,׽RA&=Y @Ny͞=MٓH -?O??;?`pWԳ|`?) @ I٘i)I9n@YG J6J#<JJJMSE&KMx> YT~?yCJANRE77  9)B[[eZ[W V~?[_թ[[[[BZYY i) LXIi@6= I))IIyVڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033135.403165 s, next control iter: 1743033135.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6634&, header.stamp.nsec: 0&0 temperature: 13.570641&* salinity: 33.375015&, density: 1025.000000&* values[0]: 0.573308&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033135.783165 s.\2I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743033135.783284F (some fields omitted in printout)AQ@AIӠ@AI@V~? A`A.%"AAhNA"AZAbAjArAzAAA)c A.)ĐsA1um@AA=AቑA?A}A)W*A9?2APY׽:AB=BA9?JAPY׽RAB=٘i)I9um@YG JJJJJRSE&K YT~?yTJARE7777 9)ïB[[([V~?[۩[[[[BZYY i) LѥIi@/E5= 6))66ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033135.823165 s, next control iter: 1743033136.183182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743033136.203165 s.3I~,! $AJ"J*J2J:JBJnJvJAףp=@AޫV&p@AGV~? AA%"AAhNA"AZAbAjArAzAAAb( AϤysAl@ACA=AA`?AXA7}*A`9?2A,׽:A4[=BA`9?JA,׽RA4[=٘i)I9l@Y/G J4JJJJXSE&K Y:T~?ydIAREb77K 90B)ɯB E[[=[V~?[7[[[[BZYY i) sJIi@4= >))>復>PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033136.243165 s, next control iter: 1743033136.603181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033136.623165 s.^ 3I~,z'$AA)\@AGɫ@APV~? AA]%"AAhNA"AZAbAjArAzAAA7 A'sATl@AYA=AsmA@uh?A1A*A9?2Aֽ:A8=BA9?JAֽRA8=٘i)I9Tl@YG J7JJJJ]SE&K YT~?yuAIARE)7)7 91B)ίB!E[[E[[V~?[[[[[BZYY i) ôIi@)43= ^ܾ))^ܾ^ܾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033136.663165 s, next control iter: 1743033137.023181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6635 , header.stamp.nsec: 0 0 temperature: 13.570874 * salinity: 33.374992 , density: 1025.000000 * values[0]: 0.572659 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033137.043165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 3I~,B$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033137.043303F (some fields omitted in printout)A{Ga@An½2G@AXV~? A]A0l%"AAihNA"AZAbAjArAzAAA|%+( A%H̞sAk@Atή;A0Ԫ=AA.?AD AB*A59?2A 7ֽ:Aٗ=BA59?JA 7ֽRAٗ=٘i)I9k@YwG JDJJJJbSE&K YT~?yHAREŧ7b7v 9)ӯB[[[&V~?[[[[[BZYY i) =Iix@O2= Ծ))ԾԾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033137.063165 s, next control iter: 1743033137.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033137.463165 s.R3I~,פ]$AA@A@AaV~? AA%"AAܳhNA"AZAbAjArAzAAAq'ݚ$4 A^hsAk@A]y<AEA=AvA@?A ZAc;ȼ*AW9?2A|ս:A=BAW9?JA|սRA=Y9@ALy<={z<ٓH W??? ``?`砵|2??)9@ I٘i)I9k@YG JüJr<JJJhSE&Kw> YT~?y. bHALRE77{7 ! 92B)ٯB$E[[W[$.V~?[A[[[[BZYY i) iüIi @0= ?˾))?˾?˾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033137.483165 s, next control iter: 1743033137.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6636, header.stamp.nsec: 00 temperature: 13.571111* salinity: 33.375004, density: 1025.000000* values[0]: 0.571967F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033137.883165 s.y3I~,+x$AJ"J*J2J:JBJnJvJAQ8@AiUK:@AkV~? AiAE%"AA hNA"AZAbAjArAzAAAUkJAe(sApjj@A:}<A=AA?AA@ͼ*A9?2Aս:An=BA9?JAսRAn=٘i)I9jj@YG JʼJJJJmSE&K YT~?y'GAREŧ7b7$ 9)ޯB[[)#[6V~?[[[[[BZYY i) ʼIiˈ@/= l¾))l¾l¾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033137.923165 s, next control iter: 1743033138.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033138.303165 s.Y$3I~,g$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033138.303290F (some fields omitted in printout)Aq= ף@Ag@AuV~? AAI%"AAhNA"AZAbAjArAzAAAC_UA@0sAXi@A_%<AW=A!1A?A`AJ μ*A9?2ANcֽ:A`y=BA9?JANcֽRA`y=٘i)I9i@YBG J μJJJJrSE&K YpT~?y/yGAREb776( 9)B'E[[A쒿[^?V~?[[[[[BZYY i) ҼIi@-= N))NNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033138.323165 s, next control iter: 1743033138.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6637*, header.stamp.nsec: 0*0 temperature: 13.571404** salinity: 33.374996*, density: 1025.000000** values[0]: 0.571213*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033138.723165 s.+3I~,H$AJ"J*J2J:JBJnJvJA(\@AD@AGV~? A5%A"%"AAhNA"AZAbAjArAzAAAL!*SA?-sAi@ATAԱ=A~A`n?AMAqu̼*A9?2Aֽ:A[=BA9?JAֽRA[=٘i)I9i@Y G JͼJJJJxSE&K YNU~?y*7GARE)7)7+ 93B)B(E[[[HV~?[[[[[BZYY i) ][ټIiن@,= ))jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033138.743165 s, next control iter: 1743033139.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033139.143165 s.\/23I~, *$AAGz@A DO`@A`V~? A,A%"AAhNA"AZAbAjArAzAAA3DFAgѴxsA?eh@A0[A2=A oyA|?A`AA#m˼*Al9?2A]:׽:AV=BAl9?JA]:׽RAV=٘i)I9eh@Yp G J̼JJJJ}SE&K Y+U~?y>FARE{7{7a/ 94B)B+E[[y[RV~?[&[[[[BZYY i) Ii(@+= nƧ))nƧnƧAYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033139.163165 s, next control iter: 1743033139.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033139.563165 s.83I~,c $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743033139.563303F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AR O@AV~? A3A%"AA?iNA"AZAbAjArAzAAA ?-AGˢsA̹g@A#A=A"tA2Y?AAbͼ*A9?2A=7׽:A=BA9?JA=7׽RA=Y{@ˇtym=ٓHh?@? y?@- ?'ό`&䑿?){@ I٘i)I9g@Y G J̼J <JJJSE&K=x> Yu%U~?yFFAtREj72 9)B[[C[[V~?[:[[[[ZZ¸BZYY i¸=) vԼIi@Ю)= ));YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033139.583165 s, next control iter: 1743033139.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6638, header.stamp.nsec: 00 temperature: 13.571668* salinity: 33.375011, density: 1025.000000* values[0]: 0.570465F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033139.983165 s.?3I~,$AAQ@A"07@AV~? A:Ajy%"AAiNA"AZAbAjArAzAAA|xS A_=sA` g@AwJA=A7 oA@D0?A`AҼ*A9?2Aֽ:AQ=BA9?JAֽRAQ=٘i)I9 g@Y G JϼJJJJSE&K Y5U~?y/MEARE7ŧ76 95B)B.E[[ [fV~?[H[[[[ZZBZYY i) ̏ȼIi'@'= . )). . .YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033140.003165 s, next control iter: 1743033140.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033140.403165 s.&F3I~,$AJ"J*J2J:JBJnJvJA ףp@AvX@AV~? AAA%"AA&iNA"AZAbAjArAzAAA_ AxˍsAREf@AHA=AjA?A@5kA*A9?2Acֽ:A<BA9?JAcֽRA<٘i)I9Ef@Y% G JJJJJSE&K YFU~?y\T%EARE77!: 96B)B/E[[Ї[pV~?[N [[[[ZZBZYY i) nIi@O&=  ))  YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743033140.423165 s, next control iter: 1743033140.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6639", header.stamp.nsec: 0"0 temperature: 13.571948"* salinity: 33.375019", density: 1025.000000"* values[0]: 0.569659"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033140.823165 s.L3I~,24$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083795< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033140.823303F (some fields omitted in printout)A\(@A?@AxV~? AHAKe%"AA9iNA"AZAbAjArAzAAA cPAw0pfsAfe@Ab5<A=A["eA@?AB.A*Ag9?2Aֽ:A<BAg9?JAֽRA<٘i)I9fe@Y G JJJJJSE&K YQVU~?y[DARE7= 97B) B2E[[ג[{V~?[K&[[[[ZZBZYY i)  ~Ii@$= +))++y=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033140.843165 s, next control iter: 1743033141.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033141.243165 s.S3I~,uO$AJ"J*J2J:JBJnJvJAGz@Acz@AV~? AOA%"AAMiNA"AZAbAjArAzAAA!͜AmsA d@A<Att=A`A@?AAg*AK9?2Aֽ:Arv<BAK9?JAֽRArv<٘i)I9d@Y G JJJJJSE&K YfU~?yb3DARE77{7KA 9)B[[S[V~?[=,[[[[ZZBZYY i) uIi @#= _v))_v_vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033141.283165 s, next control iter: 1743033141.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033141.663165 s.Z3I~,qj$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6640, header.stamp.nsec: 00 temperature: 13.572305* salinity: 33.375027, density: 1025.000000* values[0]: 0.568689F (some fields omitted in printout)A@A*U@AV~? AVAW%"AAbiNA"AZAbAjArAzAAACA峲w1sAc@A=\<Ag/=AZAm?AܯAԼ*Aܫ9?2A;@ֽ:A[;BAܫ9?JA;@ֽRA[;Y^@PZyc/=^q\<ٓHg?@>"?@i? `K? ꥿~??)^@ I٘i)I9c@Y G JeJ=ݽJJJSE&Kv> Y1yU~?y^iCAZRE{7Z7D 9)B5E[[[V~?[2[[[[ZZBZYY i*=) Ii|@$!= ~d))~d~dvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033141.683165 s, next control iter: 1743033142.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033142.083165 s.Da3I~, S$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J:J8 propOmegaAction: 25.132812BJnJ< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073812vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033142.083299F (some fields omitted in printout)ARk@AwoQ@AV~? Aa]A(%"AAwiNA"AZAbAjArAzAAA #_A elevatorAngleAction: 0.083163< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198832 time: 1743033143.343286F (some fields omitted in printout)AHz@A@AW~? AqAP%"AAiNA"AZAbAjArAzAAA_nAR&KsApb@A3A7AeEAp?AUA[W*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G JJJJJSE&K YU~?y CASEj7j76S 9))B[[p[V~?[I[[[[ZZBZYY i)  ]Ii[r@= ))y=_)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033143.363165 s, next control iter: 1743033143.743180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6642*, header.stamp.nsec: 0*0 temperature: 13.572691** salinity: 33.375034*, density: 1025.000000** values[0]: 0.567509*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033143.763165 s.:{3I~,,$AJ"J*J2J:JBJnJvJA@A&†@A#W~? AawAW%"AAiNA"AZAbAjArAzAAA!84kA`}K%,sAb@AֻAA@AQ?APA*A~9?2Acֽ:AJμBA~9?JAcֽRAJμY@ @yU׻ٓHY??[??? z?)@ I٘i)I9b@Y G JNJS7JJJSE&Kw> Y2U~?y9CA@SEV 9;B)*B?E[[Wk[*V~?[N[[[[BZYY il=) %KIin@=  ))  yBd=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033143.783165 s, next control iter: 1743033144.163176 s, wait time: 0.380011 s"2U~?)" rAdjusting time to match Gazebo time: 1743033144.183165 s.˂3I~,o $AAQ@Agk@A4W~? A}A-X%"AACiNA"AZAbAjArAzAAA elevatorAngleAction: 0.067808< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743033144.603300F (some fields omitted in printout)A= ף@A>@ADW~? AǃA%"AAxjNA"AZAbAjArAzAAA 溙ݿAa!sA)b@Ao<AXAx5A`k?A8A[S;*A9?2AUֽ:APBA9?JAUֽRAP٘i)I9)b@Y G J,;JJJJSE&K YV~?y CA"SE7777] 9)CE[[Gzb[V~?[Y[[[[BZYY i) '(Ii%h@2= `S˽))`S˽`S˽yze==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033144.623165 s, next control iter: 1743033145.003182 s, wait time: 0.380017 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6643 , header.stamp.nsec: 0 0 temperature: 13.572626 * salinity: 33.375042 , density: 1025.000000 * values[0]: 0.567489 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033145.023165 s.Z3I~,{A$AA(\@A"B@AVW~? AЉA h%"AAKjNA"AZAbAjArAzAAA}upпA$^lsAbb@A}<AatwA0An?A`A2&<*A49?2A ֽ:ACBA49?JA ֽRAC٘i)I9bb@Y G Jh<JJJJSE&K Y-V~?yCA'SEb77a 9=B)*BFE[[s][V~?[_[[[[BZYY i) OIie@= ))yd=`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033145.063165 s, next control iter: 1743033145.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033145.443165 s.1Ö3I~,%]\$AJ"J*J2J:JN?BJN?nJ]5vJAz@A@AgW~? AA"%"AA9jNA"AZAbAjArAzAAAG*Apn sAb@A <Au.Aڪ+A?AA~`_<*Ag9?2AJֽ:A BAg9?JAJֽRA ٘i)I9b@Y G JC@<JJJJSE&K Y*V~?yCA,SE77!e 9)(B[[IY[b W~?[ud[[[[BZYY i) Ii=c@o= ΁))΁΁*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033145.483165 s, next control iter: 1743033145.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6644, header.stamp.nsec: 00 temperature: 13.572464* salinity: 33.375050, density: 1025.000000* values[0]: 0.567766F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033145.863165 s.+3I~,>w$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067808< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743033145.863306F (some fields omitted in printout)A33333@AD @AyW~? AA`%"AATjNA"AZAbAjArAzAAAct?A%fsAc@AAAf&Aq?ATA<*Au9?2Alֽ:A2QBAu9?JAlֽRA2QY9@-&y7-ٓHd?e?`]Vs?A?2?o6?)9@ II٘i)I9c@Y8 G Jjw<B=JJJJSE&KPw> YPAV~?yrMDA&2SEb77h 9>B)%BIE[[gT[cW~?[i[[[[BZYY i+ l=) $Ii5_@k= :))::*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033145.903165 s, next control iter: 1743033146.263184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743033146.283165 s.7R3I~,$AJ"J*J2J:JBJnJvJAQ@AÚʢ@A1W~? ABA%"AAIpjNA"AZAbAjArAzAAA!v?A#sAc@AolAA!A?A/fAL<*A9?2Aս:A5YBA9?JAսRA5Y٘i)I9c@Y G J<C=JJJJSE&K YWV~?yȬDA7SE77Ll 9)"BLE[[/(P[)W~?[n[[[[BZYY i) λIi[@΃ =  ))  㼩 L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033146.303165 s, next control iter: 1743033146.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6645., header.stamp.nsec: 0.0 temperature: 13.572194.* salinity: 33.375076., density: 1025.000000.* values[0]: 0.568315.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033146.703165 s.غ3I~,$AAףp= @A7L4@AW~? AؠAy%"AAljNA"AZAbAjArAzAAA9W?AzsA{#d@AAWAA;?A@'A)<*Aƨ9?2Aս:ARBAƨ9?JAսRAR٘i)I9#d@Y G J<B=JJJJSE&K YBnV~?yEA=SEb77o 9@B)BME[[+K[9W~?[s[[[[BZYY i) IiGX@k = ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033146.743165 s, next control iter: 1743033147.103179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033147.123165 s.:3I~,i$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057628< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033147.123296F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A_ѭ[@AW~? AOAn5%"AAjNA"AZAbAjArAzAAAfB?ASsA d@AK8AGASAzn?Aik߿A!<*A9?2Aaս:A,BA9?JAaսRA,٘i)I9d@Y4 G J<C=JJJJSE&K YV~?ysrEABSE77ws 9)BPE[[F[IW~?[x[[[[BZYY i) {ZIicU@o= 7 <))7 <7 <yCl=4*Y%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033147.163165 s, next control iter: 1743033147.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033147.543165 s.I3I~,$AA{G@AW:@AW~? AA%"AA\jNA"AZAbAjArAzAAAXb=Q?A etAPe@A1O:A:AAJ?A@w޿A{"<*A9?2A&3ֽ:A>BA9?JA&3ֽRA>٘i)I9Pe@Y G J<JJJJSE&K Y1V~?yɼEAGSE w 9AB)BSE[[CB[?ZW~?[}[[[[BZYY i) xeIiR@= <))<<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033147.583165 s, next control iter: 1743033147.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6646, header.stamp.nsec: 00 temperature: 13.571829* salinity: 33.375080, density: 1025.000000* values[0]: 0.569045F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033147.963165 s.J "J *J 2J :J ?BJ ?z3I~nJ5vJ,$AAL@AE(2@AjW~? AᰫAkd%"AA$jNA"AZAbAjArAzAAA3)e?ADtA3e@AL<A䙽A4| A?A'ݿA <*A9?2A~ֽ:ABA9?JA~ֽRAYu@ ytᙽL<ٓHl5??༫L???7????)u@ I٘i)I9e@Y G J<JJJJSE&Kv> YBV~?yb;FA MSEj7j7z 9BB)BVE[[=[jW~?[̂[[[[BZYY i) 2)IiN@|<= c6=))~c6=c6=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033148.003165 s, next control iter: 1743033148.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033148.383165 s.3I~,<$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248717> elevatorAngleAction: 0.057628< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033148.383298F (some fields omitted in printout)AQ@AM=@AW~? AA%"AAskNA"AZAbAjArAzAAA*?AH a tAwf@A<A]–A0A^?A`,;ݿAf1<*A9?2A%ֽ:ABA9?JA%ֽRA٘i)I9wf@YD G J<JJJJSE&K YUV~?yŪFARSE77777~ 9)B[[9[{W~?[[[[[BZYY imو=) ٺIiJ@-= G=)) G=G=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033148.423165 s, next control iter: 1743033148.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6647", header.stamp.nsec: 0"0 temperature: 13.571453"* salinity: 33.375092", density: 1025.000000"* values[0]: 0.569840"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033148.803165 s.wA3I~,{g3$AJ"J*J2J:JBJnJvJAq= #@A @AX~? AA;%"AAG!kNA"AZAbAjArAzAAAFƅ=v?AGdh tA#g@A]<AA}%A ?A`xܿAYW<*A9?2Axս:ABA9?JAxսRA٘i)I9g@Y G J_<JJJEJSE&K YjV~?yʪ GAWSE{7́ 9) BZE[[W\4[RW~?[D[[[[BZYY i) &BIi elevatorAngleAction: 0.066821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033149.643279F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A^)@A,X~? A}īA%"AAe`kNA"AZAbAjArAzAAA>K5@A<tAh@A2`#AeIArA=9?A;ڿAX<*A9?2A40ս:ABA9?JA40սRA٘i)I9h@YE G Ja<JJJJTE&K YW~?yӪGAbSE77 9DB)BaE[[w*[@W~?[q[[[[BZYY i) +:IifA@f<  =)) = =y=G*YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6648, header.stamp.nsec: 0F0 temperature: 13.571110* salinity: 33.375092, density: 1025.000000* values[0]: 0.570547F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743033149.663165 s, next control iter: 1743033150.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033150.063165 s.3I~,[ $AAfffff@Ae5]OL@AAX~? AɫA %"AAkNA"AZAbAjArAzAAA b=@A}tAh@AR䋼ATANwAV}?A[7ڿA<<*AN9?2AQս:ABAN9?JAQսRAY@yO4ٓH?V?@4`zۿ?Ǧ?`&?R|e?)@ I٘i)I9h@Y G J<JН<JJJ TE&Ku> Y-W~?yת5HAgSE{7{7 9)B[[I&[xW~?[֙[[[[BZYY i) -;Ii<@<  >))z > >3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033150.083165 s, next control iter: 1743033150.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033150.483165 s.~_3I~,$AJ"J*J2J:J'?BJ'?nJ@5vJA@Agӷ@AJWX~? AͫA,%"AAXkNA"AZAbAjArAzAAA`ڷM@AA #tA,i@AxAA8۾AW?A .mٿA0<*A9?2A-ս:Aa!BA9?JA-սRAa!٘i)I9,i@Y G J-<JJJJTE&K YtFW~?ym۪HA WDmSEŧ7b7" 9EB)BdE[[G![W~?[)[[[[BZYY i) GD;Ii8@< P>)) P>P>*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033150.523165 s, next control iter: 1743033150.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6649, header.stamp.nsec: 00 temperature: 13.570747* salinity: 33.375111, density: 1025.000000* values[0]: 0.571254F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033150.903165 s.3I~,͹$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033150.903281F (some fields omitted in printout)A ףp=@AcZ#@ASmX~? AѫAN%"AAkNA"AZAbAjArAzAAAWoc@A`_tAi@AAoAhѾA?A IؿAY<*Ab9?2AWԽ:ABAb9?JAWԽRA٘i)I9i@Y7G J2<JJJJTE&K Y_W~?y@ߪHArSEb77 9)BgE[[S[W~?[h[[[[BZYY i) 0;Ii(5@U<  0>)) 0> 0>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033150.923165 s, next control iter: 1743033151.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033151.323165 s.s3I~,$AJ"J*J2J:JBJnJvJA\@AɊ@AX~? AիAu%"AAkNA"AZAbAjArAzAAAN€ @AtA9!j@A#h;A삽AoƾA`C?A׿Aׇ<*A9?2ADkս:ABA9?JADkսRA٘i)I9!j@YG JɌ<JJJJTE&K Y\yW~?yIIAxSEj7j7M 9FB)BjE[[[sW~?[[[[[BZYY i) @>;Ii1@Ũ< C>))C>C>[*YT YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033151.363165 s, next control iter: 1743033151.723175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6650&, header.stamp.nsec: 0&0 temperature: 13.570383&* salinity: 33.375141&, density: 1025.000000&* values[0]: 0.571923&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033151.743165 s.W3I~,$AAGz@Aʩa@A9X~? AګAQ4%"AAlNA"AZAbAjArAzAAA}2 @Al.`tAj@A<A1A/CA?AֿA#<*A9?2Aս:AmBA9?JAսRAm뼙٘i)I9j@YG J<JJJJTE&K YϒW~?yIA}SE7)7 9)BmE[[M[*X~?[[[[[BZYY iY=) J;Ii.@9< ` W>))` W>` W>H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033151.763165 s, next control iter: 1743033152.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033152.163165 s.J "J *J 2J :J ~?BJ ~?nJ 5vJ {}4I~,q $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076343< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743033152.163276F (some fields omitted in printout)A@A Ye@AX~? AݫA%"AA(lNA"AZAbAjArAzAAAN @A/!tAj@A&ʆ<A8A汾A?A@%ֿAk<*A69?2Aֽ:A BA69?JAֽRA Y@oy<ٓH ?7?@E տf?Ny? ??ِ?^?)@ I٘i)I9j@YG Jm<J <JJJ$TE&Kt> Y^W~?yIAoSESI7SI7w 9)B[[[#X~?[[[[[BZYY i) ;IiR*@< @i>))w@i>@i>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033152.183165 s, next control iter: 1743033152.563184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743033152.583165 s.4I~,R%$AAR@Aݰm@A'X~? AAS%"AAKKlNA"AZAbAjArAzAAA@H@A-$tAgk@AW<AX݂AǧA?A`OտA%<*A9?2Aս:ADBA9?JAսRAD٘i)I9gk@YEG JA<JJJJ)TE&K YW~?yTJASE{777 9)BpE[[ [8X~?[`[[[[BZYY i) );Ii&@0< }>))Kׅ}>}>"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033152.603165 s, next control iter: 1743033152.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6651, header.stamp.nsec: 00 temperature: 13.570058* salinity: 33.375130, density: 1025.000000* values[0]: 0.572527F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033153.003165 s.~ 4I~,e4@$AJ"J*J2J:JBJnJvJAp= W@AU<@A|X~? A<AT%"AAunlNA"AZAbAjArAzAAAؗ ?@AA-#|9&tABk@A[AєAA +?ArԿA<*A:?2A$Խ:AdBA:?JA$ԽRAd٘i)I9k@YG JS<JJJJ/TE&K Y{W~?yJASE{7 9GB)BsE[[[LX~?[[[[[BZYY i) k)) @(>@(>yE=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033153.043165 s, next control iter: 1743033153.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033153.423165 s.u4I~,[$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076343< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033153.423283F (some fields omitted in printout)A(\@Ax@A X~? AA%"AAlNA"AZAbAjArAzAAA24@A6T(tABGl@ArAAGAO\?A ӿAŠ<*A7 :?2AԽ:ABA7 :?JAԽRA٘i)I9Gl@YG J<JJJJ4TE&K Y W~?yKASE7 9IB)BwE[[$[_aX~?[[[[[BZYY i) E))Ց>Ց>O*YIYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033153.443165 s, next control iter: 1743033153.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6652, header.stamp.nsec: 00 temperature: 13.569772* salinity: 33.375160, density: 1025.000000* values[0]: 0.573092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033153.843165 s.4I~,u$AJ"J*J2J:JBJnJvJAHz.@A{ @AY~? AAl%"AAҵlNA"AZAbAjArAzAAAMG@AH;Y*tAl@A}AAhA{?A`ҿA嵍<*A7:?2AԽ:A&BA7:?JAԽRA&٘i)I9l@YG J<B=JJJJ9TE&K YX~?yZKASE777ͬ 9)BzE[[[vX~?[H[[[[BZYY i) >.))ђ>ђ>^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033153.863165 s, next control iter: 1743033154.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033154.263165 s.$4I~,#ؐ$AA@A9 Q@A&Y~? A(A%"AAlNA"AZAbAjArAzAAA0@AYG,tA+4m@A.AFAv~Aw?ATѿA|Í<*A:?2A8ս:A7BA:?JA8սRA7Y@:~yDA/ٓHx??0oaϿ?@ᶛ?!e?`%ۅ@?)@ I٘i)I94m@Y^G J<C=J.JJJ?TE&Kjt> Y2X~?yKA:~SEj7j7b 9)B}E[[u[X~?[[[[[BZYY i) =))WuA1>A1>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033154.283165 s, next control iter: 1743033154.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 66532, header.stamp.nsec: 020 temperature: 13.5694232* salinity: 33.3751602, density: 1025.0000002* values[0]: 0.5737672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033154.683165 s.l*4I~,V$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239592> elevatorAngleAction: 0.076343< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033154.683283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A{@A>Y~? A*AQ%"AAvlNA"AZAbAjArAzAAAJ @A=.tAǪm@AĤ:AȍABiA?AKѿA_<*A9?2A ֽ:AXBA9?JA ֽRAX٘i)I9m@YG J0<JJJJDTE&K Y^NX~?yDLASE777 9)ܯB[[;[@X~?[ê[[[[BZYY i) 0M))߫>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033154.683165 s, next control iter: 1743033155.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743033155.103165 s.14I~,К$AA= ףp@AeV@A[WY~? AAg%"AAA#mNA"AZAbAjArAzAAAXgG@A6U)) >>r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033155.123165 s, next control iter: 1743033155.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033155.523165 s.74I~,{$AJ"J*J2J:JBJnJvJA(@AvO@AoY~? AA%"AAXHmNA"AZAbAjArAzAAAcq@Adz1tAn@A2<AA6?A??A@pοA<*AC:?2AԽ:AaBAC:?JAԽRAa٘i)I9n@Y6G J<JJJJOTE&K Y!X~?yLASEj7Z7" 9JB)կBE[[iϾ[]X~?[#ʪ[[[[BZYY i) #l))M>M>*Y煾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033155.563165 s, next control iter: 1743033155.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6654, header.stamp.nsec: 00 temperature: 13.569095* salinity: 33.375160, density: 1025.000000* values[0]: 0.574383F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033155.943165 s.Xd>4I~,B]$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076343< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743033155.943322F (some fields omitted in printout)AzG@Au-@AY~? ACA%"AAmmNA"AZAbAjArAzAAAX@A23tAo@A.R<AX{A8+Ad?A̿A Ӗ<*A:?2AԽ:A BA:?JAԽRA ٘i)I9o@YG J~<JJJJTTE&K YX~?y.MASE77 9)ѯBE[[ž[X~?[ͪ[[[[BZYY i*[=) Q{))!h>!h>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033155.963165 s, next control iter: 1743033156.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033156.363165 s.E4I~,y>$AJ"J*J2J:J?BJ?nJE5vJA3333@AY.@AY~? AAB~%"AAFmNA"AZAbAjArAzAAAt@A X4tAÔo@Ax:At AA@?A`ʿA}<*A:?2AԽ:A BA:?JAԽRA YK@=yj :ٓH#? ?`X¿?Ѓ?|?V??)K@ I٘i)I9o@YG J<JJJJZTE&K*s> YoX~?yMASE7{7M 9)ͯBE[[M[^X~?[Ϫ[[[[BZYY i) Z))si/>i/>~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033156.403165 s, next control iter: 1743033156.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6655&, header.stamp.nsec: 0&0 temperature: 13.568745&* salinity: 33.375206&, density: 1025.000000&* values[0]: 0.575045&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033156.783165 s.WK4I~,2$AAQ@AAΡ@AY~? AAP%"AAmNA"AZAbAjArAzAAAQ@Aycm5tAp@A0A[A*A?A%ɿAĎ<*A:?2AIԽ:AHBA:?JAIԽRAH٘i)I9p@Y$G J<JJJJ_TE&K Y\X~?y]MASE 9)ɯBE[[[.Y~?[Ҫ[[[[BZYY i) )) > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033156.803165 s, next control iter: 1743033157.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033157.203165 s.S4I~,&M$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257679> elevatorAngleAction: 0.085623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420000J2 time: 1743033157.203289"JF (some fields omitted in printout)*J2J:JBJnJvJAףp=@A&p@AY~? AA^&%"AA mNA"AZAbAjArAzAAA,@AT%;)7tAOp@AÍApAtA :?AUDǿA<*A:?2Aҽ:A BA:?JAҽRA ٘i)I9p@Y{G Jz<JJJJdTE&K YHX~?ybNASEb7b7x 9)įBE[[![V(Y~?[ ժ[[[[BZYY i) t)) >>yU>=o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033157.243165 s, next control iter: 1743033157.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033157.623165 s.]Y4I~,vg$AA)\@AAS@AY~? AA%"AA`nNA"AZAbAjArAzAAA@7_@AiV8tA@q@AqAH&ASXA?A(}ſA{<*A:?2AWӽ:ADBA:?JAWӽRAD٘i)I9@q@YG J<JJJJjTE&K Y4Y~?yNASEj7Z7 9)BE[[[?Y~?[tת[[[[BZYY i) ))>>g*YJYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033157.663165 s, next control iter: 1743033158.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6656, header.stamp.nsec: 00 temperature: 13.568372* salinity: 33.375202, density: 1025.000000* values[0]: 0.575775F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033158.043165 s.`4I~,Â$AJ"J*J2J:Jf?BJf?nJ5vJA{Ga@AV/G@A~Z~? AA%"AA+nNA"AZAbAjArAzAAA+o@A֞k9tAq@AڑA^᣽AݍA`?A`%ÿAj<*Ac:?2AiVԽ:ABAc:?JAiVԽRA٘i)I9q@Y/G J_<JJJJoTE&K Y!,Y~?yF0OASE777 9)B[[a [WY~?[٪[[[[BZYY i) [))U>U>2*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033158.063165 s, next control iter: 1743033158.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033158.463165 s.Tg4I~,ߤ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033158.463281F (some fields omitted in printout)A@Al@@A Z~? ANA_%"AAjRnNA"AZAbAjArAzAAAd @A|h:tAjr@Ac<AǦADA`Y?AA<*Ai :?2ALս:AgBAi :?JALսRAgY}@GyŦ? <ٓH *??:洿 ڨE?.pҴ???)}@ I٘i)I9jr@YG J|<JJJJtTE&KZs> YRHY~?yOAGSESI7SI78 9)BE[[[4oY~?[۪[[[[BZYY i) k elevatorAngleAction: 0.085623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743033159.723284F (some fields omitted in printout)A(\@A-I@A1mZ~? A. Ah%"AA$nNA"AZAbAjArAzAAAάp8"@A; ϩ??@?a|?c?)@ I٘i)I9u@YwG J<JG~JJJTE&KEr> Y;Y~?yQA]O=SEb7# 9QB)BE[[.[sY~?[a[[[[BZYY i) $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237137> elevatorAngleAction: 0.085623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033160.983320F (some fields omitted in printout)AQ@Ay7@AZ~? A AT3%"AAtAYKv@AAQAA=A` s?A^骿A<*A :?2AtԽ:AL!BA :?JAtԽRAL!٘i)I9Kv@YG J<JJJJTE&K YgY~?yQRASEj7j7 9)BE[[K1[bZ~?[[[[[BZYY i) tAAw@A#ALA$=A "}?AA<*AZ&:?2A!!ӽ:ASjBAZ&:?JA!!ӽRASj٘i)I9w@YWG J<JJJJTE&K Y Z~?yRASESI7N 9)B[[C[Z~?[[[[[BZYY i) @tA!w@A$;AA=A ?A5A6<*AO&:?2A ӽ:A9ZBAO&:?JA ӽRA9ZI٘i)I9w@YG J<JJJJTE&K Y)Z~?yCSASE7{7 9PB)BE[[V[5Z~?[[[[[ZZZZ¸>BZYY i¸>7E)  %@A"U>tAqx@A\<A oA֥>A7?A@EMA)<*A :?2AԽ:ABA :?JAԽRA٘i)I9qx@Y6G JK<JJJJTE&K YEZ~?y1SATE7x 9)BE[[[NZ~?[[[[[ZZZZBZYY i) ">tA8y@AȎ<AA>A?AUz?A<*A&:?2AKս:A.BA&:?JAKսRA.Y@>yIP<ٓH?@'aÿ #?@N?@➿@U?ؑ??)@ I٘i)I98y@YG J<JƝ;JJJTE&K{s> YaZ~?y2TA>TE7777 9OB)BE[[fW[7hZ~?[%[[[[ZZZZBZYY i) WtAz@AJK<AAM 0>A`~}?A?A=*A/:?2Apս:A"BA/:?JApսRA"٘i)I9z@Y5G J=JJJJTE&K Y}Z~?yTATEŧ7ŧ7 9)~BE[[0I[Z~?[[[[[ZZZZBZYY i) tAz@Aa:AwAC>A {?AH?Aw<*A(U:?2Aӽ:AeBA(U:?JAӽRAe٘i)I9z@YG J-=JJJJTE&K YZ~?y<UATE{7j78 9)wBE[[[Z~?[[[[[ZZZZBZYY i) tAݱ{@Aӓ*A8@3AsV>ADu?A`?AAY<*A]:?2Aјӽ:AѻBA]:?JAјӽRAѻ٘i)I9{@Y0G J<JJJJTE&K  9YyZ~? 9yUATE7779NB)pBE[[/[Z~?[[[[[ZZZZBZYY i) Al?A鬰?A;<*AY:?2A5Խ:AD*:BAY:?JA5ԽRAD*:٘i)I9\|@YG JT<JJJJTE&K Y\Z~?y VATE7c9MB)kBE[[T<[lZ~?[[[[[ZZZZBZYY i) %"AAƟpNA"AZAbAjArAzAAAݩ}!)@A'"q=tA~|@A2VAA>A`#b?A_?Ad<*AQ:?2AԽ:A<BAQ:?JAԽRAyD65VٓH? ϿPϮ??eT?w?,Ɗ?)< I٘i)I9|@YG J<JK;>JJJTE&Kr> YZ~?yjVA>#TE{7 9)fB[[ =[Z~?[[[[[ZZZZBZYY i) +AT?A`'?Ak5<*A4F:?2ATս:Aa<BA4F:?JATսRAa<٘i)I9H}@Y(G Jk<JJJJTE&K Y8[~?y:$VA(TEb7b7 9)cBE[[t_=[[~?[[[[[ZZZZBZYY ij͙) ԟlAF?AC?A;*A\:?2A@ӽ:Aѯ<BA\:?JA@ӽRAѯ<٘i)I9}@YKG J <JJJJTE&K Y#[~?y 0VA.TE77#9LB)`B¹E[[*=[[~?[[[[[ZZZZBZYY i) XA 5?A`?A8*AJV:?2A`Zӽ:Ab:<BAJV:?JA`ZӽRAb:<٘i)I9}@YWG J65;JJJJTE&K Y?[~?y=VA3TE9)_BŹE[[jX=[::[~?[@[[[[BZYY i) 0EA- ?A`=?A4*AK:?2Aӽ:A9<BAK:?JAӽRA9<٘i)I9}@YOG JlJJJJTE&K YZ[~?yIVA9TEN9KB)ȹE[[=[U[~?[Y[[[[BZYY i) y1$AA33333 @A @A%\~? AA%"AA3cqNA"AZAbAjArAzAAAQsϻ,@A}9tAnb}@A>;AeY=A >A2?Alq?AГ*AwA:?2AԽ:A&=BAwA:?JAԽRA&=Y>8>ydY=!;ٓH@d?Sտ`?@???`V)`'z? L?)> I٘i)I9b}@Y8G JJ>JJJTE&Ks> Yu[~?yVA8>>TEŧ7b79JB)˹E[[Ŧ>[o[~?[G[[[[BZYY i}h) -!*ʛ; l?))4wl?l?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033166.883165 s, next control iter: 1743033167.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033167.283165 s.7R4I~,$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241411@ elevatorAngleAction: -0.056760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033167.283285F (some fields omitted in printout)AQ @AM @AS?\~? A-A%"AAqNA"AZAbAjArAzAAA|-C-@AF~8tA&}@Ak3»Ax=A׽>A@3?AO?AA'*A>7:?2Aս:AR=BA>7:?JAսRAR=٘i)I9&}@YG JJJJJJTE&K Y[~?yUACTEj7SI7y9HB)ʹE[[s$>[ [~?[[[[[BZYY i) ; ,r?)) ,r?,r?sYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743033167.303165 s, next control iter: 1743033167.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6666., header.stamp.nsec: 0.0 temperature: 13.564585.* salinity: 33.375370., density: 1025.000000.* values[0]: 0.583081.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033167.703165 s.Ӻ4I~,$AAףp= @AP) @AX\~? ACA%"AAiqNA"AZAbAjArAzAAA5-@A4`LS7tA|@AzuAF=AY>A@?A?@?A\*AN:?2AߙԽ:A =BAN:?JAߙԽRA =٘i)I9|@YG J<@JJJJTE&K Y3[~?ynUAITEŧ7b7#9GB)`B͹E[[uq:>[ߤ[~?[[[[[BZYY iCy) 'd; 8w?))8w?8w?껪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033167.723165 s, next control iter: 1743033168.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033168.123165 s.75I~,]$AJ"J*J2J:JBJnJvJA)\u @A̷>[ @Aq\~? A1A%"AAqNA"AZAbAjArAzAAA 2u.@A,ͫp6tAp|@A<A&<=Ȧ>A ?AT?A샼*AtO:?2Aս:A =BAtO:?JAսRA =٘i)I9p|@YG JqJJJJTE&K Y[~?y%UANTEj7j7&9FB)cBйE[[P>[[~?[[[[[BZYY i) ;Iiٗ>^B; ~5}?))~5}?~5}?yhǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033168.143165 s, next control iter: 1743033168.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033168.543165 s.I5I~,"$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743033168.543303F (some fields omitted in printout)A{G @A&L1 @A\~? AAIF%"AAqNA"AZAbAjArAzAAA/ /@AL꯳4tA{@AS A#=A`>A?A?A{*A[L:?2Ah$ս:A^ =BA[L:?JAh$սRA^ =٘i)I9{@Y]G J9JJJJTE&K YQ[~?yTASTE779*9)fBӹE[[f>[[~?[[[[[BZYY i) ;Ii>$; d?))d?d?yKϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033168.583165 s, next control iter: 1743033168.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6667, header.stamp.nsec: 00 temperature: 13.564610* salinity: 33.375381, density: 1025.000000* values[0]: 0.582731F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033168.963165 s.z5I~,=$AJ"J*J2J:J-?BJ-?nJl5vJAL @A* 2 @A\~? AA s%"AA"rNA"AZAbAjArAzAAA,3/@A4@3tAv{@A`;A=A{>Aon?A?A*A˝>y=~`;ٓHҹ? ۿ2ѱ? E???`]l?z?)l> I٘i)I9v{@Y G J+B=J\=JJJTE&Kt> Y[~?ytTA>YTE777-9EB)iBֹE[[|>[ [~?[#ު[[[[BZYY i) I;IiW8>\: Q%?))0zQ%?Q%?>ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033169.003165 s, next control iter: 1743033169.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033169.383165 s.5I~,#X$AAQ @AWsD @A\~? AAǢ%"AAHrNA"AZAbAjArAzAAAN8Ҽ0@A>Ҿ1tAz@Aq^`<A=A>AH?AX?A~*AH:?2AhAս:A=BAH:?JAhAսRA=٘i)I9z@YG JC=JJJJUE&K Y(\~?yު TA^TEZ7SI7d19DB)mBٹE[[ے>[\~?[۪[[[[BZYY i) ̓;Ii[=: ?)) ??تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033169.403165 s, next control iter: 1743033169.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6668", header.stamp.nsec: 0"0 temperature: 13.564726"* salinity: 33.375385", density: 1025.000000"* values[0]: 0.582249"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033169.803165 s.vA5I~,wgs$AJ"J*J2J:J?BJ?nJK5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743033169.803296F (some fields omitted in printout)Aq= # @A @AT\~? A_A%"AAmrNA"AZAbAjArAzAAA3U|]h0@A@0tANz@A5<ASk=A>A!?Ax?A-*A`:?2AUӽ:Aq=BA`:?JAUӽRAq=٘i)I9Nz@YXG J贼JJJJUE&K Y+\~?y۪SAcTE{7{749)qB[[_Ɣ>[%*\~?[٪[[[[BZYY i) lK;Iiq=D: ?))??تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033169.843165 s, next control iter: 1743033170.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033170.223165 s.g#5I~,H$AA(\ @A2Fu @A\~? AAg %"AA#rNA"AZAbAjArAzAAAv0@AVU.tAqy@A4<A=A?A?A`?Asy*Aa:?2AϰԽ:AӀ =BAa:?JAϰԽRAӀ =٘i)I9y@YG JJJJJ UE&K YD\~?y:ת[D\~?[֪[[[[BZYY i) ?;Ii<8 ?))??iתYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033170.243165 s, next control iter: 1743033170.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033170.643165 s.u)5I~,*$AJ"J*J2J:J?BJ?nJ!5vJAG @A,( @A]~? AA*D%"AArNA"AZAbAjArAzAAA0@Aa(ǁ,tAy@A A/՚=A?A?A?A*AN`:?2Aݏս:A=BAN`:?JAݏսRA=٘i)I9y@YG JҴJJJJUE&K Yf^\~?yeӪRAnTE77j7$<9BB)yB߹E[[3i>[P_\~?[7Ԫ[[[[BZYY i) :IgI?icbL +W?))+W?+W?,ժYFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6669, header.stamp.nsec: 00 temperature: 13.564910* salinity: 33.375385, density: 1025.000000* values[0]: 0.581627F (some fields omitted in printout)FF]Waiting for Gazebo time sync: latest Gz time: 1743033170.663165 s, next control iter: 1743033171.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033171.063165 s.05I~,N $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033171.063294F (some fields omitted in printout)Afffff @AzVL @A]~? AfA%"AArNA"AZAbAjArAzAAAZ;D1@A+ݿ*tAx@A @AG=AQ ?A8?A@ ?A~*A^:?2A.Jֽ:AN=BA^:?JA.JֽRAN=Yr> ?yޘ=dAٓH /?q\??>??$?`G<?)r> I٘i)I9x@YDG JB=Jt(JJJUE&K}u> Yvv\~?yΪmRA ?tTE{7{7?9>B)zBE[[w>[ry\~?[HѪ[[[[BZYY i) 9II?iϽ섺 $?))e}$?$?~ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033171.083165 s, next control iter: 1743033171.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033171.483165 s.y_75I~,$AJ"J*J2J:JBJnJvJA @A_ZԷ @A5]~? AA%"AAsNA"AZAbAjArAzAAA|l 61@A=Ç(tAw@AT㉼A^=As?A %i?A ?A\*A\:?2Aֽ:A==BA\:?JAֽRA==٘i)I9w@YG JC=JJJJUE&K Y\~?y-ʪRAyTE7)7NC9)~B[[>[\~?[$Ϊ[[[[BZYY i) )I I?i_&Ժ Д?)) Д?Д?ϪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743033171.503165 s, next control iter: 1743033171.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6670, header.stamp.nsec: 00 temperature: 13.565056* salinity: 33.375435, density: 1025.000000* values[0]: 0.580991F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033171.903165 s.#=5I~,$AA ףp=@AmY#@AM]~? AAQ%"AA$sNA"AZAbAjArAzAAA1@Ay&tAnw@AeVA=Aa?A@#5?A~?A"*A>n:?2Avս:A '=BA>n:?JAvսRA '=٘i)I9nw@YG J˦JJJJ!UE&K Y\~?yŪQA~TE77{7F9=B)BE[[ p>[\~?[ʪ[[[[BZYY i) rĺII?ig] ?))??8ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033171.943165 s, next control iter: 1743033172.303184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743033172.323165 s.uD5I~,!$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743033172.323282F (some fields omitted in printout)A\@A1A ߎ@Ad]~? AAD%"AAHsNA"AZAbAjArAzAAAX2@AaH$tAv@A"AwҒ=A?A?AQ?A妧*Al:?2Afս:A=BAl:?JAfսRA=٘i)I9v@YCG JަJJJJ&UE&K Y\~?y9QATE77yJ9[\~?[>Ǫ[[[[BZYY i) GI/I?ijr , Ii?))Ii?Ii?8ʪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033172.343165 s, next control iter: 1743033172.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6671*, header.stamp.nsec: 0*0 temperature: 13.565214** salinity: 33.375427*, density: 1025.000000** values[0]: 0.580407*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033172.743165 s.WK5I~,m/$AAGz@Abc@A|]~? AUޫAF%"AAksNA"AZAbAjArAzAAApa2@Ajtr"tAUv@A=<A=A!?A?A$?A)*Aj:?2A*dս:Ad=BAj:?JA*dսRAd=٘i)I9Uv@YG J%JJJJ+UE&K Y\~?yYPATEj7j7N9;B)BE[[>[\~?[}ê[[[[BZYY i) $[I I?iJ~E l??))l??l??,ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033172.763165 s, next control iter: 1743033173.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033173.163165 s.t}R5I~,qJ$AJ"J*J2J:JBJnJvJA@Ay>e@A]~? AtګAl%"AA܎sNA"AZAbAjArAzAAAz2@AtAIu@A<A$=A&?A?A6?A*Ach:?2Aս:A=BAch:?JAսRA=Y>o&?y=6<ٓH`_?cצ?_?`s?N?XM?@/?)> I٘i)I9u@YG J,JLJJJ1UE&KAv> Y\~?ysPA&?TEb77Q9)B[[/>[\~?[[[[[BZYY i) [j]~?[x[[[[BZYY i♽)  I+H?iؾ͊ բ?)) բ?բ?bYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033173.603165 s, next control iter: 1743033173.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6672, header.stamp.nsec: 00 temperature: 13.565345* salinity: 33.375427, density: 1025.000000* values[0]: 0.579865F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033174.003165 s.x `5I~,L4$AJ"J*J2J:JBJnJvJAp= W@A<@A]~? AFҫAs%"AAsNA"AZAbAjArAzAAAg5k03@AvtAԸt@A <;AE=A@1?A`?Ao?AV*Ar:?2Aս:A5L<BAr:?JAսRA5L<٘i)I9t@YG J,JJJJ;UE&K Y]~?yPOATE777X92B)BE[[?[-]~?[%[[[[BZYY i) ɻIH?ily& ?))??PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033174.043165 s, next control iter: 1743033174.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033174.423165 s.uf5I~,$AA(\@A~@A4]~? AͫA%"AAWsNA"AZAbAjArAzAAASq(s3@AޱjtA_;?A?AH=?A*Ad:?2AQֽ:A~<BAd:?JAQֽRA~<٘i)I9s@Y_G J슼C=JJJJFUE&K YF]~?yNATE_9)B[[e?[_]~?[߭[[[[BZYY i) fIH?i ` n?))n?n?yҙYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033174.883165 s, next control iter: 1743033175.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033175.263165 s.t5I~,$AA@A\Z @A^~? AīAr%"AA7tNA"AZAbAjArAzAAA}3@AB =ttAMVs@ÁA=A&A?A`I?A`?A,*A,\:?2Aֽ:A(<BA,\:?JAֽRA( Y[]~?yNA@?TE)7b7c90B)BE[[`??[w]~?[[[[[BZYY i) qKIH?ip=Ȼ C?))C?C?kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033175.303165 s, next control iter: 1743033175.663175 s, wait time: 0.360010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 66742, header.stamp.nsec: 020 temperature: 13.5656052* salinity: 33.3754652, density: 1025.0000002* values[0]: 0.5788312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033175.683165 s.lz5I~,$AJ"J*J2J:J.?BJ.?nJ`5vJAQ@AY@A^~? A>Ar%"AAWtNA"AZAbAjArAzAAAy74@A 8tAr@AA)=A2W$AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033177.363308F (some fields omitted in printout)A3333@A ?@Ah^~? AAQ%"AAtNA"AZAbAjArAzAAA{.5@AO_WtAp@A )<A=A.Z?A?A?A^X*A9:?2Aֽ:A =BA9:?JAֽRA =Y"?[?y=B!*<ٓHp? ^$`1??O??p3`H6? ?)"? I٘i)I9p@YG JɛJ(<JJJfUE&Ky> Yv]~?y|LA[?TEb7b7zu9*B)BE[[3?[]~?[[[[[BZYY i) `I9H?i@U8{ ż?))ż?ż?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033177.403165 s, next control iter: 1743033177.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6676&, header.stamp.nsec: 0&0 temperature: 13.565847&* salinity: 33.375477&, density: 1025.000000&* values[0]: 0.577818&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033177.783165 s.\5I~,r$AAQ@A"@A|^~? A¦A@%"AAtNA"AZAbAjArAzAAAj5@AߣtA4ip@ARAA=AK`?A~?A@{?A%*A3:?2A]׽:A; =BA3:?JA]׽RA; =٘i)I9ip@YRG JJJJJlUE&K Y]~?y2vfLATE{7j7y9)B)BE[[9?[^~?[[[[[BZYY iJ) CpIH?ia=d ?))??ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033177.803165 s, next control iter: 1743033178.183183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033178.203165 s.5I~,$AJ"J*J2J:JBJnJvJAףp=@A5&p@AQ^~? AIA!%"AAEuNA"AZAbAjArAzAAA#"_5@AL`sA)o@AIA=Ae?A*?A`?A*A=.:?2A1׽:Aͣ=BA=.:?JA1׽RAͣ=I٘i)I9o@YG JrJJJJqUE&K Y]~?yoLATE77{7|9&B)E[[??[=^~?[T[[[[BZYY i) `SIjH?ika 4?))4?4?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033178.223165 s, next control iter: 1743033178.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033178.623165 s.`5I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033178.623307F (some fields omitted in printout)A)\@AI@A)^~? AAӍ%"AA!-uNA"AZAbAjArAzAAA|f5@Aֆf>RsASjo@A!A<=A[ k?A`?Aq?A"6*Ax$:?2A׽:A? =BAx$:?JA׽RA? =٘i)I9jo@YG JJJJJwUE&K Y]~?yhKATEb7b7:9$B)BE[[$E?[0^~?[z[[[[BZYY i) PIHH?iOt\ F?))F?F?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033178.643165 s, next control iter: 1743033179.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6677, header.stamp.nsec: 00 temperature: 13.565986* salinity: 33.375500, density: 1025.000000* values[0]: 0.577287F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033179.043165 s.5I~,$AJ"J*J2J:JBJnJvJA{Ga@A ~1G@A^~? AA!%"AAmIuNA"AZAbAjArAzAAA 6@ARsAn@AFKAU=A},p?Ao|?A@?A*A;:?2Aw׽:A =BA;:?JAw׽RA =٘i)I9n@YhG JJJJJ|UE&K Y ^~?yAb@KATE7σ9)B[[=K?[_E^~?[It[[[[BZYY i) HIqH?ize ?))??y_;ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033179.063165 s, next control iter: 1743033179.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033179.463165 s.X5I~,$AA@A:踲@A^~? A&Al%"AA'euNA"AZAbAjArAzAAA 2XWL6@A[lqGsAbn@AAm=A-u?A@Y$?A?Aݥ*A=:?2Aw׽:Ak=BA=:?JAw׽RAk=Y =?-&u?yb=:ºٓH O\?, ??i?wR?`𰳿4X?) =? I٘i)I9bn@YG JeJc<JJJUE&Kx> Y^~?y[JA&u?TE{7j7e9#B)BE[[LQ?[Z^~?[m[[[[BZYY i) sIcH?ĩ( ?))??تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033179.483165 s, next control iter: 1743033179.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6678, header.stamp.nsec: 00 temperature: 13.566142* salinity: 33.375496, density: 1025.000000* values[0]: 0.576756F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033179.883165 s.y5I~,4$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743033179.883295F (some fields omitted in printout)AQ8@A]4d<@Am^~? A6Aj%"AANuNA"AZAbAjArAzAAATH6@AdsA m@A'<A=A)z?A ?A l?A*A :?2Aֽ:A_=BA :?JAֽRA_=٘i)I9m@YG J0JJJJUE&K Y +^~?ySmJATEb779)B[[eW?[kn^~?[f[[[[BZYY i) ITH?iG/ }?))}?}?&ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033179.903165 s, next control iter: 1743033180.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033180.303165 s.W5I~,{g$AAq= ף@AÉ@A^~? A+AIT%"AAߚuNA"AZAbAjArAzAAAC$6@A1sAo=m@A'<Aţ=A0A?AP?A?AB*A:?2Awֽ:A}=BA:?JAwֽRA}=٘i)I9=m@YcG JDJJJJUE&K YH;^~?yLJATE7779B)E[[]?[S^~?[_[[[[BZYY i) ,nIEH?im5 {?)){?{?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033180.323165 s, next control iter: 1743033180.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6679., header.stamp.nsec: 0.0 temperature: 13.566299.* salinity: 33.375496., density: 1025.000000.* values[0]: 0.576148.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033180.723165 s.5I~,H.$AJ"J*J2J:JBJnJvJA(\@A/I@A^~? A~AD%"AAִuNA"AZAbAjArAzAAAv!V6@A }Y5sAȡl@Ai<A8=AC?A #?A ?A*A9?2Aֽ:A a=BA9?JAֽRA a=٘i)I9l@YG JAB=JJJEJUE&K YK^~?yuEIATE7%9)B[[հc?[ŕ^~?[:X[[[[BZYY i) 물I6H?i-b9 ?))??rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033180.763165 s, next control iter: 1743033181.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033181.143165 s.Z/5I~,*I$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033181.143300F (some fields omitted in printout)AGz@A`@A) _~? AwAUD%"AA/uNA"AZAbAjArAzAAAm7@ApcsA8l@A4;Ak=A?Ab?A@X?A*A&9?2A׽:A=BA&9?JA׽RA=٘i)I9l@YG JC=JJJJUE&K Y[^~?yC>/IATE)7ŧ79B)B E[['i?[^~?[P[[[[BZYY i) -hI(&H?is< V?))V?V?{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033181.163165 s, next control iter: 1743033181.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033181.563165 s.5I~,R d$AJ"J*J2J:Ji?BJi?nJ5vJAffff@A80Q@A>_~? AfqAu%"AAuNA"AZAbAjArAzAAA7 'L7@ACāsAfk@AhIA=A~?Az?A)?A9?*A9?2A$׽:A=BA9?JA$׽RA=Yd.W??y=8)ٓH2?e \f?E?@D? ;?Li@[?)d.W? I٘i)I9fk@YEG JJu<JJJUE&Kx> Yi^~?y6HA?TEZ7Z7P9)¯B[[tp?[^~?[6I[[[[BZYY i) 븻IH?iQ>D ?))??qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033181.603165 s, next control iter: 1743033181.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6680, header.stamp.nsec: 00 temperature: 13.566491* salinity: 33.375523, density: 1025.000000* values[0]: 0.575469F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033181.983165 s.5I~,~$AAQ@A7@A*_~? AjA<%"AAuNA"AZAbAjArAzAAAF |7@A.sAj@A|AԬ=Aj?A ?A@/?Al̼*A9?2A2׽:A =BA9?JA2׽RA =٘i)I9j@YG JۻJJJJUE&K Y`w^~?y.JHATE7779B)ïB E[[1v?[^~?[yA[[[[BZYY i)  üIH?i[EJ ?))??yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033182.023165 s, next control iter: 1743033182.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033182.403165 s.&5I~,͙$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033182.403292F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@A[@A:_~? A`dA%"AA`vNA"AZAbAjArAzAAAW+7@AОsA(j@AI~A =A?A ?AL6?A6*A9?2Aۅ׽:AM=BA9?JAۅ׽RAM=٘i)I9(j@YG JʾJJJJUE&K Y-^~?y>'GAUE7z9)ȯB[[g|?[^~?[9[[[[BZYY i) DZʼILG?iN ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033182.423165 s, next control iter: 1743033182.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6681, header.stamp.nsec: 00 temperature: 13.566698* salinity: 33.375526, density: 1025.000000* values[0]: 0.574781F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033182.823165 s.5I~,B$AA\(@Aw*@AH_~? A]A<%"AA#-vNA"AZAbAjArAzAAA Ah7@A1F.sAi@AA=AX?AC?A sz?A1ɼ*A9?2A׽:AhT=BA9?JA׽RAhT=٘i)I9i@YG J,żJJJJUE&K Y^~?yeGA UE)7b79B)̯BE[[Q?[^~?[1[[[[BZYY i) *ѼIG?iUYR ?))??>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033182.863165 s, next control iter: 1743033183.223184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743033183.243165 s.5I~,`$AJ"J*J2J:JBJnJvJAGz@AMdz@A=W_~? AVAJ%"AA=CvNA"AZAbAjArAzAAAJ*z8@AjasA/h@AUq;A.=A?Ay?A?A Ҽ*A9?2Aֽؑ:AS]=BA9?JAֽؑRAS]=٘i)I9h@Y G JͼJJJJUE&K YǠ^~?yFAUESI7SI79)ѯB[[Oq?[^~?[K)[[[[BZYY i R) ؼIG?icT l?))l?l?fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033183.283165 s, next control iter: 1743033183.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033183.663165 s.5I~,q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092930< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033183.663275F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6682, header.stamp.nsec: 00 temperature: 13.566953* salinity: 33.375534, density: 1025.000000* values[0]: 0.574059F (some fields omitted in printout)A@A@A%e_~? A&PAC%"AAXvNA"AZAbAjArAzAAA4b,8@Aع6sAu"h@A/n<A=AL?A Ϭ?A?AUwټ*A?9?2AEֽ:Al=BA?9?JAEֽRAl=Y?q?+?y3=o<ٓH $_?eV ?`>???`iō??)?q? I٘i)I9"h@YH G JռJO*<JJJUE&K2x> Y^~?yzFA?UEb77:9B)ԯBE[[ō?[_~?[![[[[ZZ¸BZYY i¸m=) ̼IjG?iԪZ &?))&?&?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033183.683165 s, next control iter: 1743033184.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033184.083165 s.E6I~,&S$AJ"J*J2J:J?BJ?nJ5vJARk@A*RalQ@Ar_~? A=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033184.543165 s, next control iter: 1743033184.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6683, header.stamp.nsec: 00 temperature: 13.567206* salinity: 33.375557, density: 1025.000000* values[0]: 0.573261F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033184.923165 s.76I~,;$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084682< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743033184.923287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@Acx(@A!_~? A*;A%"AAvNA"AZAbAjArAzAAAߞӢ8@AȿfsAe@AA=A?A@)?A1?A{*A+9?2Ae׽:ANx<BA+9?JAe׽RANx<٘i)I9e@Y G JqJJJJUE&K Y^~?yEA$UE77j79)B[[?[8_~?[?[[[[ZZBZYY i) 樼IGG?iG@ze ?))??y٫=vѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033184.943165 s, next control iter: 1743033185.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033185.343165 s.<6I~,U$AAHz@A@A0_~? A4Ae%"AAvNA"AZAbAjArAzAAA'<`8@Aw sAZd@A{ZAir=A2?AZO?A :?A*AD9?2A׽:AvY<BAD9?JA׽RAvY<٘i)I9d@YY G JJJJJUE&K Y^~?yDA*UEb779B)BE[[?[hE_~?[i[[[[ZZBZYY i) ᜼IpG?i^df ?))??ᨪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033185.363165 s, next control iter: 1743033185.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6684*, header.stamp.nsec: 0*0 temperature: 13.567551** salinity: 33.375549*, density: 1025.000000** values[0]: 0.572309*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033185.763165 s.:6I~,,p$AJ"J*J2J:JBJnJvJA@A@Aţ_~? A,A%"AA~vNA"AZAbAjArAzAAA}`~8@AyْsAy=d@AA.=ANС?A`s?A`{?AǼ*A9?2Aֽ:A@;BA9?JAֽRA@;YC??y.=ΐٓH`X? Tp x?P??ۥZ@?)C? I٘i)I9=d@Y G JܼJ0۽JJJUE&Kmx> Yv^~?y']DA?/UE{7Z7%9)B[[C?[Q_~?[{[[[[ZZBZYY iY=) I#]G?iЍk -?))-?-?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033185.783165 s, next control iter: 1743033186.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033186.183165 s."6I~,o$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033186.183293F (some fields omitted in printout)AQ@A>[k@A_~? A{%A%"AAvNA"AZAbAjArAzAAAc* 9@AĮ*sA&c@AS8UA<Ab?A?AT?A*A9?2Aֽ:AYb8BA9?JAֽRAYb8٘i)I9c@Y G JJJJJUE&K Y^~?yީ#DA5UEŧ779)B[[rm?[ ]_~?[m[[[[ZZBZYY i) FPIIG?i\o <3?))<3?<3?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033186.203165 s, next control iter: 1743033186.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033186.603165 s.14)6I~,$AJ"J*J2J:JBJnJvJA= ף@A,g@A_~? AA%"AA7vNA"AZAbAjArAzAAAu_,9@A`<ϪsAa#c@Az%Aa<A?AѶ?A?A*A}9?2Aֽ:A+BA}9?JAֽRA+٘i)I9#c@Y= G JJJJJUE&K Y^~?yW֩CA:UES77P9 B)BE[[?[g_~?[B[[[[ZZBZYY i) yI4G?i꼿q \P?))\P?\P?iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033186.623165 s, next control iter: 1743033187.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6685 , header.stamp.nsec: 0 0 temperature: 13.567808 * salinity: 33.375557 , density: 1025.000000 * values[0]: 0.571498 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033187.023165 s.Z06I~,|$AA(\@AXSYB@A_~? AA%"AAvNA"AZAbAjArAzAAA>IK9@Ab sAb@AL#<AE|ûAe?Ag?Aຸ?A6*A9?2AV׽:AlBA9?JAV׽RAl٘i)I9b@Y G JEaJJJJUE&K Y$^~?yͩCA?UE779 B)BE[[Ǡ?[q_~?[٩[[[[ZZBZYY in&=) }cIP G?iý5r 8@))8@8@yʘ=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033187.043165 s, next control iter: 1743033187.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033187.443165 s.066I~, ]$AJ"J*J2J:J<?BJ<?nJW5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084058< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033187.443277F (some fields omitted in printout)Az@A螭@AI_~? A+A1%"AAvNA"AZAbAjArAzAAACJYh9@ALCZsAOb@A<A裼A>2?Am?A?A?ֻ*A9?2AA׽:AȴBA9?JAA׽RAȴ٘i)I9b@Y G J JJJJUE&K Y_~?yũrCAEUEb7b7{9)B[[?[H{_~?[Щ[[[[ZZBZYY i) MI G?ir @))@@yN=_)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033187.463165 s, next control iter: 1743033187.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6686, header.stamp.nsec: 00 temperature: 13.567957* salinity: 33.375549, density: 1025.000000* values[0]: 0.571055F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033187.863165 s.+=6I~,>$AA33333@Ax!@Ap_~? AA%"AAGwNA"AZAbAjArAzAAA=Y9@A@ 9sATeb@A+`<AAˮ?A ?A@v?A*A9?2AWֽ:A0ȼBA9?JAWֽRA0ȼY尒?5?y_J`<ٓH?@cS f{? O?0?^硿@%Ԡ?>??)尒? I٘i)I9eb@Y G JLJG8JJJUE&K x> Yz _~?y伩CA?JUE79)B[[!?[ރ_~?[@ǩ[[[[BZYY iYo=)  elevatorAngleAction: 0.068604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033188.703286F (some fields omitted in printout)Aףp= @A0@AA_~? AQA%"AA"wNA"AZAbAjArAzAAA3(9@AH elevatorAngleAction: 0.068604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743033189.963296F (some fields omitted in printout)AL @ALۿ2 @A_~? AA`%"AAcDwNA"AZAbAjArAzAAAUP-9@A7XAasAc@AAK4AS?A?A*?A<*Av9?2Aֽ:ABAv9?JAֽRAY@??ye3$ٓH? )SN? u?sB?`| ?)@? I٘i)I9c@Y G J<B=JJJJVE&Kw> Y#_~?yDA?eUE9)B[[0?[_~?[;[[[[BZYY i֫o=) 2ϻI:F?ieĿb{ D0 @))D0 @D0 @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033190.003165 s, next control iter: 1743033190.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743033190.383165 s.e6I~,$AAQ @Ar9 @A`~? A-٪A>L%"AANwNA"AZAbAjArAzAAA :@AZIsA#d@Aiİ;AgAj?A ?AI?AG<*Aݺ9?2A4 ׽:AW~BAݺ9?JA4 ׽RAW~٘i)I9d@Y G J<C=JJJJ VE&K Yt&_~?yԈEA YDjUEZ79B)BE[[u??[_~?[[[[[BZYY i) 죰IyF?ioſO| D @))D @D @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033190.403165 s, next control iter: 1743033190.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6689", header.stamp.nsec: 0"0 temperature: 13.567620"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.571711"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033190.803165 s.wAl6I~,{g$AJ"J*J2J:JBJnJvJAq= #!@A^a !@Aw`~? AIѪA%"AAWwNA"AZAbAjArAzAAA$4:@Ay/Z }sAd@Ar<AhA?A% elevatorAngleAction: 0.058513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743033191.223349F (some fields omitted in printout)A(\!@ACu!@A `~? A]ɪA:&"AA%_wNA"AZAbAjArAzAAA1&+:@AxwxsA"e@Al<AkܞA ?AY?A`?A<*A9?2AT<׽:AQ` BA9?JAT<׽RAQ` ٘i)I9"e@Yt G J<JJJJVE&K YP,_~?yPwEAuUE{7{79)ܯB[[?[E_~?[y[[[[BZYY i) fINF?iOĿF{ @))@@yo=J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033191.263165 s, next control iter: 1743033191.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033191.643165 s.xy6I~,*$AJ"J*J2J:JBJnJvJAG!@Ag!@A`~? AiA6&"AA}fwNA"AZAbAjArAzAAA!I8:@AɨYtsAhe@Aо<AŞAF?A g?A(?A$<*AZ9?2Aֽ:A BAZ9?JAֽRA ٘i)I9e@Y G JӮ<B=JJJJVE&K Y?/_~?yn?FAzUEb77Q9B)կBE[[G?[_~?[0p[[[[BZYY i) )I9F?i%¿x |@))|@|@T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033191.663165 s, next control iter: 1743033192.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6690, header.stamp.nsec: 00 temperature: 13.567339* salinity: 33.375595, density: 1025.000000* values[0]: 0.572363F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033192.063165 s.6I~,g $AAfffff"@A PL"@A&`~? AnAö&"AA mwNA"AZAbAjArAzAAArF;E:@AONV6osANf@A;(AA?Ab;?A;?Al<*A9?2Ap{ֽ:At]BA9?JAp{ֽRAt]Y?a?y<(ٓH*a?@;yf?t YN/_~?yeFA?UE7779)ЯB[[Z?[گ_~?[gf[[[[BZYY i) ۺI$F?iHÿBy  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033192.083165 s, next control iter: 1743033192.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033192.483165 s._6I~,$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033192.483283F (some fields omitted in printout)A"@AV{ط"@A`~? AmAR&"AArwNA"AZAbAjArAzAAAO:@ASjsAf@AcWAAID?A~?A@L?A2<*A9?2AB8ֽ:ABA9?JAB8ֽRA٘i)I9f@Y G JF<JJJJ(VE&K Y^/_~?y\GAUE77{9)˯B[[*?[_~?[\[[[[BZYY iG=) JiGIF?iZÿ z @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033192.503165 s, next control iter: 1743033192.883188 s, wait time: 0.380023 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6691, header.stamp.nsec: 00 temperature: 13.567032* salinity: 33.375587, density: 1025.000000* values[0]: 0.573095F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033192.903165 s.ȍ6I~,9$AA ףp=#@AJ_##@A`~? AgAQ&"AAwwNA"AZAbAjArAzAAAu Y:@AH{mesAGg@AgAUA?A?AC[?A֬<*A9?2AAֽ:APBA9?JAAֽRAP٘i)I9g@Y G J-<JJJJ-VE&K Ym/_~?y%T{GAUE{79)ƯB[[X?[O_~?[R[[[[BZYY i) "9IE?i\¿x 62@))62@62@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033192.923165 s, next control iter: 1743033193.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033193.323165 s.r6I~,T$AJ"J*J2J:JBJnJvJA\#@A稣#@A+`~? A\A5&"AA|wNA"AZAbAjArAzAAA2`:@AE/`sA h@A=AŐA?Aѯ?A@`g?AH<*A9?2Aֽ:A5yBA9?JAֽRA5y٘i)I9 h@YF G J3<JJJJ3VE&K Y}/_~?yXKGAUEŧ7b79B)BE[[T?[߭_~?[ I[[[[BZYY i) D>:I9E?iME%v @))@@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033193.343165 s, next control iter: 1743033193.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6692*, header.stamp.nsec: 0*0 temperature: 13.566694** salinity: 33.375584*, density: 1025.000000** values[0]: 0.573861*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033193.743165 s.W6I~,~o$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743033193.743291F (some fields omitted in printout)AGz$@Ac#@A!`~? AMAl)&"AAfwNA"AZAbAjArAzAAA@\yf:@A}c[sAh@A:UPA쌽A6?AE?A`q?Aȍ<*A9?2Aֽ:Ai6BA9?JAֽRAi6I٘i)I9h@Y G JV<JJJJ8VE&K  9Y/_~? 9yBNHAUEj7j7<9)B[[ ?[_~?[R?[[[[BZYY i) ;IE?i.&r VZ@))VZ@VZ@yX߉=-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033193.783165 s, next control iter: 1743033194.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033194.163165 s.x}6I~,q$AJ"J*J2J:JBJnJvJA$@AձJe$@A"`~? A;A&"AAwNA"AZAbAjArAzAAA!-7j:@AʶmVsAp1i@A8<AA?A[?Ax?Aq<*A 9?2AYL׽:ABA 9?JAYL׽RAY[ƹ??yT쉽9<ٓH l/^??Xڰ4:?`??)[ƹ? I٘i)I91i@Y G Jn<Ja<JJJ=VE&Kfx> Y,_~?y9HA?UE{7{79)B[[0?[_~?[5[[[[BZYY i) D"@;IE?i]2cr @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033194.183165 s, next control iter: 1743033194.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033194.583165 s.6I~,"S$AAR$@AHN&n$@Ai#`~? A'Ad&"AAwNA"AZAbAjArAzAAAVlm:@AGFQsAi@A<AׇA?AFF?AA|?A0<*A9?2A[׽:ABA9?JA[׽RA٘i)I9i@Y8G J˒<JJJJCVE&K Y)_~?y1IAUEZ7SI7f9)B[[.?[_~?[+[[[[BZYY i) U)~;ICE?i|Cq %}@))%}@%}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033194.623165 s, next control iter: 1743033194.983181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6693 , header.stamp.nsec: 0 0 temperature: 13.566438 * salinity: 33.375576 , density: 1025.000000 * values[0]: 0.574522 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033195.003165 s.v 6I~,D4$AJ"J*J2J:J?BJ?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743033195.003297F (some fields omitted in printout)Ap= W%@A =b<%@A#`~? AAP&"AAwNA"AZAbAjArAzAAA `xn:@AkLsA#j@AB^<A|A'&?A@_?A`}?Am<*A9?2A$׽:A,rBA9?JA$׽RA,r٘i)I9#j@YG J<JJJJHVE&K Y'_~?yA(dIAUE{7j7 9B)BE[[2?[h_~?[A"[[[[BZYY i) ;I4E?in @))@@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033195.023165 s, next control iter: 1743033195.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033195.423165 s.u6I~,$AA(\%@A{%@A#`~? AxA &"AA߄wNA"AZAbAjArAzAAA+um:@A ¤GsAj@A"O;A A?A@bA|?AZ<*A9?2Adֽ:ABA9?JAdֽRA󼙘٘i)I9j@YG Jӌ<B=JJJJNVE&K YM$_~?y|IAUE{79)B[[[?[$_~?[[[[[BZYY i=) ";IuE?ioV:BsAk@AA焽A+?AHIA y?A9U<*A9?2Aoֽ:ABA9?JAoֽRA٘i)I9k@YG J<C=JJJJSVE&K Y~!_~?yJAUEb77&9)B[[ɀ?[%_~?[+[[[[BZYY i) f';I(nE?i}e /6"@))/6"@/6"@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033195.883165 s, next control iter: 1743033196.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033196.263165 s.6I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743033196.263280F (some fields omitted in printout)A&@AG7&@A!`~? AhA&"AAЂwNA"AZAbAjArAzAAASI h:@A6>sAk@AAA?AѳAs?AMΎ<*A9?2AOֽ:A\BA9?JAOֽRA\Y3??y2y]ٓHPɿZ0hmI?]{ɿ3??)3? I٘i)I9k@Y[G Jy<J;JJJXVE&K)x> Y_~?yvJA?UEj7{79B)BE[[?[a_~?[[[[[BZYY i) 2r;IZE?id B#@))B#@B#@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033196.283165 s, next control iter: 1743033196.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 66952, header.stamp.nsec: 020 temperature: 13.5659842* salinity: 33.3755992, density: 1025.0000002* values[0]: 0.5756412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033196.683165 s.l6I~,+$AJ"J*J2J:J]?BJ]?nJ5vJAQ'@A &@A`~? A`A/y&"AAwNA"AZAbAjArAzAAAb:@A~9sAl@AvABAV?A@QA@ k?A=<*A9?2Ayֽ:ABA9?JAyֽRA٘i)I9l@YG J<JJJJ^VE&K Y/_~?yvJAUEZ7Z7Q9)B[[?[_~?[F[[[[BZYY i) _ elevatorAngleAction: 0.076202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033197.523290F (some fields omitted in printout)A('@A'@A`~? APA &"AAywNA"AZAbAjArAzAAAES:@A@G/sAl@Aw;AzA?A[A`7R?Aɍ<*A9?2A:׽:AwRBA9?JA:׽RAwR٘i)I9l@Y.G JW<JJJJhVE&K Y _~?y3KAUE77{7|!9B)BE[[?[u_~?[[[[[BZYY i) ,$AJ"J*J2J:JBJnJvJA3333(@Ac"(@A`~? A@A &"AAowNA"AZAbAjArAzAAA|NX=:@Ai%sAGm@Ak<ABA?A2A/?Aއ<*A9?2AL׽:A BA9?JAL׽RA Y?(?y5<ٓHӿ6u?@$w? /ӿ@si?3m?`;?)? I٘i)I9m@YG J5<B=J3JJJsVE&KDx> Y^~?y):LA?UE77(9)B[[QR?[a_~?[ר[[[[BZYY i) K elevatorAngleAction: 0.076202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033198.783292F (some fields omitted in printout)AQ)@AcD)@A)`~? A8AL &"AAfiwNA"AZAbAjArAzAAAO/:@A sA:n@A <AH=Aґ?A wA ?AЏ<*A9?2Aֽ:AlBA9?JAֽRAl٘i)I9:n@YG J<C=JJJJyVE&K YW^~?yڨLAUEŧ7b7<,9)B[[zp?[V_~?[Ψ[[[[BZYY i) y[D?i젿M %-@))%-@%-@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033198.803165 s, next control iter: 1743033199.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033199.203165 s.6I~, $AJ"J*J2J:JBJnJvJAףp=)@A$p)@A> `~? A0A# &"AA`bwNA"AZAbAjArAzAAA0\!:@AUsAan@AyOiAA?A Է¿A ?A.<*A9?2A|ֽ:A BA9?JA|ֽRA ٘i)I9n@YIG J<JJJJ~VE&K Y^~?y[ҨLAUE777/9B)B E[[?[%K_~?[Ũ[[[[BZYY i) Lj_~?[[[[[BZYY igo=) Ky elevatorAngleAction: 0.085173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033200.043293F (some fields omitted in printout)A{Ga*@Ap]1G*@A_~? A!AX &"AARwNA"AZAbAjArAzAAAa9@A㱱/sAo@AyAOA&?A-hƿA?Aۦ<*A9?2A6ֽ:ABA9?JA6ֽRA٘i)I9o@YG J<JJJJVE&K Y^~?yMAUEŧ7b769)B[[([@[1_~?[p[[[[BZYY i) ? dU?)J? I٘i)I9Pp@YCG JY<B=J\dJJJVE&Kx> Y^~?ytNA?UEj7j7:9B)BE[[@[[$_~?[[[[[BZYY i) 0wNA"AZAbAjArAzAAA9@A. sAp@A:AA"?A ʿA T?A<*AǷ9?2AJֽ:A1BAǷ9?JAJֽRA1٘i)I9p@YG J<C=JJJJVE&K Y^~?y^NAUEb77'>9B)~B[[qp@[&_~?[[[[[BZYY i)  elevatorAngleAction: 0.085173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201992 time: 1743033201.303531F (some fields omitted in printout)Aq= ף+@Akȉ+@A_~? A AD!&"AA3wNA"AZAbAjArAzAAAQ<9@AksAdq@AѢ@<ApA @A*˿Ag?AZ<*A9?2AQ׽:ABA9?JAQ׽RA٘i)I9dq@YG JD<B=JJJJVE&K Y^~?yFNAUEA9B)zBE[[@[[_~?[R[[[[BZYY i) LEG J<C=JJJJVE&K Y^~?y/VOAUE7ŧ7RE9B)xBE[[~@[^~?[?[[[[BZYY i) ΢9@))>9@>9@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033202.163165 s, next control iter: 1743033202.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033202.563165 s.(7I~,_ $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743033202.563332F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff,@A+O,@A}_~? AA&"AA3wNA"AZAbAjArAzAAATq9@Aa]rA9s@A ;A݉AY@AпA'?A<*AL9?2Aֽ:ABAL9?JAֽRAY_?V@y‰;ٓH`"޿ K ??@߿ ;+?`!b? ?)_? I٘i)I9s@YG Jز<B=JJJJVE&Kw> Y^~?yg/PA@VEŧ7ŧ7|L9)oB[[ @[^~?[[[[[BZYY i) L^~?)>g rAdjusting time to match Gazebo time: 1743033202.983165 s./7I~,$AAQ-@A&k7-@A_~? AHASu&"AA>wNA"AZAbAjArAzAAA47U9@AarAs@AA\AN8@A ܏ѿA?Ak<*A9?2Aֽ:ABA9?JAֽRA٘i)I9s@YRG J<C=JJJJVE&K Y^~?yPA VE{7Z7P9 B)lBE[[ @[^~?[{[[[[BZYY i) S@))>@>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033203.423165 s, next control iter: 1743033203.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6702, header.stamp.nsec: 00 temperature: 13.385247* salinity: 33.391659, density: 1025.000000* values[0]: 0.702530F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033203.823165 s.<7I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200742 time: 1743033203.823348F (some fields omitted in printout)A\(.@AW.@A_~? AoܩA&"AA vNA"AZAbAjArAzAAAk[9@A۴S4QrA(u@A[oA3A@A@MӿAZa?A<*A9?2Al.ֽ:AYBA9?JAl.ֽRAY٘i)I9u@Y!G J<JJJJVE&K Yl^~?yTzQAVE7 YN^~?ylknRA| @!VE{7j7g^9B)[BE[[B @[}^~?[^[[[[BZYY i) 01 elevatorAngleAction: 0.085173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033205.083277F (some fields omitted in printout)J"J*J2J:JBJnJvJARk/@AnQ/@Ab_~? AƩAC&"AApvNA"AZAbAjArAzAAA?8@A rA w@A}<AA @A`oտA`?A<*A9?2AG׽:A|&BA9?JAG׽RA|&٘i)I9 w@Y\G J<JJJJVE&K Y>^~?y5dRA&VE{7a9)VB[[@[Ij^~?[W[[[[BZYY i) eBZYY i¸>=)  Y]~?yGTA@;VE7{7Rp9)CB[[h@[^~?[/>[[[[ZZZZBZYY i) BE[[@[^~?['8[[[[ZZZZBZYY i) Fֽ:AmBA9?JA>ֽRAm٘i)I9{@Y.G JQ=JJJJVE&K Y]~?y:UAFVE777}w9)7B[[S@[N]~?[P2[[[[ZZZZBZYY i) M@*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743033207.623165 s, next control iter: 1743033208.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6706 , header.stamp.nsec: 0 0 temperature: 13.384144 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.707573 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033208.023165 s.Z7I~,{$AA(\2@A<B2@At0_~? AǖA`&"AA vNA"AZAbAjArAzAAA.Q7@A tͽrAo|@A;AS/A:@AۿA@~?AdG<*AѲ9?2A_ֽ:ARBAѲ9?JA_ֽRAR٘i)I9o|@YG J<JJJJVE&K Y]~?y3%VAKVEŧ7b7{9B)3BE[[@[D]~?[,[[[[ZZZZBZYY i) 5vJAz2@A2@A!_~? ALAp&"AA vNA"AZAbAjArAzAAA|_]7@AT عrA}@Af\<A ҼA/@A`sKܿA ?Aݣ<*A9?2AxUֽ:Ao8;BA9?JAxUֽRAo8;٘i)I9}@YG Jz<JJJJVE&K YH]~?y9-VAQVE7777~9B)/BE[[4@[]~?[:'[[[[ZZZZBZYY i) ,7$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033208.863280F (some fields omitted in printout)A333333@AU3@A_~? A鉩A&"AAuNA"AZAbAjArAzAAAӁ-7@AGKrA}@Af<ApA{@A ݿAuh?Aݍu<*A9?2A0@ֽ:A>i(<BA9?JA0@ֽRA>i(JJJVE&Kv> Y]~?y%'VAx@VVEb7b7=9B)-BE[[K @[]~?[![[[[ZZZZBZYY i) "rAp}@AW<Ah;A@AݿAP?A~*<*A9?2AlMֽ:Aݳ<BA9?JAlMֽRAݳ<٘i)I9}@YG JV<JJJJVE&K Y4]~?y!VA[VEj7Z7҅9B),BE[[="@[]~?[[[[[ZZZZBZYY i) Qz5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074270< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743033210.123294F (some fields omitted in printout)A)\u4@Aͪ[4@A^~? A_wA\&"AAuNA"AZAbAjArAzAAA:66@AԢPrA9~@AL'A<=A i@A E߿A|?AR:*A.9?2Aֽ:A4!<BA.9?JAֽRA4!<I٘i)I99~@YG J;JJJJ WE&K Y!`]~?yVA ZDfVE79B)+BE[[^$@[d]~?[[[[[BZYY i) R5vJ |7I~,$AAL5@A25@A^~? AkA/E&"AAquNA"AZAbAjArAzAAAa[*6@AJkrA~@AogAV=A@AJJJWE&Kw> Y65]~?yt VA@qVE777(9)[[d'@[/4]~?[ [[[[BZYY i f) .5@AK^~? AeAu&"AAyVuNA"AZAbAjArAzAAAXܖ5@A \rA}@AIAFw=AFJ @AիA J?A(*AΓ9?2A_ֽ:Af=BAΓ9?JA_ֽRAf=٘i)I9}@YG JJJJJWE&K Y]~?yIVAvVEj7j79"B)3BڹE[[/)@[]~?[[[[[BZYY i) 5Gӫ: :y6)):y6{[@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033211.823165 s, next control iter: 1743033212.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033212.223165 s.g7I~,H$AA(\6@AEu6@A^~? AZAN&"AAuNA"AZAbAjArAzAAA5@A?;rA$}@A^Z<AV=Aq"@A@QA Х?A*Av9?2Adս:Ap=BAv9?JAdսRAp=٘i)I9$}@YG JUJJJJ%WE&K Y\~?yJUAVEb7b79):B[[K+@[\~?[[[[[BZYY i) 6?;I9C?iG>:  5)) 5]@y efpƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033212.263165 s, next control iter: 1743033212.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033212.643165 s.x7I~,*)$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743033212.643276F (some fields omitted in printout)J"J*J2J:JBJnJvJAG6@A)@6@AFp^~? AMUA&"AAuNA"AZAbAjArAzAAA-j F5@A}ՕrA<|@Af<AN=A;$@A-A ?A{*A9?2A+ս:A>=BA9?JA+սRA>=٘i)I9|@YG JJJJEJ*WE&K Y\~?ypUAVE77}9%B)@BԹE[[ [-@[F\~?[A[[[[BZYY i)  ;IC?ij>ʜ.; ̜3))̜3^@y׌UͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033212.663165 s, next control iter: 1743033213.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6711, header.stamp.nsec: 00 temperature: 13.383899* salinity: 33.391705, density: 1025.000000* values[0]: 0.709031F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033213.063165 s.7I~,[ D$AAfffff7@AkzPL7@A\^~? A PAd&"AA`tNA"AZAbAjArAzAAAI 5@A$rA|@A;A"Z=A{s%@AA@-6?A)*Aq9?2Aiֽ:A=BAq9?JAiֽRA=Yu@|%@y+Y=@;ٓHF}4j`?,&?|?$?)u@ I٘i)I9|@YsG J2JU=JJJ/WE&Kw> Y\~?yA UA|%@VE77{79)B)HBйE[[.@[;\~?[[[[[BZYY i) Y;I,C?iO>K; 02))02*_@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033213.103165 s, next control iter: 1743033213.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033213.483165 s.x_7I~,^$AJ"J*J2J:JBJnJvJA7@A6׷7@AH^~? AJA&"AABtNA"AZAbAjArAzAAAux4@A|rAʕ{@AA=Az&@A`BA`,w?A$u*Al9?2A2ֽ:A =BAl9?JA2ֽRA =٘i)I9{@YG J"JJJJ5WE&K Y\~?yTAVEŧ7ŧ79*B)NB͹E[[ 0@[\~?[o[[[[BZYY i) ;I+C?i>+m; !0))!0Za@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033213.503165 s, next control iter: 1743033213.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6712, header.stamp.nsec: 00 temperature: 13.384153* salinity: 33.391712, density: 1025.000000* values[0]: 0.707996F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033213.903165 s.#7I~,y$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743033213.903321F (some fields omitted in printout)A ףp=8@Af\#8@A4^~? AEA-&"AAtNA"AZAbAjArAzAAA?4@A;2nrA {@AvAz=A)(@AA`?A%*A9?2A$׽:AL=BA9?JA$׽RAL=٘i)I9 {@YG JJJJJ:WE&K Y\~?y=TAVE=9)RB[[1@[\~?[O[[[[BZYY i) _;IC?i>L; Z/))Z/b@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033213.923165 s, next control iter: 1743033214.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033214.323165 s.w7I~,)$AJ"J*J2J:JBJnJvJA\8@AJގ8@Ab^~? AAA<&"AAytNA"AZAbAjArAzAAA؞hP4@A +RtrAz@A8Al=A1y)@A FAd?A41*A9?2A׽:Ai[=BA9?JA׽RAi[=٘i)I9z@YvG J.JJJJ@WE&K Y{\~?yRSAVE{7j7Ұ9)VBʹE[[2@[m\~?[a[[[[BZYY i) @C;ID?i>D; C-))C-r-d@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033214.343165 s, next control iter: 1743033214.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6713*, header.stamp.nsec: 0*0 temperature: 13.384421** salinity: 33.391739*, density: 1025.000000** values[0]: 0.706885*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033214.743165 s.W7I~,i$AAGz9@Ac8@AW ^~? AF<AG&"AAgtNA"AZAbAjArAzAAA64@A rAy@AAE=A*@A!A,?A*A9?2AHֽ:A YeJ\~?yا SA+@VE79-B)bBĹE[[5@[ ;\~?[ [[[[BZYY i) {:ID?i?D ; $+))$+"f@oѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033215.183165 s, next control iter: 1743033215.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033215.583165 s.7I~,R$AAR9@AF-t9@A[]~? A/3A&"AA2'tNA"AZAbAjArAzAAAM8(53@A?urAx@AZ<AUٕ=Al<-@AA@ߞ?A>0*A9?2AQֽ:AO=BA9?JAQֽRAO=٘i)I9x@YmG JhJJJJPWE&K Y1\~?yԧRAVE79)gB[[6@[s!\~?[[[[[BZYY i) \v[9ID?i0)?; ߾)))߾)`h@qΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033215.603165 s, next control iter: 1743033215.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6714, header.stamp.nsec: 00 temperature: 13.384711* salinity: 33.391720, density: 1025.000000* values[0]: 0.705723F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033216.003165 s.y 8I~,P4$AJ"J*J2J:JBJnJvJAp= W:@A<:@Am]~? A.A&"AA3tNA"AZAbAjArAzAAA/L3@A}8\~rA7x@AM9<Ag=AЅ.@AA?Af䮼*A9?2A]ֽ:A|=BA9?JA]ֽRA|=٘i)I97x@YG JJJJJUWE&K Y\~?yѧ>RAVEb77(9/B)mBE[[D8@[\~?[d[[[[BZYY i) >;I)D?i8?[; \Z())\Z(Yi@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033216.043165 s, next control iter: 1743033216.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033216.423165 s.u8I~,w$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743033216.423278F (some fields omitted in printout)A(\:@ALx:@A8]~? A*AyJ &"AAsNA"AZAbAjArAzAAA(_T3@Ax\{rA w@AHB<At=A/@A+A?A*A9?2Ahֽ:A^H=BA9?JAhֽRA^H=٘i)I9w@YG JLJJJJZWE&K YG[~?y:ͧQAVEŧ7b791B)tBE[[ 9@[a[~?[X[[[[BZYY i) pֺI4D?iI?3< M&))M&h(k@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033216.443165 s, next control iter: 1743033216.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6715, header.stamp.nsec: 00 temperature: 13.384969* salinity: 33.391727, density: 1025.000000* values[0]: 0.704574F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033216.843165 s. 8I~,5$AJ"J*J2J:J^4?BJ^4?nJ!=5vJAHz.;@Au;@A]~? A&AL &"AAsNA"AZAbAjArAzAAA =2@APyrA?w@A9AD-=A41@AcjA@,?A*A9?2A^ֽ:A<BA9?JA^ֽRA<٘i)I9w@YfG J JJJJ`WE&K Y[~?y]ɧrQAVE7S92B)zBE[[]:@[[~?[zߧ[[[[BZYY i) 'I@D?i\?V < ߕ%))ߕ%։l@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033216.863165 s, next control iter: 1743033217.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033217.263165 s.8I~,P$AA;@Af;@A]~? A"AP &"AAsNA"AZAbAjArAzAAAs2@A߹vrAv@Ac:A=A2@A@AS?A[R*A9?2Ai*׽:A,<BA9?JAi*׽RA, Yd[~?ySƧQA2@VE{7{794B)BE[[B<@['[~?[ݧ[[[[BZYY iИ) eI MD?ih?6< 4$))4$m@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033217.303165 s, next control iter: 1743033217.663177 s, wait time: 0.360012 s.d[~?).SƧ.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6716., header.stamp.nsec: 0.0 temperature: 13.385246.* salinity: 33.391727., density: 1025.000000.* values[0]: 0.703519.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033217.683165 s.l8I~,Vk$AJ"J*J2J:J4?BJ4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743033217.683301F (some fields omitted in printout)AQ<@A ;@An]~? AA4!&"AA}sNA"AZAbAjArAzAAA 92@A[9CtrA v@A&GAΈ=A3@A A@y?AMB*AP9?2A;׽:AoZ<BAP9?JA;׽RAoZ<٘i)I9 v@YG JLJJJJkWE&K Y[~?yIçPAVEb7b7~95B)BE[[=@[b[~?[7ܧ[[[[BZYY i) zݑISZD?iv?1< e"))e"PKo@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033217.683165 s, next control iter: 1743033218.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743033218.103165 s.!8I~,Ú$AA= ףp<@A:V<@AW]~? ACA|!&"AAZsNA"AZAbAjArAzAAAu1@AܾhrrA_u@AbcAЇ=A,5@A@A@?AQ*Ak9?2A׽:Am8<BAk9?JA׽RAm8<٘i)I9u@YG JٌJJJJpWE&K Y\[~?y?[PAVE779)B[[[>@[[~?[ڧ[[[[BZYY i) cְIphD?iD?o(< 9u!))9u!|p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033218.123165 s, next control iter: 1743033218.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033218.523165 s.'8I~,{$AJ"J*J2J:JBJnJvJA(<@A<@A>@]~? AAL!&"AA7sNA"AZAbAjArAzAAAB1@A IprAA5u@AZAW=AXn6@A@nKA .?A*Ay9?2Aֽ:A<BAy9?JAֽRA<٘i)I95u@Y=G JnJJJJuWE&K Yz[~?y4OAVE77796B)BE[[E7@@['n[~?[٧[[[[BZYY i) ϻI|wD?i?$3< l ))l Ir@y-YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033218.543165 s, next control iter: 1743033218.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6717, header.stamp.nsec: 00 temperature: 13.385486* salinity: 33.391735, density: 1025.000000* values[0]: 0.702543F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033218.943165 s.Yd.8I~,F]$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743033218.943303F (some fields omitted in printout)AzG=@A˙-=@A(]~? AtA"&"AAsNA"AZAbAjArAzAAAfd1@A4GAnrAνt@A<A=A87@A|A@`?A*AM9?2A1Eֽ:A=BAM9?JA1EֽRA=٘i)I9t@YG J2JJJJ{WE&K YU`[~?y*OAVE77{7>98B)BE[[AA@[T[~?[ا[[[[BZYY i) ID?i?.\?< 4))4ds@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033218.963165 s, next control iter: 1743033219.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033219.363165 s.58I~,p>$AJ"J*J2J:JBJnJvJA3333=@Ag)=@A]~? AFAD"&"AArNA"AZAbAjArAzAAAB1@A0"PlrAoCt@A#<A@}=Ap8@A_A ?A.*A89?2A.!ֽ:A&)=BA89?JA.!ֽRA&)=Y*@9@ymx=qч<ٓH 2 Ͽ(`b?'? +1?m?)*@ I٘i)I9Ct@YG JB=JJJJWE&Kw> YD[~?yDOA9@VESI7SI799B)BE[[#B@[:[~?[ק[[[[BZYY i) ILD?i?/G< O_))O_ft@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033219.403165 s, next control iter: 1743033219.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6718&, header.stamp.nsec: 0&0 temperature: 13.385712&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.701613&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033219.783165 s.\;8I~,$AAQ>@Ae>@A\~? A>Aq"&"AAarNA"AZAbAjArAzAAAy0@AtAvjrAs@A4|<A܈=ArB:@A@A'?Aq*A@9?2ALֽ:AN=BA@9?JALֽRAN=٘i)I9s@Y_G JNC=JJJJWE&K Y)[~?y̵NAVEb77h9:B)BE[[ D@[\![~?[ק[[[[BZYY i) oIƩD?i?pP< ))3v@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033219.803165 s, next control iter: 1743033220.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033220.203165 s.C8I~,T $AJ"J*J2J:J|3?BJ|3?nJ4<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743033220.203314F (some fields omitted in printout)Aףp=>@Arg&p>@A5\~? A] AC"&"AArNA"AZAbAjArAzAAACk^0@A6/޴hrA5Ms@A;Aŋ=A;@AA$A?A=*AZ9?2Aֽ:A=BAZ9?JAֽRA=٘i)I9Ms@YG J䑼JJJJWE&K Y<[~?yNAVE77779;B)BE[[kE@[[~?[֧[[[[BZYY i) &%ID?im?E%Z< ))uw@iYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743033220.223165 s, next control iter: 1743033220.603185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743033220.623165 s.VI8I~,X'$AA)\>@A>@A\~? AA "&"AArNA"AZAbAjArAzAAAx>0@Ay grA@r@AqL̻AX=A`<@A/A?A*A}9?2A׽:A3=BA}9?JA׽RA3=٘i)I9r@YG JЎJJJJWE&K YZ~?yn/NAVE779)B[[F@[Z~?[+֧[[[[BZYY i) Py5I[D?i?Be< R))Rx@ªYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033220.643165 s, next control iter: 1743033221.023177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6719, header.stamp.nsec: 00 temperature: 13.385945* salinity: 33.391743, density: 1025.000000* values[0]: 0.700640F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033221.043165 s.P8I~,B$AJ"J*J2J:JBJnJvJA{Ga?@A ~1G?@A \~? AA%#&"AA|\rNA"AZAbAjArAzAAA/@A9zerAA_r@A.|AM=A]N>@A VAMAVEŧ7b7)9=B)BE[[}G@[eZ~?[է[[[[BZYY i) DID?i?9sq< ))$z@,ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033221.063165 s, next control iter: 1743033221.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033221.463165 s.UW8I~,]$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743033221.463309F (some fields omitted in printout)A?@A6?@A6\~? AAiV#&"AA6rNA"AZAbAjArAzAAAGQ/@AGdrAq@AJAG=Aޜ?@A {A@?AIf*A9?2A1׽:A}=BA9?JA1׽RA}=Y1@?@y>|=nٓH ¿ ?ȥ@٠w+WӐ;?)1@ I٘i)I9q@Y;G JCJ<JJJWE&K,x> YZ~?yqMA?@VE79>B)BE[[DI@[Z~?[է[[[[BZYY i) >NTID?i?\8y< G))Gn{{@,ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033221.483165 s, next control iter: 1743033221.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6720, header.stamp.nsec: 00 temperature: 13.386174* salinity: 33.391758, density: 1025.000000* values[0]: 0.699713F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033221.883165 s.y]8I~,@x$AJ"J*J2J:JBJnJvJAQ8@@AemS<@@A;}\~? AmA#&"AA>rNA"AZAbAjArAzAAAۆz.@AbrAmq@A@]Aձ=A @@AA@/?AJ*A{9?2Aiֽ:A=BA{9?JAiֽRA=٘i)I9mq@YG J+JJJJWE&K YZ~?yMAVE77S9?B)BE[[|J@[Z~?[֧[[[[BZYY i*ͪ) cIAE?i? < BP))BPs|@2˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033221.903165 s, next control iter: 1743033222.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033222.303165 s.Td8I~,og$AAq= ף@@AM ɉ@@Ad\~? AUA#&"AAHqNA"AZAbAjArAzAAA!.@Ao\arA{p@Ab;A=AB@A@A]?Aƞ*AP9?2A`ֽ:AjQ =BAP9?JA`ֽRAjQ =٘i)I9p@YG J왼JJJJWE&K YZ~?ySLAWE{7j79AB)BE[[K@[Z~?[D֧[[[[BZYY i) rI$E?ib?<  )) ~@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033222.323165 s, next control iter: 1743033222.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6721., header.stamp.nsec: 0.0 temperature: 13.386415.* salinity: 33.391769., density: 1025.000000.* values[0]: 0.698761.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033222.723165 s.k8I~,H$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743033222.723282F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\A@ARAE@@AJ\~? AfA#&"AAqNA"AZAbAjArAzAAA!H-@Awή.`rA_ep@Af d<A=A@`C@A A@?A"*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9ep@YOG J⠼JJJJWE&K YgZ~?yLLAWE)7ŧ7~9BB)BE[[M@[pZ~?[֧[[[[BZYY i) I7 Y/Z~?yMKA F@WE7{79CB)ɯBE[[O@[I?Z~?[ק[[[[BZYY i) FImE?iW?V< D))D@O֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033223.603165 s, next control iter: 1743033223.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6722, header.stamp.nsec: 00 temperature: 13.386683* salinity: 33.391754, density: 1025.000000* values[0]: 0.697728F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033223.983165 s.8I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743033223.983302F (some fields omitted in printout)AQB@AJV7B@Am[~? AA9$&"AAQqNA"AZAbAjArAzAAA2+@AB!9]rAn@A׹A_F=A[G@A`$ AͿ?Aᦼ*Aq9?2Aֽ:A!=BAq9?JAֽRA!=٘i)I9n@YOG JJJJJWE&K  9YrZ~? 9y㧧KAWE7777>9)ͯB[[P@[&Z~?[ا[[[[BZYY i) ɗIE?i ?\< ))Y@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033224.003165 s, next control iter: 1743033224.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033224.403165 s.&8I~,$AJ"J*J2J:JBJnJvJA ףpB@A1ZB@A[~? ABAT$&"AA*qNA"AZAbAjArAzAAA@q+@Ao\rA4n@AGFBA=A߷H@A@3A"?AwҦ*AS9?2Aw<׽:A&=BAS9?JAw<׽RA&=٘i)I94n@YG JB=JJJJWE&K Y;Y~?yyJAWE{7{79DB)ӯBE[[gR@[.Z~?[٧[[[[BZYY i) _NI6E?i?< W ))W /.@MݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033224.443165 s, next control iter: 1743033224.803175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6723", header.stamp.nsec: 0"0 temperature: 13.386960"* salinity: 33.391743", density: 1025.000000"* values[0]: 0.696655"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033224.823165 s.8I~,24$AA\(C@ALUC@A[~? A#A]l$&"AAqNA"AZAbAjArAzAAAbGQ*@ALJM[rAm@A:A=AHA@)DA W$?A*Ap9?2AF׽:A=BAp9?JAF׽RA=٘i)I9m@YG JC=JJJJWE&K YY~?yHJA"WEj7i 9EB)دBE[[US@[Y~?[ڧ[[[[BZYY i) ѦIE?i@<< ) ))) ̂@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033224.863165 s, next control iter: 1743033225.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033225.243165 s.8I~,dO$AJ"J*J2J:J52?BJ52?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743033225.243277F (some fields omitted in printout)AGzC@A8dzC@A1[~? A-Aڀ$&"AApNA"AZAbAjArAzAAA)@A^)[rAIm@ATXA%=AFA RAZ?Am7*Aۖ9?2AUֽ:A=BAۖ9?JAUֽRA=٘i)I9m@YKG JJJJJWE&K Y׾Y~?yIA'WE{7 9FB)ݯBE[[T@[Y~?[?ܧ[[[[BZYY i) ZTIFE?i@ܩ< K ))K j@`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033225.263165 s, next control iter: 1743033225.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743033225.663165 s.8I~,qj$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6724, header.stamp.nsec: 00 temperature: 13.387209* salinity: 33.391739, density: 1025.000000* values[0]: 0.695560F (some fields omitted in printout)AD@A@xC@AS[~? A`A.$&"AApNA"AZAbAjArAzAAAG)@Aɶ/ZrA}l@A A=A(EAM]AO?A *A9?2A|ֽ:A=BA9?JA|ֽRA=Y>@Eyz=!ٓH?@M ޫ|;-_d ?)>@ I٘i)I9}l@YG JdJ <JJJWE&Kw> YY~?y nIAE-WE779GB)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #33q/!^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033225.683165 s, next control iter: 1743033226.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033226.083165 s.D8I~,S$AJ"J*J2J:JBJnJvJARkD@AKToQD@Ai}[~? AA]$&"AARpNA"AZAbAjArAzAAAojͪ(@A(.IZrA k@A<Aϫ=APDA0fA?Aļ*A9?2AO ֽ:A=BA9?JAO ֽRA=I٘i)I9k@YG JJJJJWE&K Y~Y~?yHA2WEj7Z7)9HB)BE[[I W@[Y~?[Cߧ[[[[BZYY i) I"E?i @< u)) u @'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033226.123165 s, next control iter: 1743033226.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033226.503165 s.8I~,z4$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743033226.503293F (some fields omitted in printout)Ap= D@AW>D@Anc[~? AMA$&"AAfpNA"AZAbAjArAzAAA-0FB (@A.ZrA4k@AB<A_=AbfCA }A?Ab̼*AX:?2A :A=BAX:?JA RA=٘i)I94k@Y&G JȼJJJJWE&K YQjY~?yHA7WE779)B|E[[DX@[Y~?[[[[[BZYY i) PļIF?i@X}< v))=8I~,<$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092316< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033227.763282F (some fields omitted in printout)J"J*J2J:JBJnJvJAF@AwE@A@[~? AAӹ$&"AAoNA"AZAbAjArAzAAAC˟53&@AYYrA+i@AbܻA=ABT@AAy^A)%ͼ*A`m:?2AȽ:A=BA`m:?JAȽRA=YǻC@]@y=5ݻٓH? YY~?y>/GA]@GWE{7{7#9DB)BvE[[8[@[QY~?[[[[[BZYY i) n5ڼI xF?iZ@< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033227.803165 s, next control iter: 1743033228.163183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743033228.183165 s.8I~,c $AAQF@A kF@A-Z~? AAݹ$&"AAoNA"AZAbAjArAzAAA%@AnXYrAh@AgxpAS\=Ad ?A`ņAAʼ*A?b:?2A˽:A=BA?b:?JA˽RA=٘i)I9h@Y G J˼C=JJJJWE&K YX~?ynFAMWE77'9EB)BsE[[ ]@[4:Y~?[[[[[BZYY i) fpIF?i@(< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033228.223165 s, next control iter: 1743033228.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033228.603165 s.548I~,&$AJ"J*J2J:JBJnJvJA= ףF@ATF@AZ~? AA$&"AA~oNA"AZAbAjArAzAAAcZ$@A *SYrAg@AsAs=A>=ACA>;A~ͼ*A.U:?2AP$ν:Am=BA.U:?JAP$νRAm=٘i)I9g@Y G Jf˼JJJJWE&K YX~?yBFARWEb77*9)BpE[[T^@[#Y~?[u[[[[ZZ¸BZYY i¸"=)  vռIϼF?i!@B< ))K@y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033228.623165 s, next control iter: 1743033229.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6727 , header.stamp.nsec: 0 0 temperature: 13.388159 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.691817 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033229.023165 s.Z8I~,{A$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082802< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743033229.023314F (some fields omitted in printout)A(\G@AùBG@AZ~? AA=$&"AAzoNA"AZAbAjArAzAAAPSY$@A>ȳ$ZrA&g@AC6Ai=A'|<A$}AĸAƊԼ*A9G:?2AϽ:A=BA9G:?JAϽRA=٘i)I9&g@Y G J$мB=JJJJWE&K Y*X~?yЭEAXWE)77?.9) BmE[[ͅ_@[q Y~?[[[[[ZZBZYY i) wɼIF?iL&@< U))U@yQYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033229.063165 s, next control iter: 1743033229.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033229.443165 s.88I~,B]\$AJ"J*J2J:JBJnJvJAzG@AR(G@AZ~? A Aq$&"AARoNA"AZAbAjArAzAAA&pb#@A41=yZrA^f@A53;AЦ=A9;A@rA嬿A=*A5K:?2AGѽ:A=BA5K:?JAGѽRA=٘i)I9^f@Y4 G JC=JJJJXE&K Y9X~?yUEA]WE77719)BjE[[`@[X~?[~[[[[ZZBZYY i) }I\G?i+@@< M))Mq|@yڧ=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033229.483165 s, next control iter: 1743033229.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6728, header.stamp.nsec: 00 temperature: 13.388465* salinity: 33.391739, density: 1025.000000* values[0]: 0.690560F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033229.863165 s.+8I~,>w$AA33333H@AH@AZ~? AA$&"AA/+oNA"AZAbAjArAzAAA-RO#@Az5ZrA{e@A[<AV=A9A@fA A*A;R:?2Aҽ:AM<BA;R:?JAҽRAM YȊX~?yDA9 [DbWE7)7j59)BhE[[a@[X~?[9[[[[ZZBZYY i) 7DZI*G?i.@< w))w@y=تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033229.903165 s, next control iter: 1743033230.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033230.283165 s.4R8I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082802< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033230.283275F (some fields omitted in printout)J"J*J2J:JBJnJvJAQH@AeH@A/yZ~? AA$&"AAoNA"AZAbAjArAzAAAT"@A>5ik[rA(d@A[I@AEZ~? AALf$&"AAnNA"AZAbAjArAzAAAgOG!@A+N!\rA;-c@A;6Am<A5A:A@ZAY׬*AR:?2AVս:A_BAR:?JAVսRA_٘i)I9-c@YC G JLǼJJJJXE&K Yv8X~?yHCArWE{7{7*@9DB)+BbE[[ue@[VX~?[[[[[ZZBZYY i) I؟G?i9@y< ))܋@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033231.143165 s, next control iter: 1743033231.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033231.543165 s.I8I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082802< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743033231.543276F (some fields omitted in printout)A{GI@AR8I@A+Z~? AAM$&"AA}nNA"AZAbAjArAzAAAZ @A\]rATb@AO3VA/,<A4A'AlA8[*AJ:?2Aս:A BAJ:?JAսRA ٘i)I9b@Y G JB=JJJJXE&K YX~?yZHCAxWE77C9)/B_E[[ f@[X~?[7[[[[ZZBZYY i) 6IG?i>@pX< gu))gur@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033231.563165 s, next control iter: 1743033231.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6730, header.stamp.nsec: 00 temperature: 13.389214* salinity: 33.391724, density: 1025.000000* values[0]: 0.687523F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033231.963165 s.w8I~,$AJ"J*J2J:JBJnJvJALJ@A$A2J@A;Z~? AAO2$&"AAgnNA"AZAbAjArAzAAA!ۨ @A}^rA:Nb@A`AAMM3A QA`m¿A^f-*A?:?2Aս:AoBA?:?JAսRAoYP@K3ycޟٓH*W?W?#Yտ@)rӌŢu?3?)P@ I٘i)I9Nb@Y G J]C=JGJJJ!XE&Kz> YTX~?yKOCAK3}WE{7j7TG9)2B\E[[Vg@[wX~?[[[[[ZZBZYY i}{=) rI7G?i@@< ))& @(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033231.983165 s, next control iter: 1743033232.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033232.383165 s.9I~,4$AAQJ@AC 8J@AY~? AHA$&"AA@nNA"AZAbAjArAzAAA]@A(|_rAb@A#DAcA1A@ANĿAŻ*A@2:?2AFQֽ:A[BA@2:?JAFQֽRA[٘i)I9b@Y G Jk JJJJ'XE&K YW~?y=VCAWEŧ7b7J9)3BYE[[h@[3cX~?[[[[[ZZBZYY i6=)  `IdH?i!D@B < O))O@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033232.423165 s, next control iter: 1743033232.783178 s, wait time: 0.360013 sW~?)="tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6731", header.stamp.nsec: 0"0 temperature: 13.389395"* salinity: 33.391708", density: 1025.000000"* values[0]: 0.686762"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033232.803165 s.A 9I~,g3$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072272< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743033232.803322F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #K@Av K@AQY~? AA#&"AA?nNA"AZAbAjArAzAAA÷@A x`rAa@AAA0A@NA1ƿAKڨ*AE):?2Aֽ:Am˼BAE):?JAֽRAm˼٘i)I9a@Y G JzB=JJJJ,XE&K YW~?y/§^CAWE)7ŧ7N9)4BVE[[ *j@[NX~?[s [[[[BZYY i) QMIZGH?iG@< ?c))?c뿩 7@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033232.823165 s, next control iter: 1743033233.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033233.223165 s.g9I~,HN$AA(\K@AbEuK@A Y~? AA#&"AAmNA"AZAbAjArAzAAA'dF@AcmarAUa@AG`%<A3/AR/AA@yȿA];*Au:?2A-׽:A@BAu:?JA-׽RA@㼙٘i)I9a@Y G J!9C=JJJJ1XE&K YAW~?y!ŧeCAWEj7Z7R9)[[Tk@[;X~?[ [[[[BZYY i) 0:I#sH?iK@_= W))W鿩̎@y-=<A& UA-A@YA@ɿA;*A:?2AZ׽:A`BA:?JAZ׽RA`٘i)I9b@Y G J;JJJJ7XE&K YW~?yȧlCAWEZ7U9)3BSE[[{l@['X~?[[[[[BZYY i) ID'IH?iP@u*= ))濩_@*YFFF]l:Waiting for Gazebo time sync: latest Gz time: 1743033233.663165 s, next control iter: 1743033234.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6732, header.stamp.nsec: 00 temperature: 13.389456* salinity: 33.391716, density: 1025.000000* values[0]: 0.686635F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033234.063165 s. 9I~,_ $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072272< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033234.063274F (some fields omitted in printout)AfffffL@A*YLL@AY~? AAy#&"AAmNA"AZAbAjArAzAAA ft%@A!H2drAJb@A;T<A6uA,,AxAJ˿A%<*A*:?2Av7׽:ABA*:?JAv7׽RAYZW@,y1u#U<ٓH@`q? Ө?,Zۿ@!? ???)ZW@ I٘i)I9Jb@Y G J;B=JJJJ Y~W~?y˧CA,WEj7@Y9CB)1BPE[[m@[X~?[[[[[BZYY i g=) WVI3H?iR@?= j))j俩T@ܥ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033234.083165 s, next control iter: 1743033234.463183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033234.483165 s.x_'9I~,$AJ"J*J2J:JBJnJvJAL@A&kԷL@A{Y~? AAJ#&"AAmNA"AZAbAjArAzAAA"($)\@Ahn: frAb@A8uS;AqއAn+ALSA1ͿAZ<*A:?2Aֽ:A BA:?JAֽRA ٘i)I9b@Y G J:<C=JJJJBXE&K Y{dW~?yϧDAWE77\9).BME[[n@[X~?[~[[[[BZYY i) xlIH?iU@= ))⿩ى@1*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033234.503165 s, next control iter: 1743033234.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6733, header.stamp.nsec: 00 temperature: 13.389405* salinity: 33.391693, density: 1025.000000* values[0]: 0.686942F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033234.903165 s.-9I~,͹$AA ףp=M@A-\#M@AobY~? A A5#&"AAa\mNA"AZAbAjArAzAAA^I@A?grAc@AIA厑Ah-*A+A XϿAޢ<*A:?2AA|ֽ:A}BA:?JAA|ֽRA}٘i)I9c@Y( G Jw<JJJJGXE&K YJW~?ydӧcDAWE7)7j`9)+BKE[[eo@[W~?[[[[[BZYY i) II?iX@ = ߿))߿@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033234.923165 s, next control iter: 1743033235.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033235.323165 s.x49I~,-$AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056570< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033235.323296F (some fields omitted in printout)A\M@AWvM@AIY~? Ad A"&"AA 7mNA"AZAbAjArAzAAATX@AkOVirA c@A.A37A!(AAпA-<*A :?2AYֽ:ALBA :?JAYֽRAL٘i)I9c@Yu G J<JJJJLXE&K Yd1W~?y*קDAWEj7j7c9)'B[[0q@[W~?[ [[[[BZYY i =) )ϻIi\@D; = }ݿ))}ݿ@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033235.343165 s, next control iter: 1743033235.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6734*, header.stamp.nsec: 0*0 temperature: 13.389258** salinity: 33.391716*, density: 1025.000000** values[0]: 0.687726*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033235.743165 s.W;9I~,y$AAGzN@A/dM@A1Y~? APA\"&"AA%mNA"AZAbAjArAzAAA3rl}@AoXMkrA d@AWpAA˜'AAtѿAL<*A:?2Ayֽ:Av>BA:?JAyֽRAv>٘i)I9 d@Y G Jp<JJJJRXE&K YW~?yڧEAWEb77g9BB)"BHE[[Ar@[uW~?[$[[[[BZYY i) QIi`@]= _5ۿ))_5ۿB@yh=9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033235.763165 s, next control iter: 1743033236.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033236.163165 s.x}B9I~,q $AJ"J*J2J:JBJnJvJAN@AK9_eN@AY~? AcAr"&"AAtlNA"AZAbAjArAzAAAAMBVZY@AilrAd@AWƻA[7A?&A`AHYҿAv<*A:?2Aֽ:A, BA:?JAֽRA, Yh]@+8&y6oǻٓHK}?G?@aWH?*B?x?)h]@ I٘i)I9d@Y" G J{<JJJJWXE&Kx> YV~?yߧoEA8&WE7*k9)BEE[[gs@[gW~?[ )[[[[BZYY i) +Iic@V= ;ؿ));ؿՒ@yt=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033236.203165 s, next control iter: 1743033236.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033236.583165 s.H9I~,R%$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033236.583287F (some fields omitted in printout)ARN@AkN@AY~? AAz5"&"AAlNA"AZAbAjArAzAAA×7@AΗϊnrA+e@Ao1;Aa뙽A$A`tAm=ӿA٩<*A:?2ADd׽:AQBA:?JADd׽RAQ٘i)I9+e@Yz G J<JJJJ\XE&K YV~?yEAWEb77n9)BBE[[Όt@[W~?[o-[[[[BZYY i) fIie@= ֿ))ֿbh@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033236.603165 s, next control iter: 1743033236.983175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6735 , header.stamp.nsec: 0 0 temperature: 13.389037 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.688806 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033237.003165 s.z P9I~,U4@$AJ"J*J2J:JU0?BJU0?nJ85vJAp= WO@AX= ҿ))ҿr@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033237.443165 s, next control iter: 1743033237.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6736, header.stamp.nsec: 00 temperature: 13.388844* salinity: 33.391666, density: 1025.000000* values[0]: 0.689918F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033237.843165 s.\9I~,u$AJ"J*J2J:J0?BJ0?nJ295vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743033237.843316F (some fields omitted in printout)AHz.P@AP@AUX~? A6 AUk!&"AA]lNA"AZAbAjArAzAAAr f@AypurAf@A <AfA< A)A տAEy<*A:?2A72׽:ABA:?JA72׽RA٘i)I9f@Y{ G JR<B=JJJJmXE&K YV~?yGAWE{7{7y9) B=E[[w@[rW~?[;[[[[BZYY i) DIi&p@&= OϿ))OϿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033237.883165 s, next control iter: 1743033238.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033238.263165 s.d9I~,ؐ$AAP@AwӂP@A^X~? A $A2"!&"AA:lNA"AZAbAjArAzAAA~x @A+HڽwrAag@ANAA4A*A`AcֿA<*A:?2Aֽ:ABA:?JAֽRAYgd@y cAٓHBz@D??@ 9z "?ඌ?`)h@n?)gd@ I٘i)I9ag@Y G J<C=J;JJJrXE&Kx> YV~?y qGAWEj7j7}9@B)B:E[[y@[bW~?[?[[[[BZYY i) H:9Ii/r@= 'Ϳ))'ͿQ@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033238.303165 s, next control iter: 1743033238.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6737., header.stamp.nsec: 0.0 temperature: 13.388625.* salinity: 33.391663., density: 1025.000000.* values[0]: 0.690999.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033238.683165 s.lj9I~,^$AJ"J*J2J:JBJnJvJAQQ@AuP@AX~? A(AB &"AANlNA"AZAbAjArAzAAAq @A1zrA"g@A[SA@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033238.683165 s, next control iter: 1743033239.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743033239.103165 s.q9I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033239.103296F (some fields omitted in printout)A= ףpQ@AVQ@A7wX~? A,A &"AAkNA"AZAbAjArAzAAA夂pQ @A'|rAh@A̓AA(A W A`PؿAɽ<*A1:?2Aֽ:ABA1:?JAֽRA٘i)I9h@Y G J<JJJJ}XE&K Yv[V~?y9HAWE77{7@9)B7E[[Y{@[AW~?[nI[[[[BZYY i) lw;Iiew@LU= ɿ))ɿΖ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033239.123165 s, next control iter: 1743033239.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033239.523165 s.w9I~, |$AJ"J*J2J:J1?BJ1?nJ95vJA(Q@AQ@A aX~? A\0A6 &"AA=kNA"AZAbAjArAzAAA^7@A]KrA i@AIQ0A,AoA@A@!ٿA<*A:?2A ֽ:ABA:?JA ֽRA٘i)I9 i@Y G J<JJJJXE&K YDV~?yHAWEb7b7Շ9?B)B4E[[>y|@[W2W~?[]N[[[[BZYY i) aB;Iiz@&\ = ƿ))ƿ^@6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033239.563165 s, next control iter: 1743033239.923183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6738, header.stamp.nsec: 00 temperature: 13.388401* salinity: 33.391644, density: 1025.000000* values[0]: 0.692127F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033239.943165 s.Xd~9I~,B]$AAzGR@Af-R@A'KX~? A4A&"AAղkNA"AZAbAjArAzAAA']G$@AVrAːi@A9AAxA A\ٿAN<*A:?2AB׽:AFBA:?JAB׽RAF٘i)I9i@Y'G J<JJJJXE&K Y_.V~?y@ IAWE77k9>B)B0E[[$}@[*#W~?[[S[[[[BZYY i) G;Ii~@"= 7Ŀ))7Ŀ@ۼ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033239.983165 s, next control iter: 1743033240.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033240.363165 s.9I~,>$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743033240.363314F (some fields omitted in printout)A3333R@ApR@A5X~? AG9Aӊ&"AAޑkNA"AZAbAjArAzAAA^t@AvrAj@A.~6<AEAAVA jڿA <*A::?2A$׽:A"BA::?JA$׽RA"Yj@*yH6<ٓHe@.?a?@n@g??φ? G?)j@ I٘i)I9j@YsG J(<Jfc<JJJXE&Kx> YV~?y>\IA*WEZ7Z79?B)B1E[[~@[%W~?[yX[[[[BZYY i^=) ;Ii@м#= H¿))H¿}@"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033240.403165 s, next control iter: 1743033240.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6739&, header.stamp.nsec: 0&0 temperature: 13.388185&* salinity: 33.391613&, density: 1025.000000&* values[0]: 0.693157&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033240.783165 s.W9I~,2$AAQS@AsHjS@AF X~? A=A"1&"AA[qkNA"AZAbAjArAzAAA슽@AvSrAdj@A<A4AA `A{ۿAH<*A:?2A׽:ABA:?JA׽RA9٘i)I9j@YG J<JJJJXE&K YV~?y<IAWEb779>B)B.E[[@[vW~?[][[[[BZYY i) Ͻ;Ii@|%=  )) s @.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033240.803165 s, next control iter: 1743033241.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033241.203165 s.9I~, M$AJ"J*J2J:JBJnJvJAףp=S@A 'pS@AM X~? ABA&"AAQQkNA"AZAbAjArAzAAA70?Aj$rAj@ALP<AÆAA)A2OܿA3<*Ah :?2AZ׽:AhBAh :?JAZ׽RAh٘i)I9j@YG J_<JJJJXE&K YDU~?y:JAWE77j7+9/B)ׯB[[z@[V~?[b[[[[BZYY i) ;Ii9@p&= ̽))̽@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033241.243165 s, next control iter: 1743033241.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033241.623165 s.X9I~,ag$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743033241.623277F (some fields omitted in printout)A)\S@AѯS@AW~? AGAu&"AA1kNA"AZAbAjArAzAAA,]F?AOxrAkk@A(;AzA?A{A@ݿAIy<*AG:?2A0ֽ:AaBAG:?JA0ֽRAa٘i)I9kk@YHG J<JJJJXE&K YU~?y9$oJAWE7{79.B)ӯB+E[[B @[$V~?[1h[[[[BZYY i) ;Ii@A(= w))w=+@y6ڛ=u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033241.663165 s, next control iter: 1743033242.023181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6740 , header.stamp.nsec: 0 0 temperature: 13.387997 * salinity: 33.391594 , density: 1025.000000 * values[0]: 0.694097 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033242.043165 s.9I~,Â$AJ"J*J2J:JBJnJvJA{GaT@A7+1GT@ARW~? ALA|&"AAkNA"AZAbAjArAzAAAOOl?A6rAk@AhA,ɈAA@/A ݿAQ<*A:?2Aֽ:AeBA:?JAֽRAeI٘i)I9k@YG J<JJJJXE&K YU~?y7*JAWE7U9)ϯB(E[[@[V~?[m[[[[BZYY i)  Y8U~?y0(KAXE{7Z79/B)̯B)E[[&@[V~?[r[[[[BZYY i)   elevatorAngleAction: 0.076131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743033242.883315F (some fields omitted in printout)AQ8U@A;U@AW~? A:WADJ&"AAjNA"AZAbAjArAzAAAJEk?A:MrA^l@A_jA AgAA<߿A<*A>9?2Aֽ:AKPBA>9?JAֽRAKP٘i)I9l@Y$G J<JJJJXE&K YU~?ys7KA XE)7ŧ79.B)ȯB&E[[@[ V~?[x[[[[BZYY i) ,KAXEŧ7b79)ïB#E[[B@[QV~?[~[[[[BZYY i)  < .= '))'d@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033243.343165 s, next control iter: 1743033243.703175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6742*, header.stamp.nsec: 0*0 temperature: 13.387613** salinity: 33.391586*, density: 1025.000000** values[0]: 0.696007*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033243.723165 s.9I~,H$AJ"J*J2J:JBJnJvJA(\V@ARAEU@AsW~? A6bAVv&"AAjNA"AZAbAjArAzAAAtDɫ?Av XBrAm@AZ;AKAAA`SAI<*AN9?2Ac׽:ABAN9?JAc׽RA٘i)I9m@YG J<JJJJXE&K YN|U~?yD>LAXE779)B[[Ѓ@[V~?[[[[[BZYY i) BK elevatorAngleAction: 0.076131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743033244.143325F (some fields omitted in printout)AGzV@AB`V@AW~? AgA&"AAjNA"AZAbAjArAzAAA5?AP0rAvBn@Ak}q<AlA\ A A@A<*A9?2A1׽:AlBA9?JA1׽RAl٘i)I9Bn@YG J<JJJJXE&K YiU~?yNKLAXE7)7@9-B)B E[[]@[V~?[U[[[[BZYY i) $[ YIYU~?y{RLA XEj7Z7ֲ9.B)B!E[[@[4V~?[[[[[BZYY i)  =j@;2= o ))o  @*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033244.603165 s, next control iter: 1743033244.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6743, header.stamp.nsec: 00 temperature: 13.387416* salinity: 33.391594, density: 1025.000000* values[0]: 0.696984F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033244.983165 s.9I~,>$AAQW@A7W@A]W~? AsA&&"AAGjNA"AZAbAjArAzAAAtLſApR&TrA;o@Ay<ALuAI A`f߿ASAݛ<*A9?2A׽:A. BA9?JA׽RA. ٘i)I9;o@YG J`<JJJJXE&K YHU~?yYcMA#XE)7ŧ7k9-B)BE[[ elevatorAngleAction: 0.076131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033245.403292F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpW@A߉YW@ALW~? AyA&"AAD-jNA"AZAbAjArAzAAABM#h׿Aš@rA+o@AyA'A A ߿A@!A<*Ak9?2Aֽ:A~BAk9?JAֽRA~٘i)I9o@YG J͟<JJJJXE&K Y8U~?y`MA)XEj7Z79)B[[?@[yV~?[[[[[BZYY i=) T elevatorAngleAction: 0.085235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743033246.663290F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6745, header.stamp.nsec: 00 temperature: 13.386996* salinity: 33.391521, density: 1025.000000* values[0]: 0.699128F (some fields omitted in printout)AY@A*UX@AW~? ACAmI&"AAiNA"AZAbAjArAzAAAbd8AnIerA0rq@A'AVAA ܿAA<*AH9?2Aֽ:A!BAH9?JAֽRA!Yl~~@(y9}4'ٓH߿??`ڼ@*߿ү?ʳ?ℿ?)l~~@ I٘i)I9rq@YG JZ<B=J:5JJJXE&KGx> Y U~?yvNA9XE)7ŧ79)BE[[@[ZV~?[[[[[BZYY i) ` U~?)>v rAdjusting time to match Gazebo time: 1743033247.083165 s.D9I~,R$AJ"J*J2J:JBJnJvJARkY@ApQY@A W~? AA&"AAiNA"AZAbAjArAzAAAXabAG]QrA r@A|:AsAKAx ܿA_A<*A9?2A׽:APBA9?JA׽RAP٘i)I9r@YKG Ju<C=JJJJXE&K YT~?yy~dOA>XEb77V9)B[[E7@[PV~?[[[[[BZYY i) j elevatorAngleAction: 0.085235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743033247.923290F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\BZ@Akg{(Z@AV~? A؟A7&"AAiNA"AZAbAjArAzAAA-A ,XrA$s@Aƒ<AgAiA*wڿA`"eAȮ<*AϾ9?2A'o׽:A5]BAϾ9?JA'o׽RA5]٘i)I9$s@YG J<C=JJJJXE&K YT~?yǍ9PAIXE{7{79)B[[jO@[>V~?[Ⱦ[[[[BZYY i) 7t YT~?yzQA/TXEŧ7b79-B)BE[[f@[-V~?[#˨[[[[BZYY i) T9 elevatorAngleAction: 0.085235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743033249.183262F (some fields omitted in printout)AQ[@Ak`k[@AV~? A@AB&"AA7YiNA"AZAbAjArAzAAAX AyXrAt@AnA®AsA}ؿA&A0<*A9?2A;ֽ:A`BA9?JA;ֽRA`٘i)I9t@YG JH<JJJJXE&K YJT~?yQAYXE77A9)B[[@[%V~?[bѨ[[[[BZYY i) = Ñ))Ñj+@^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033250.043165 s, next control iter: 1743033250.423185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743033250.443165 s.6&:I~,:]$AJ"J*J2J:J4?BJ4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743033250.443329F (some fields omitted in printout)Az\@AgC\@AV~? AgɩA &"AAiNA"AZAbAjArAzAAAmY AirrAyw@AƕAⲽAAZտAApO<*AH9?2Adֽ:A.BAH9?JAdֽRA.٘i)I9w@YZG J<JJJJYE&K Y(T~?yRAiXE7779)vB[[_@[V~?[L[[[[BZYY i) d$AA33333]@A3k) ]@AV~? AЩA &"AA` iNA"AZAbAjArAzAAA1Q9ArAw@A;A ׳AA@ԿA4Aml<*A9?2A(׽:AsBA9?JA(׽RAsY~Å@,%yճ;ٓHģӿr? ?S_ӿ,?Zs?`|?@;?)~Å@ I٘i)I9w@YG J<JJJJYE&K[x> YwT~?y ƨ^SA%nXEZ7Z79)pB[[@[J V~?[[[[[BZYY i) BZYY i¸>) ;AA'@A ҿA ȢAV$=*A9?2Aֽ:A'fBA9?JAֽRA'f򼙘٘i)I9y@YG J<JJJJ#YE&K YgvT~?y$ߨTA~XEj7j7V9)`B[[@[U~?[[[[[ZZZZBZYY i) w YgT~?y!UAXEZ7Z79/B)SBE[[֏@[U~?[ [[[[ZZZZBZYY i)  >A&"AAhNA"AZAbAjArAzAAA0lhq AuiZ\rA>W|@AtA,AA@οA%A@<*Ad9?2A)lֽ:A2ϻBAd9?JA)lֽRA2ϻ٘i)I9W|@YG J-<C=JJJJ3YE&K YaT~?yUAXEŧ7b79)MB[[a@[IU~?[[[[[ZZZZBZYY i) ~5vJAq= #`@A `@ALV~? AA#&"AAhNA"AZAbAjArAzAAA V: An1sAw|@A A>˼Af޿A`MͿAMAJ<*A9?2A=vֽ:AR:BA9?JA=vֽRAR:٘i)I9|@YG Js<B=JJJJ9YE&K  9Y[T~? 9y\5VAXE9)GB[[@[0U~?[[[[[ZZZZBZYY i) Œx<*A9?2A]ֽ:Ac<BA9?JA]ֽRAc<٘i)I9z}@YFG J:<C=JJJJ>YE&K YUT~?y VAXE77A9)CB[[x@[uU~?[[[[[ZZZZBZYY i) R5vJAG`@AVE`@A{=V~? ATAr&"AA+hNA"AZAbAjArAzAAA,u ATes sA}@APT<A<AqٿAeɿAAe<*Au9?2A1ֽ:AX<BAu9?JA1ֽRAX<٘i)I9}@Y|G JR<JJJJDYE&K YPT~?yVAXE{7j79,B)=BE[[@[U~?[I%[[[[ZZZZBZYY i) zxJJJIYE&Kv> YLT~?y\VA+׿XE7777l 9+B);B E[[@[U~?[+[[[[ZZZZBZYY iFm) Bf5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743033255.483294F (some fields omitted in printout)Aa@A, ӷa@Af0V~? A#AD &"AAuhNA"AZAbAjArAzAAA AusA~@A6><A=AԿAſA@AO9*A9?2AzHֽ:A<BA9?JAzHֽRA<٘i)I9~@YG Jy:;JJJJNYE&K YIT~?y"$VAXE{7j79):B[[4@[iU~?[2[[[[BZYY iΌ) ǞT$AJ"J*J2J:JBJnJvJA\b@ATb@Ac%V~? A3A &"AAchNA"AZAbAjArAzAAAO(ANsA}@Aǻ&A]=ADϿA4A$A~*A9?2Aֽ:A͸<BA9?JAֽRA͸<٘i)I9}@YG JsJJJJYYE&K YCT~?y5^VAXE777,9)?VAXEŧ7b79)>B[[@[U~?[F[[[[BZYY i) N Y?@T~?yBGUA%ʿXEb77W9)@B[[vE@[jU~?[9M[[[[BZYY irf)   YAT~?y@s TA!XEŧ77B09)UBE[[NĿ[U~?[n[[[[BZYY i) F;Ii@ B= ?))??ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033259.283165 s, next control iter: 1743033259.663179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6758., header.stamp.nsec: 0.0 temperature: 13.568141.* salinity: 33.375008., density: 1025.000000.* values[0]: 0.579572.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033259.683165 s.l:I~,V$AJ"J*J2J:JBJnJvJAQf@A2: e@A;V~? AsA&"AAi=hNA"AZAbAjArAzAAA1A|DsAp%z@A"A=AwA`JVA nvAlګ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9%z@Y?G J̰JJJJYE&K YDT~?y|SAXE7739)ZB[['#¿[U~?[Ou[[[[BZYY i) xK;Ii@cA= s6;))s6;s6;)ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033259.683165 s, next control iter: 1743033260.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033260.103165 s.:I~,$AA= ףpf@AfyVf@A V~? A{A&"AA09)gBE[[G[U~?[V[[[[BZYY i) 9Ii@J@= (.))(.(.ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033260.983165 s, next control iter: 1743033261.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033261.363165 s.:I~,>W$AJ"J*J2J:JBJnJvJA3333g@AW\g@AWV~? A#A:&"AAY=hNA"AZAbAjArAzAAASAYwXsA x@AI;Ae=A !Ae?AFrAgԠ*A9?2Apֽ:AS<BA9?JApֽRAS YQT~?yRAXE7777-B9,B)lBE[[p[bU~?[[[[[BZYY i) wIiƕ@t?= 3)))3)3)êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033261.383165 s, next control iter: 1743033261.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6760&, header.stamp.nsec: 0&0 temperature: 13.568676&* salinity: 33.374989&, density: 1025.000000&* values[0]: 0.578267&F (some fields omitted in printout)&QT~?)& rAdjusting time to match Gazebo time: 1743033261.783165 s.S:I~,r$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065528< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743033261.783288F (some fields omitted in printout)AQh@AAΡh@AV~? A3Ak&"AAS?hNA"AZAbAjArAzAAARapAc'c]sA#zw@Am S<AA)=AϛA`?AkA[*A9?2A7ֽ:A6<BA9?JA7ֽRA6<٘i)I9zw@YG JJJJJYE&K Y`WT~?yQAXE77E9)pB[[MC[.U~?[[[[[BZYY i) rɺIi@>= v%))v%v%пYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033261.803165 s, next control iter: 1743033262.183174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743033262.203165 s.:I~,$AJ"J*J2J:JBJnJvJAףp=h@A9x&ph@A V~? A@A&"AABhNA"AZAbAjArAzAAAHVArw7MbsAv@Ah#<A=AAfA?AaAԜ*Af9?2AqBֽ:A^<BAf9?JAqBֽRA^<٘i)I9v@YNG JJJJJYE&K Y\T~?y:PQAXEj7j7WI9)uBE[[[YU~?[D[[[[BZYY i) h"Ii@y->= /!))/!/!YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033262.223165 s, next control iter: 1743033262.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033262.623165 s.Y:I~,e$AA)\h@A(h@AV~? AJAb&"AAEhNA"AZAbAjArAzAAAC6A5gsA3sv@AH?,<A%q=A^AB?AlUA*Aw9?2Aֽ:AO<BAw9?JAֽRAO<٘i)I9sv@YG JJJJJYE&K YRbT~?y޸PAYE77L9)yB[[岿[U~?[棩[[[[BZYY i) j`Ii@@== ))YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033262.643165 s, next control iter: 1743033263.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6761 , header.stamp.nsec: 0 0 temperature: 13.568907 * salinity: 33.374977 , density: 1025.000000 * values[0]: 0.577652 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033263.043165 s.:I~,$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065528< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743033263.043339F (some fields omitted in printout)A{Gai@Av2Gi@AV~? ANA2&"AA JhNA"AZAbAjArAzAAAQa-o:A lsAgu@AԹA|=A⫥A?AFAR*A29?2Aֽ:ApC<BA29?JAֽRApC<٘i)I9u@YG J.JJJJYE&K YgT~?yPA YE7{7P9)}B[[e[U~?[[[[[BZYY irF) ێIi@== \))\\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033263.063165 s, next control iter: 1743033263.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033263.463165 s.Q:I~,Ӥ$AAi@AV}i@AV~? ANA)&"AA7OhNA"AZAbAjArAzAAA~ҠA:VpsAu@A26A=AA{?A`<5AF*A9?2Ak6׽:A<BA9?JAk6׽RA YpT~?yɩ:PAYE77T9-B)BE[[ш[U~?[[[[[BZYY i) R?Ii@;<= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033263.503165 s, next control iter: 1743033263.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6762, header.stamp.nsec: 00 temperature: 13.569173* salinity: 33.375004, density: 1025.000000* values[0]: 0.577066F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033263.883165 s.y:I~,4$AJ"J*J2J:JBJnJvJAQ8j@A,?j@A V~? AFĪA܍&"AA3UhNA"AZAbAjArAzAAAK_Ay8@OusAGu@AA=A"UA %F?A Am~*A9?2A@׽:A<BA9?JA@׽RA<٘i)I9u@Y+G J@JJJJYE&K YSxT~?y\ҩOAYEb77W9.B)BE[[Y[U~?[[[[[BZYY i) ͻIi0@;= +))++YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033263.923165 s, next control iter: 1743033264.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033264.303165 s.\;I~,g$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074353< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743033264.303301F (some fields omitted in printout)Aq= ףj@A /j@A%V~? A8̪Ar&"AA[hNA"AZAbAjArAzAAA[L-Ak|zsAt@AKAT=AA &?AT A~*A 9?2A\ ׽:A:I<BA 9?JA\ ׽RA:I<٘i)I9t@YG JO}JJJJYE&K YT~?yکOAYEB[9)B[[([U~?[9[[[[BZYY i) Ii@/>:= A ))A A yw8>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033264.323165 s, next control iter: 1743033264.703180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6763., header.stamp.nsec: 0.0 temperature: 13.569346.* salinity: 33.374996., density: 1025.000000.* values[0]: 0.576556.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033264.723165 s. ;I~,H.$AJ"J*J2J:JBJnJvJA(\k@A>+Nj@A*V~? A!ԪAW&"AAchNA"AZAbAjArAzAAAɃHHlA2sA@t@AheA8=A'=A`?AoAᾃ*A9?2Aֽ:A4F<BA9?JAֽRA4F<٘i)I9@t@YG JJJJJYE&K YۈT~?y52OAYE77^9)B[[ [U~?[ĩ[[[[BZYY i) :4Ii@9= ;));;jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033264.743165 s, next control iter: 1743033265.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033265.143165 s.X/;I~,*I$AAGzk@A `k@A0V~? AܪAr%"AAkhNA"AZAbAjArAzAAA]_T AfmUsAs@Ag<A=A𺘿A$?AKA*AU9?2ATֽ:A N=BAU9?JATֽRA N=٘i)I9s@YdG J'JJJJYE&K YT~?yNA%YE{7SI7mb9/B)BE[[ĥ[U~?[J˩[[[[BZYY i) Ii@@19= y))yyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033265.163165 s, next control iter: 1743033265.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033265.563165 s.;I~,p d$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074353< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743033265.563297F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffk@As-Zk@A6V~? AA#%"AAthNA"AZAbAjArAzAAA֮G AUmc=sAZs@A<A^=AP.A ?AĸA,*A9?2Ah5ֽ:AY=BA9?JAh5ֽRAY=Yɉ@ y=N<ٓH2?U? ?@ m?`S@i??)ɉ@ I٘i)I9Zs@YG JB=J;JJJYE&Kw> YT~?y~NA *YE77f9)BE[[唣[V~?[ѩ[[[[BZYY i) n%Iiu@07= 3))33YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033265.603165 s, next control iter: 1743033265.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6764, header.stamp.nsec: 00 temperature: 13.569527* salinity: 33.375008, density: 1025.000000* values[0]: 0.576077F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033265.983165 s.;I~,~$AAQl@A (7l@A=V~? AAF%"AA~hNA"AZAbAjArAzAAAnǦ AYAsAr@Ay+f<A#׊=AJAw?AA*A9?2Aaֽ:Ak=BA9?JAaֽRAk=٘i)I9r@YG JC=JJJJYE&K Y T~?y"NA0YE{7Z7i9)B[[}c[6 V~?[4ة[[[[BZYY i) 4Iij@DK6= >n))>n>nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033266.003165 s, next control iter: 1743033266.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033266.403165 s.&&;I~,͙$AJ"J*J2J:JBJnJvJA ףpl@A0[l@AEV~? AeAk%"AAhNA"AZAbAjArAzAAAeQ A9sAjr@A,;A죌=AߐA]?AuA*As9?2Aֽ:A&=BAs9?JAֽRA&=٘i)I9jr@YG JbJJJJYE&K YT~?yMA5YEb77-m90B)B E[[/[V~?[ީ[[[[BZYY i) }DIi@;25= >))>꾩>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033266.443165 s, next control iter: 1743033266.803174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6765", header.stamp.nsec: 0"0 temperature: 13.569721"* salinity: 33.375004", density: 1025.000000"* values[0]: 0.575520"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033266.823165 s.,;I~,%$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074353< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743033266.823307F (some fields omitted in printout)A\(m@Aɬm@ALV~? AAy\%"AAhNA"AZAbAjArAzAAA23 AuzIOsAq@A ջA˔=A)A`7?AZPA^*A{9?2A"׽:A=BA{9?JA"׽RA=٘i)I9q@YAG J㍼JJJJYE&K YT~?y jMA:YEp9)B[[3[3V~?[ [[[[BZYY i) TIi@U4= ))ᾩ6ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033266.863165 s, next control iter: 1743033267.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033267.243165 s.3;I~,q$AJ"J*J2J:JBJnJvJAGzm@Aazm@A,UV~? AA%"AA4hNA"AZAbAjArAzAAA, Mi AgZsAu|q@A(pAⷐ=A{A ?A o(At_*A9?2AN׽:A>*=BA9?JAN׽RA>*=٘i)I9|q@YG JJJJJYE&K YT~?y8MA@YE{7j7Xt91B)B!E[[Ś[!V~?[o[[[[BZYY i) cIie@3= ~ؾ))~ؾ~ؾǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033267.263165 s, next control iter: 1743033267.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033267.663165 s.:;I~,q$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6766, header.stamp.nsec: 00 temperature: 13.569909* salinity: 33.375008, density: 1025.000000* values[0]: 0.575007F (some fields omitted in printout)An@Amm@A^V~? AX A1%"AA0hNA"AZAbAjArAzAAAE0 Aɠ]sAq@AwAd=A߈A@l?AA*A9?2A_/׽:A=BA9?JA_/׽RA=Y˟@y`=wٓH? ?s? ?`ޔg㎿@?)˟@ I٘i)I9q@YG JJdE<JJJYE&K1x> Y}T~?yLAEYEb77w92B)B$E[[%[)V~?[[[[[BZYY i) rIi@i1= ,о)),о,оʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033267.683165 s, next control iter: 1743033268.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033268.083165 s.DA;I~,S$AJ"J*J2J:J3?BJ3?nJZ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083483< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743033268.083311F (some fields omitted in printout)ARkn@AHN&nQn@AYgV~? AAǝ%"AAhNA"AZAbAjArAzAAAH wAH8sA p@ARA–=AWA`N?AA{R*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9p@YfG J͑JJJJYE&K YT~?y#HLAJYE777{9)B[[^[1V~?[[[[[BZYY i) Iỉ@aa0= ZǾ))ZǾZǾy窽EϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033268.103165 s, next control iter: 1743033268.483182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033268.503165 s.G;I~,U4 $AAp= n@A;n@A*qV~? A\A %"AAghNA"AZAbAjArAzAAAO?dFAyTȩsAl p@A ;AD=AكA7-?A@A*A9?2AT`ֽ:Ao=BA9?JAT`ֽRAo=٘i)I9 p@YG JOJJJJYE&K YT~?ye+KAPYEb7b79)B'E[['[m:V~?[K[[[[BZYY i) nIiň@/= ))ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033268.543165 s, next control iter: 1743033268.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6767, header.stamp.nsec: 00 temperature: 13.570106* salinity: 33.375011, density: 1025.000000* values[0]: 0.574464F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033268.923165 s.8N;I~,;$AJ"J*J2J:J?BJ?nJ45vJA(\Bo@Acx(o@Aw{V~? A Ay%"AAhNA"AZAbAjArAzAAA`tAY^COsAo@AO\<A득=AVA ?A ^sA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9o@YG J JJJJYE&K Y!T~?y3KAUYE77{793B)B(E[[[hCV~?[[[[[BZYY i) IIi@t-= f))ffتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033268.963165 s, next control iter: 1743033269.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033269.343165 s.V~? A(Av%"AAhNA"AZAbAjArAzAAAAi˲sA#n@AM<A]=A}A@?A@AN%*A9?2Aֽ:Av?=BA9?JAֽRAv?=٘i)I9n@YkG JJJJJZE&K Y U~?y:KA ]DZYE777C9)B[[[LV~?[ [[[[BZYY i) ꗼIiG@2(-= F))FFܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033269.383165 s, next control iter: 1743033269.743183 s, wait time: 0.360018 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6768&, header.stamp.nsec: 0&0 temperature: 13.570310&* salinity: 33.375019&, density: 1025.000000&* values[0]: 0.573854&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033269.763165 s.6[;I~,p$AJ"J*J2J:JBJnJvJAp@ALo@AV~? Af/AZ%"AA5hNA"AZAbAjArAzAAAKDA YU~?yBJAw`YE77؉94B)B+E[[[`VV~?[[[[[BZYY i) UIi@++= ࣾ))ࣾࣾ:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033269.803165 s, next control iter: 1743033270.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033270.183165 s.b;I~,o$AAQp@Aykp@A:V~? A6A'%"AA iNA"AZAbAjArAzAAA?zAdMsAm@AW֒A؏=A'rA?A@AG7*AU9?2AYֽ:A޺=BAU9?JAYֽRA޺=٘i)I9m@YG J<JJJJ ZE&K Y+U~?yZIDJAeYEm9)ƯB[[ H[a`V~?[[[[[BZYY i) Ii[@Dj)= v))vvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033270.223165 s, next control iter: 1743033270.583181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033270.603165 s.<4i;I~,Ú$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083483< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743033270.603293F (some fields omitted in printout)A= ףp@Adp@ApV~? A=A.A%"AAiNA"AZAbAjArAzAAA#VmAw'sA/m@A>A=AMmAL{?AA*A9?2A78׽:AiN=BA9?JA78׽RAiN=٘i)I9/m@Y[G JJJJJZE&K Y;U~?yPIAkYEb7796B)̯B/E[[y [jV~?[[[[[BZYY i) *Ii+@'= .))..YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033270.623165 s, next control iter: 1743033271.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6769 , header.stamp.nsec: 0 0 temperature: 13.570539 * salinity: 33.375023 , density: 1025.000000 * values[0]: 0.573200 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033271.023165 s.Zp;I~,{$AA(\q@AڒUBq@AV~? ADA%"AA0iNA"AZAbAjArAzAAA̰,9A,HsAel@AúA{=AShAR?AL[A*A9?2A<׽:A58=BA9?JA<׽RA58=٘i)I9l@YG JJJJJZE&K YKU~?yWiIApYE77{79)ѯB[[І[uV~?["[[[[BZYY i) Ii+@&= #))##GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033271.063165 s, next control iter: 1743033271.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033271.443165 s.4v;I~,1]$AJ"J*J2J:JBJnJvJAzq@A|ԗq@AAV~? AKA-%"AADiNA"AZAbAjArAzAAA.AJAg'sAk@A0CAm̬=A bA`#?A@%Ar*AԔ9?2A[ֽ:A&=BAԔ9?JA[ֽRA&=٘i)I9k@YG JuJJJJZE&K Y[U~?y_HAuYEb7b7.97B)ׯB2E[[}[V~?[([[[[BZYY i) Ii\@%= >*))>*>*yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033271.483165 s, next control iter: 1743033271.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6770, header.stamp.nsec: 00 temperature: 13.570765* salinity: 33.375034, density: 1025.000000* values[0]: 0.572532F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033271.863165 s.+};I~,>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083483< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743033271.863303F (some fields omitted in printout)A33333r@A:;r@AV~? ARA%"AAMXiNA"AZAbAjArAzAAAbA<!sA7Yk@AXϺA_Į=Ad]A?A ALƼ*AN9?2A#wֽ:A=BAN9?JA#wֽRA=YN@F]yPĮ=tкٓH@7?d?ܬ?NX?^ѵ@JY .?)N@ I٘i)I9Yk@Y<G JRJ$^<JJJ ZE&Kw> YmU~?yeHA]{YEŧ7Û9)ܯB[[X[V~?[.[[[[BZYY i) UAļIiM@d#= \n))\n\n5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033271.903165 s, next control iter: 1743033272.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033272.283165 s.1R;I~,$AJ"J*J2J:Jz?BJz?nJ5vJAQr@AEr@AV~? AjYA!%"AA1miNA"AZAbAjArAzAAA2MvATʖsAcj@AO<A6=AXA?A8AѦμ*A,9?2Aֽ:A~=BA,9?JAֽRA~=٘i)I9j@YG J-ʼJJJJ%ZE&K Y U~?ylHAYEj7j7X9)B5E[[u[ŗV~?[4[[[[BZYY i) v˼IiA|@q!= <\))<\<\6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033272.303165 s, next control iter: 1743033272.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6771., header.stamp.nsec: 0.0 temperature: 13.571002.* salinity: 33.375031., density: 1025.000000.* values[0]: 0.571815.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033272.703165 s.Ժ;I~,-$AAףp= s@AϢw*r@AUV~? A`A3%"AAiNA"AZAbAjArAzAAAE|AsA}i@Ahр<A =A\SAւ?A XAӼ*Ad9?2ABս:AB=BAd9?JABսRAB=٘i)I9i@YjG JaѼJJJJ+ZE&K YbU~?y9sGAYE{799B)B9E[[C{[V~?[o:[[[[BZYY i) &ҼIiy@= J))JJeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033272.723165 s, next control iter: 1743033273.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033273.123165 s.4;I~,PG$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083483< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.419966"J2 time: 1743033273.123270F (some fields omitted in printout)*J2J:JBJnJvJA)\us@A[s@A;V~? AfA%"AAiNA"AZAbAjArAzAAA?*A{7sALi@A{_<Aj=A`NAJ?A`Aռ*A9?2A(ֽ:A8=BA9?JA(ֽRA8=٘i)I9Li@Y G JԼJJJJ0ZE&K YU~?yy&GAYE77779)B[[77w[kV~?[.@[[[[BZYY i) ڼIiHw@B= p8))p8p8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033273.143165 s, next control iter: 1743033273.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033273.543165 s.I;I~,b$AA{Gs@AG 1s@A W~? A>mAܚ%"AA֯iNA"AZAbAjArAzAAAABA~MsA7h@AՎ;A=A/IA ?AA]Ҽ*A9?2A#ֽ:A0=BA9?JA#ֽRA0=٘i)I9h@Y G J`ԼJJJJ6ZE&K YU~?yFAYE7{79:B)B Y>U~?y:FACYEŧ7b79)B[[2n[cV~?[uK[[[[ZZ¸BZYY i¸S=) IռIiq@= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033273.983165 s, next control iter: 1743033274.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033274.383165 s.إ;I~,#$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033274.383301F (some fields omitted in printout)AQt@ABt@A}+W~? AyA1%"AAiNA"AZAbAjArAzAAAj kA:1sA?g@A}tAλ=A[U>AV?A\0A˼*A9?2A /׽:Ajs=BA9?JA /׽RAjs=٘i)I9?g@Y G J̼JJJJ@ZE&K YU~?yҌEAYE77C9;B)B?E[[׮i[V~?[P[[[[ZZBZYY i) HɼIiOn@= {)){{yyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033274.403165 s, next control iter: 1743033274.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6773", header.stamp.nsec: 0"0 temperature: 13.571555"* salinity: 33.375034", density: 1025.000000"* values[0]: 0.570260"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033274.803165 s.A;I~,i$AJ"J*J2J:J?BJ?nJ5vJAq= #u@AU u@A elevatorAngleAction: 0.083167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033275.643300F (some fields omitted in printout)J"J*J2J:JBJnJvJAGu@A=u@An^W~? AEA7%"AA+jNA"AZAbAjArAzAAAˎsĿA*sAd@A;Aav=A/Aٸ?A@>AR*A9?2A{ֽ:ABp<BA9?JA{ֽRABp<٘i)I9d@YG G JSJJJJPZE&K YV~?y[DAYE779=B)BFE[[;\[W~?[La[[[[ZZBZYY i) GIif@k= ))nYFFF]:tReceived state from Gazebo (printed only once in a while):Waiting for Gazebo time sync: latest Gz time: 1743033275.663165 s, next control iter: 1743033276.043177 s, wait time: 0.380012 s0 header.stamp.sec: 6774, header.stamp.nsec: 00 temperature: 13.571819* salinity: 33.375057, density: 1025.000000* values[0]: 0.569405F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033276.063165 s.;I~,N $AAfffffv@ANPLv@A1pW~? A&A%"AAXFjNA"AZAbAjArAzAAA{g?AVsA}d@ACS<AvP2=Ak)A@5?A-ABԼ*A9?2Akֽ:A;BA9?JAkֽRA;YҬ@)yL2=wS<ٓH 0?W??\3? 좿G@Gh??)Ҭ@ I٘i)I9d@Y G JJӽJJJVZE&K5x> Y2V~?yDA)YE{7j79>B)BIE[[3vW[^W~?[f[[[[ZZBZYY i͗=) jyIib@8= ef))efefpzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033276.083165 s, next control iter: 1743033276.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033276.483165 s.{_;I~,$AJ"J*J2J:JBJnJvJAv@A հ߷v@AVW~? A뗫AQ%"AAajNA"AZAbAjArAzAAA?AJsApc@ALm<A<Aؿ$Ač?AAt*A9?2Arֽ:A+IBA9?JArֽRA+I٘i)I9pc@Yl G JƼJJJJ[ZE&K Y5IV~?yCAYEb77.9)"B[[wR[ W~?[k[[[[ZZBZYY i) "Ii^@= )))))hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033276.503165 s, next control iter: 1743033276.883177 s, wait time: 0.380012 s 5IV~?) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6775, header.stamp.nsec: 00 temperature: 13.572120* salinity: 33.375065, density: 1025.000000* values[0]: 0.568529F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033276.903165 s.;I~,9$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033276.903300F (some fields omitted in printout)A ףp=w@AY#w@AܔW~? AA%"AAL}jNA"AZAbAjArAzAAA|Q?A&{sAkb@Aߕ<Al <AAM?AqBA^*Ay9?2AOjֽ:A BAy9?JAOjֽRA ٘i)I9b@Y G JJJJEJaZE&K Y}_V~?ybCAYE{7j79)'BLE[[HN[(0W~?[p[[[[ZZBZYY i) ܄Ii[@ = ))kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033276.923165 s, next control iter: 1743033277.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033277.323165 s.q;I~,T$AJ"J*J2J:JBJnJvJA\w@Aq!w@AW~? AAt%"AAjNA"AZAbAjArAzAAA GI?A(;sA֑b@AvF9AǻATA~8?A`߿AE$*A+9?2AAֽ:ArBA+9?JAAֽRAr٘i)I9b@Y G J ZJJJJfZE&K YuV~?yдlCAYEj7Y9@B),BPE[[OI[ @W~?[v[[[[ZZBZYY i~=) tIiX@n = t))ttyn=A(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033277.343165 s, next control iter: 1743033277.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6776*, header.stamp.nsec: 0*0 temperature: 13.572294** salinity: 33.375080*, density: 1025.000000** values[0]: 0.567967*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033277.743165 s.W;I~,uo$AAGzx@Agew@AW~? AA} %"AAjNA"AZAbAjArAzAAA&`Z?A%W*,tA`\b@AmNAۣAj1A?Al$߿A&*Aҧ9?2AOֽ:A!BAҧ9?JAOֽRA!٘i)I9\b@Y G JJJJJkZE&K YV~?y>0CAYE779)-B[[E[vPW~?[ {[[[[ZZBZYY i) T^Ii[V@`0 = <))<<y=a)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033277.763165 s, next control iter: 1743033278.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033278.163165 s.v};I~,q$AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743033278.163324F (some fields omitted in printout)Ax@Ae,ex@AW~? AԭA%"AAjNA"AZAbAjArAzAAAqʶ?A )htAHb@AAAw Al?ALm޿A ҹ*A˝9?2Aֽ:AѼBA˝9?JAֽRAѼY@}y}ٓH? ]?@Y ;?}? Q?@U^?)@ I٘i)I9Hb@Y G J;J&9JJJqZE&Kv> YV~?y]CAYE{7j79AB)/BSE[[oh@[`W~?[[[[[BZYY ibk=) MIiR@z= v =))xbv =v =y=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033278.183165 s, next control iter: 1743033278.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033278.583165 s.;I~,R$AARx@Anx@AW~? AAV:%"AAjNA"AZAbAjArAzAAA]{?A@8tAQb@A>7Ab2A A(?A4ݿAb;*A9?2A}3ֽ:ABA9?JA}3ֽRA9٘i)I9Qb@Y G J:JJJJvZE&K YV~?yêCAYE{79BB)VE[[k;[qW~?[[[[[BZYY i]=) ;IiCN@K= T=)) T=T=yL=to*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033278.603165 s, next control iter: 1743033278.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6777, header.stamp.nsec: 00 temperature: 13.572276* salinity: 33.375084, density: 1025.000000* values[0]: 0.567823F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033279.003165 s.u ;I~,@4$AJ"J*J2J:JBJnJvJAp= Wy@AW> elevatorAngleAction: 0.067710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033279.423285F (some fields omitted in printout)A(\y@A|y@Az X~? AAu%"AAZ/kNA"AZAbAjArAzAAAU`8@<JJJJZE&K YW~?yѪDAYE779DB)^E[[õ-[W~?[̒[[[[BZYY i) iVIiE@-< =))==R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033279.883165 s, next control iter: 1743033280.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033280.263165 s. YW~?yժpDADYEZ7Z7n9))BaE[[)[W~?[>[[[[BZYY iNJl=) h Ii@@+< >))ݖ{>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033280.303165 s, next control iter: 1743033280.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6779., header.stamp.nsec: 0.0 temperature: 13.571902.* salinity: 33.375095., density: 1025.000000.* values[0]: 0.568482.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033280.683165 s.l elevatorAngleAction: 0.057688< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033280.683279F (some fields omitted in printout)AQ{@A3 z@A4KX~? AʫA?`%"AA,kNA"AZAbAjArAzAAA>'@Ar'n*tAfc@A^@;A#-AnAN?A@ٿAr<*Aۢ9?2Aս:ABAۢ9?JAսRA٘i)I9c@Y G JE<JJJJZE&K Y^6W~?y٪DAYE{7{79EB)&BdE[[^$[W~?[[[[[BZYY i) cѻIi<@OT< >)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033280.683165 s, next control iter: 1743033281.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743033281.103165 s.<*A9?2AB,Խ:A'BA9?JAB,ԽRA'٘i)I9ed@Y G JU<JJJJZE&K YOW~?yݪ3EAYEb779)"B[[[W~?[韪[[[[BZYY i) bIi8@< `%>))`%>`%>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033281.123165 s, next control iter: 1743033281.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033281.523165 s.)) 8> 8>yl=B*Y3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033281.543165 s, next control iter: 1743033281.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6780, header.stamp.nsec: 00 temperature: 13.571546* salinity: 33.375122, density: 1025.000000* values[0]: 0.569150F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033281.943165 s.Xd elevatorAngleAction: 0.057688< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743033281.943298F (some fields omitted in printout)AzG|@A-|@AX~? A׫Ab%"AAkNA"AZAbAjArAzAAA8Mq @A/{~tAǗe@A8cA(AþAS?A׿A`5<*A9?2ACԽ:A> BA9?JACԽRA> ٘i)I9e@Y G J<<C=JJJJZE&K Y=W~?y]EAYE9FB)BjE[[![{X~?[?[[[[BZYY i) jIi2@`< иK>))иK>иK>,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033281.983165 s, next control iter: 1743033282.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033282.363165 s.%$AJ"J*J2J:J?BJ?nJ5vJA3333|@Af"|@A3X~? A۫A%"AA"lNA"AZAbAjArAzAAA @A}(_ tA4f@AAAA@ ?A@dֿA<*A9?2Asս:A-BA9?JAsսRA-Y~@b฾yR ٓH`?`? ,ֿً c?GP?8M? v?)~@ I٘i)I94f@Y G J<J7JJJZE&Kt> YW~?yy]FA฾ZE{7{7Y9)BmE[[i[X~?[6[[[[BZYY i) l.Ii#.@%< ^>))ax^>^>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033282.403165 s, next control iter: 1743033282.763180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6781*, header.stamp.nsec: 0*0 temperature: 13.571149** salinity: 33.375126*, density: 1025.000000** values[0]: 0.569931*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033282.783165 s.Z+)) Pq>Pq>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033282.803165 s, next control iter: 1743033283.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033283.203165 s.3 elevatorAngleAction: 0.066653< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033283.203282F (some fields omitted in printout)Aףp=}@As/0+p}@AHX~? A*A}%"AAZlNA"AZAbAjArAzAAA%@A$tAJ_g@Ae<AAãA@?AԿA<*A9?2AWԽ:ArBA9?JAWԽRAr٘i)I9_g@Y G J<JJJJZE&K YzW~?y-GA ZEb779GB) BsE[[[0@X~?[ᳪ[[[[BZYY i) XIi&@R< `b>))`b>`b>,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033283.243165 s, next control iter: 1743033283.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033283.623165 s.W9}@AX~? AA@7%"AA}lNA"AZAbAjArAzAAAۅ @AT'tAog@A27v<A_EAA;?A ԿA3<*A9?2Aս:AABA9?JAսRAA򼙘٘i)I9g@Y% G J<JJJJZE&K  9YW~? 9yGAZE)7ŧ79HB) BtE[[ [TX~?[[[[[BZYY i) P8Ii"@J>< >))>>`*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033283.663165 s, next control iter: 1743033284.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6782 , header.stamp.nsec: 0 0 temperature: 13.570743 * salinity: 33.375153 , density: 1025.000000 * values[0]: 0.570716 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033284.043165 s.@))I>I>y4=X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033284.083165 s, next control iter: 1743033284.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033284.463165 s.XG elevatorAngleAction: 0.066653< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033284.463289F (some fields omitted in printout)A~@Ae~@A-Y~? AXA^%"AArlNA"AZAbAjArAzAAA>% U@AF,+tAh@AEA[ۉA˞A@͝?AoҿA<*A:?2A'ս:A]uBA:?JA'սRA]uY@%y2ۉ[FٓH@?u?@o vп??8?@h i?)@ I٘i)I9h@Y G JT<B=J<JJJZE&K|t> Y!X~?y/YHAZE77{7D9)BzE[[[~X~?[[[[[BZYY i) Z;Ii@M< N>))־uN>N>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033284.483165 s, next control iter: 1743033284.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6783, header.stamp.nsec: 00 temperature: 13.570401* salinity: 33.375156, density: 1025.000000* values[0]: 0.571421F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033284.883165 s.yM;Ii@< >))ۄ>>ڸ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033284.903165 s, next control iter: 1743033285.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033285.303165 s.XTm&.tAi@A(}AAbA3?AпA <*A:?2Aӽ:ABA:?JAӽRA٘i)I9i@YfG J<JJJJZE&K Y.XX~?yIA&ZEj7j7o9)BE[[i߾[ǩX~?[+Ū[[[[BZYY i) i|;Ii@< )>)) )>)>ε*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033285.323165 s, next control iter: 1743033285.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6784., header.stamp.nsec: 0.0 temperature: 13.570019.* salinity: 33.375160., density: 1025.000000.* values[0]: 0.572132.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033285.723165 s.[ elevatorAngleAction: 0.066653< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743033285.723275F (some fields omitted in printout)A(\@AL F@AaY~? A1A%"AA:3mNA"AZAbAjArAzAAAbJ@Af0tAvj@AJ&A都AqNA%?AϿARy<*A":?2ArԽ:Ax BA":?JArԽRAx ٘i)I9vj@YG J0<JJJJZE&K YzsX~?yoIA,ZE779JB)BE[[վ[ѿX~?[KȪ[[[[BZYY i) 7;;Ii@&< Մ>))Մ>Մ>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033285.743165 s, next control iter: 1743033286.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033286.143165 s.Y/b))b>b>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033286.163165 s, next control iter: 1743033286.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033286.563165 s.h YX~?y"JA$6ZEb7709)BE[[[{X~?[&Ϊ[[[[BZYY i) _;Ii@< $>))s$>$>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033286.603165 s, next control iter: 1743033286.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6785, header.stamp.nsec: 00 temperature: 13.569691* salinity: 33.375179, density: 1025.000000* values[0]: 0.572798F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033286.983165 s.o elevatorAngleAction: 0.076183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743033286.983327F (some fields omitted in printout)AQ@A7@ANY~? AAi%"AAmNA"AZAbAjArAzAAA؃~/N@AIap#5tAk@A}<AA=Ah?A`u8ʿAn{<*A:?2A4ֽ:ABA:?JA4ֽRA𼙘٘i)I9k@YG J<C=JJJJZE&K YX~?yzJA< ]>))8]>]>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033287.003165 s, next control iter: 1743033287.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033287.403165 s.&v)) >>y=*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743033287.423165 s, next control iter: 1743033287.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6786", header.stamp.nsec: 0"0 temperature: 13.569357"* salinity: 33.375187", density: 1025.000000"* values[0]: 0.573403"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033287.823165 s.|))>>G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033287.863165 s, next control iter: 1743033288.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033288.243165 s. elevatorAngleAction: 0.076183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743033288.243299F (some fields omitted in printout)AGz@A'ez@AY~? AA/%"AAnNA"AZAbAjArAzAAA=Gn@A©>[8tAm@AfAumAǧA *?A@EĿA ԋ<*A"/:?2Aӽ:AUBA"/:?JAӽRAU٘i)I9m@YIG J<C=JJJJZE&K Y<Y~?yQKALZEb77'9)BE[[4[IY~?[[ت[[[[BZYY i) ,))>>*Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033288.263165 s, next control iter: 1743033288.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033288.663165 s. Yo6Y~?yKAzzQZE77{7+9)ޯBE[[uG[`Y~?[ڪ[[[[BZYY i) 1/< elevatorAngleAction: 0.076183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199302 time: 1743033289.503254F (some fields omitted in printout)Ap= ׃@A[w󼃺@ADZ~? AiA؍%"AAnNA"AZAbAjArAzAAALb"C!@ALXa;tA n@AzǢAAA9?AhdA<*A=:?2Aӽ:A BA=:?JAӽRA ٘i)I9n@Y*G J<JJJJ[E&K YnY~?yLA\ZEb77E29)֯B[[;Wx[rY~?[ު[[[[BZYY i) e[!@AWq elevatorAngleAction: 0.085425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743033290.763288F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ai@AKZ~? A AI%"AAJnNA"AZAbAjArAzAAA‹#@AyR=tAo@Ao<A~A:"=Ag?A`QAʚ<*A5:?2A(ս:A _ BA5:?JA(սRA _ YIH@ =yy8p<ٓH??kE Ჿ稣?`? ??l?)IH@ I٘i)I9o@YG J<J.lJJJ[E&Kr> YmY~?y MA=lZEZ7Z7=9)ʯBE[[KQ;[Y~?[[[[[BZYY i) tAp@A};A-GAhs=A@!r?A`4A9<*Am+:?2AoNս:ABAm+:?JAoNսRA٘i)I9p@Y`G J<JJJJ[E&K YY~?yT #NAqZEb77@9IB)ůBE[[&[Y~?[[[[[BZYY i) tA} q@AnA elevatorAngleAction: 0.085425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033292.023284F (some fields omitted in printout)A(\@AOjB@AOZ~? Ah A!%"AAiuoNA"AZAbAjArAzAAAO:ݺ$@A뤚>tAƛq@AqUAڜA=A ?A`n;AL<*AWA:?2Aҽ:ABAWA:?JAҽRA٘i)I9q@Y G J<JJJJ"[E&K YZ~?yNA|ZEb77G9)BE[[=[R%Z~?["[[[[BZYY i) d:]$AJ"J*J2J:J?BJ?nJ5vJAzdž@A#@A_Z~? A A%"AAoNA"AZAbAjArAzAAA;O]Ɛ%@A>tAR3r@AR{AAk=A@H?A 鑿AFg<*A8:?2Aӽ:A_BA8:?JAӽRA_٘i)I93r@YhG Jh<JJJJ'[E&K YH4Z~?yPVOAZEZ7SI7ZK9)BE[[Ƅѽ[>Z~?[ [[[[BZYY i)  ɢ7$AA33333@A}@Ar[~? A A%"AAfoNA"AZAbAjArAzAAAPW.&@A>tAr@AJA*A >AB?A5gA7<*Ak/:?2A~Խ:ABAk/:?JA~ԽRAYx@4x >y(7ٓH??u??Z%ߴ?ՃW?)x@ I٘i)I9r@YG Jڸ<JҋJJJ-[E&Kr> YZE7{7N9HB)BE[[VI[@XZ~?[[[[[BZYY i) & elevatorAngleAction: 0.085425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033293.283274F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A7@A.[~? A A%"AAoNA"AZAbAjArAzAAA:ґ &@A>tAOks@A):AһAwj">AɅ?AQ?AS<*A]&:?2AZwս:AEBA]&:?JAZwսRAE٘i)I9ks@Y&G J<JJJJ2[E&K Y1lZ~?y6PAZE7777R9)B[[Z}[qZ~?[X[[[[BZYY i)  tAt@A`8<AWAA7>A~?A]?AL<*AN@:?2Aӽ:ABAN@:?JAӽRA٘i)I9t@YG Jx<JJJJ8[E&K Y$Z~?yPAZEj7j7V9)BE[[ v)[Z~?[[[[[BZYY i) ߸?)) zx>?zx>?s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033293.743165 s, next control iter: 1743033294.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033294.123165 s.:tA=t@A;~<ATAK>A~?A O?AO<*A"?:?2AԽ:A7BA"?:?JAԽRA7٘i)I9t@YG J<JJJJ=[E&K YZ~?ywQAZE{7Y9)BE[[[ȥZ~?[[[[[BZYY i) ; elevatorAngleAction: 0.085425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033294.543302F (some fields omitted in printout)A{Gሺ@A1Lj@A|[~? A A&%"AAcbpNA"AZAbAjArAzAAAT3˦(@A2[B>tA Lu@A=<A셱A?_>A`v?Aج?A<*A7:?2AgԽ:ABA7:?JAgԽRA٘i)I9Lu@YKG J<JJJJB[E&K Y Z~?yAQAZE77E]9GB)BE[[!7[ Z~?[[[[[BZYY i) (A k?AJ?A1<*A/:?2AWԽ:AoBA/:?JAWԽRAoY<ss>y۹G:ٓH?)οn?L?`o?@x7Y?`w?)< I٘i)I9u@YG J<J[oJJJH[E&Kr> YtZ~?y/QAss>ZE{7Z7`9MB)BE[[v<[Z~?[[[[[BZYY i) AOiA>A`]?AF?AS<*A':?2AѫԽ:AeBA':?JAѫԽRAe٘i)I9v@Y G J3<JJJJM[E&K YZ~?yxRAZE)7)7pd9)BE[[4)=[+Z~?[[[[[BZYY i)  elevatorAngleAction: 0.085425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743033295.803288F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@A @An[~? A AS%"AAapNA"AZAbAjArAzAAA7_~*@A+A`O?A?A<*A?:?2A*ҽ:A BA?:?JA*ҽRA ٘i)I9aw@YG J<JJJJR[E&K YG[~?y RAZEŧ7b7h9LB)B¹E[[4~=[[~?[V[[[[BZYY i) ,A >?A>?A]u<*A<:?2Awӽ:A BA<:?JAwӽRA ٘i)I9x@YG J<JJJJX[E&K Y-[~?yiSAZE77k9)B[[q=[)[~?[[[[[ZZZZ¸>BZYY i¸>}]) &AZ*?Au?A<*A?6:?2AnsԽ:AhBA?6:?JAnsԽRAh٘i)I9x@YuG J<JJJJ][E&K YI[~?ySAZE0o9)BŹE[[ =[C[~?[[[[[ZZZZBZYY i)  <tReceived state from Gazebo (printed only once in a while):I0 header.stamp.sec: 6795iA?, header.stamp.nsec: 0d; c?0 temperature: 13.565808))* salinity: 33.375340c?c?, density: 1025.000000* values[0]: 0.580291F (some fields omitted in printout)*Y! YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033296.683165 s, next control iter: 1743033297.043183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743033297.063165 s.=I~,t D$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743033297.063308F (some fields omitted in printout)Afffff@AESL@A\~? AAr%"AAMqNA"AZAbAjArAzAAA?ȅ!R,@AXOA:tAWy@Av;A넯AH>A?AyN?Al=*A<:?2A_ս:A(5BA<:?JA_սRA(5Y#=)>yуL;ٓH ??տ@"?/?顿?|? ?)#= I٘i)I9y@YG J;<Jf;JJJc[E&Kt> Yc[~?yXTA>ZEj7Z7r9KB)~BȹE[[ec>[^[~?[[[[[ZZZZBZYY i) (,@Ax#?9tA z@A'p<AAd>A`?A)?A=*A7D:?2Aս:A鰼BA7D:?JAսRA鰼٘i)I9z@YxG J]=JJJJh[E&K YU~[~?yTAZE{7j7[v9JB)vB˹E[[m >[x[~?[[[[[ZZZZBZYY i) 41K; 6n?)) 6n?6n?yM*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033297.523165 s, next control iter: 1743033297.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6796, header.stamp.nsec: 00 temperature: 13.565329* salinity: 33.375347, density: 1025.000000* values[0]: 0.581329F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033297.903165 s.=I~,y$AA ףp=@ALnY#@AzJ\~? AA%"AAҚqNA"AZAbAjArAzAAA'nʆ-@A4#8tAV{@AzEt<A 9vA(>A ?A?AAk<*Ad:?2A:LԽ:AVBAd:?JA:LԽRAV٘i)I9V{@YG JJ<JJJJm[E&K Y[~?y'CUAZE)7ŧ7y9GB)mB͹E[[+>[1[~?[[[[[ZZZZBZYY i) $9 ; J t?)) J t?J t?©*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033297.943165 s, next control iter: 1743033298.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033298.323165 s.u$=I~,!$AJ"J*J2J:J?BJ?nJ25vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743033298.323272F (some fields omitted in printout)A\@A$aߎ@Ac\~? AA%"AAA@?A`?A<*Ag:?2AKԽ:AퟬBAg:?JAKԽRAퟬ٘i)I9|@YnG J<JJJJs[E&K Y[~?y=UAZE77}9)fBйE[[5A>[[~?[ [[[[ZZZZBZYY i) BJi; (y?))(y?(y?w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033298.363165 s, next control iter: 1743033298.723177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6797., header.stamp.nsec: 0.0 temperature: 13.564776.* salinity: 33.375374., density: 1025.000000.* values[0]: 0.582418.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033298.743165 s.W+=I~,$AAGz@Ah8e@A|\~? AAX)%"AAwqNA"AZAbAjArAzAAA .@A5tA|@A}\Aq$ؼAr >A֡?A?Aw<*Ac:?2ABԽ:A;BAc:?JABԽRA;٘i)I9|@YG J?<JJJJx[E&K Y,[~?yS/VAZEŧ779)aB[[M X>[[~?[\[[[[ZZZZBZYY i) PKo-K; n?))n?n?6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033298.763165 s, next control iter: 1743033299.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033299.163165 s.~}2=I~,q$AJ"J*J2J:JBJnJvJA@Awe@A\~? A6A;T%"AA~ rNA"AZAbAjArAzAAAFCP/@ALN7>4tAOD}@AaHAATt>A@W?A|?Aw<*AZ:?2A}ս:Ak9<BAZ:?JA}սRAk9>yHٓH?(*ۿ+1,? ?|?^? C?)`> I٘i)I9D}@Y%G J<J9>JJJ}[E&Kgu> Y[~?yZE7779FB)\BӹE[[5 n>[2[~?[ߪ[[[[ZZZZBZYY i) j~m; 4I?))y4I?4I?_)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033299.183165 s, next control iter: 1743033299.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033299.583165 s.8=I~,S$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243242@ elevatorAngleAction: -0.065000< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033299.583298F (some fields omitted in printout)AR덺@ALnэ@Aɮ\~? AA*%"AAM3rNA"AZAbAjArAzAAA /@A^<2tA}@A3kA;A>A`*\?A@J?A"}C<*AM:?2Aս:ANz<BAM:?JAսRANz<٘i)I9}@YdG JPt<JJJJ[E&K Yq\~?yIVAZE77F9EB)XBֹE[[3>[[~?[pݪ[[[[ZZZZBZYY i,) k3: z?)) z?z? YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033299.603165 s, next control iter: 1743033299.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6798, header.stamp.nsec: 00 temperature: 13.564365* salinity: 33.375374, density: 1025.000000* values[0]: 0.583245F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033300.003165 s.x @=I~,L4$AJ"J*J2J:JBJnJvJAp= W@AHP<@A}\~? A.A6%"AAXrNA"AZAbAjArAzAAAeYh>0@AHo+1tAw}@A AЬ<A>A6?A`(?AX;*A^:?2AtԽ:Aѧ<BA^:?JAtԽRAѧ<٘i)I9}@YG J<B=JJJJ[E&K Y\~?yުVVAZE7{7ۋ9DB)UBٹE[[O>[t\~?[.۪[[[[ZZZZBZYY i) )`WA)?Azo?Ahr:*AKR:?2AnԽ:Am<BAKR:?JAnԽRAm<٘i)I9~@YG Jey;C=JJJJ[E&K Y4\~?yUڪcVAZE777p9CB)SBܹE[[ >[!3\~?[ت[[[[BZYY i) C[M\~?[֪[[[[BZYY i) (/' ?y [=}<ٓH@rm?d8?-e?@$z?@?`_@"? M?)> I٘i)I9}@Y~G JTJ>JJJ[E&Kt> Yf\~?yҪ&VA ?ZE)7)79BB)TB߹E[[">[g\~?[DӪ[[[[BZYY ih) [6\~?[@Ъ[[[[BZYY i) ZB)TBE[[>[f\~?[ ͪ[[[[BZYY ir) -;Id I?i/)غ oƕ?))oƕ?oƕ?$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033302.123165 s, next control iter: 1743033302.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033302.523165 s.g=I~,{$AJ"J*J2J:Ji?BJi?nJ5vJA(ܐ@Au@AW]~? AqAn%"AA4sNA"AZAbAjArAzAAA&)1@A*U%tA|@ArAΐ=Aޑ?A-?A`?A벅*AmE:?2A¥ս:A =BAmE:?JA¥սRA =٘i)I9|@YG JzJJJJ[E&K Yk\~?y~ĪJUA[E77[9)WB[[V>[\~?[ɪ[[[[BZYY i) j;IxI?iY4 _?))_?_?y$hǪY-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033302.563165 s, next control iter: 1743033302.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6801, header.stamp.nsec: 00 temperature: 13.564030* salinity: 33.375423, density: 1025.000000* values[0]: 0.583473F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033302.943165 s.\dn=I~,S]$AAzG@Aٕ-@Ao]~? AA ]%"AAXsNA"AZAbAjArAzAAA"D-:2@A4R#tA_|@AtAU=A?A 3?A`?AW*AwB:?2Aֽ:A =BAwB:?JAֽRA =٘i)I9_|@YG JtJJJJ[E&K Y\~?yUA[E)7ŧ79=B)ZBE[[G>[\~?[Ū[[[[BZYY i) Z;II?i;% h?))h?h?ybΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033302.983165 s, next control iter: 1743033303.343183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743033303.363165 s.u=I~,>$AJ"J*J2J:JQ?BJQ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743033303.363330F (some fields omitted in printout)A3333@Ai@A']~? AݫA%"AA9{sNA"AZAbAjArAzAAAFv2@A 1!tA{@A~NAy@=A$?A ?ANx?At*A5@:?2AFֽ:Aq =BA5@:?JAFֽRAq =YU>r#?yU==?OٓH? x ?f ?@?/?C ω` ?)U> I٘i)I9{@YMG JJT=JJJ[E&Kv> YV\~?yTA#? [E779[\~?[7ª[[[[BZYY i) ;II?i;P ,?))X,?,?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033303.383165 s, next control iter: 1743033303.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6802&, header.stamp.nsec: 0&0 temperature: 13.564132&* salinity: 33.375423&, density: 1025.000000&* values[0]: 0.582999&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033303.783165 s.W{=I~,$AAQ@A&@A]~? A٫A%"AAsNA"AZAbAjArAzAAA$c2@AtAW{@A9oAՍ=A )?A't?A@|J?Ao?*Ap>:?2A1ֽ:A =BAp>:?JA1ֽRA =٘i)I9W{@YG JJJJJ[E&K Y\~?yu1TA[Eb779;B)`BE[[w>[]~?[=[[[[BZYY i) π;ItH?iFgv $?)) $?$?XתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033303.803165 s, next control iter: 1743033304.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033304.203165 s.=I~, $AJ"J*J2J:JBJnJvJAףp=@Az'p@A]~? AԫA>%"AA^sNA"AZAbAjArAzAAAp! 3@AjxMtAz@AK;AbX=A6-?A` 7?AJ ?Aɲ*AM:?2Aս:A2=BAM:?JAսRA2=٘i)I9z@YG JJJJJ[E&K Y ]~?y4SA[E{7{79)dB[[gw>[]~?[ [[[[BZYY i) &XE;IH?i}ھ%Ջ ̣?))̣?̣?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033304.243165 s, next control iter: 1743033304.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033304.623165 s.W=I~,]'$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743033304.623304F (some fields omitted in printout)A)\@APNے@A]~? AЫA%"AA[sNA"AZAbAjArAzAAAƚgzM3@AN& tA,z@Ai<AlȜ=A2?AN?AU?A˷*AN:?2Akս:AQ=BAN:?JAkսRAQ=٘i)I9,z@YDG JB=JJJJ[E&K YL"]~?ybSA[E777F97B)eBE[[?[ 6]~?[[[[[BZYY i) H ;IH?i> ۧ?))ۧ?ۧ?תYYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033304.643165 s, next control iter: 1743033305.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6803 , header.stamp.nsec: 0 0 temperature: 13.564265 * salinity: 33.375435 , density: 1025.000000 * values[0]: 0.582428 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033305.043165 s.=I~,B$AJ"J*J2J:J?BJ?nJX5vJA{Ga@Aq0G@A]~? An̫A%"AAtNA"AZAbAjArAzAAA v03@A0tA.y@Atb<A#=A.8?A?A@?A]*AM:?2Aս:A?6 =BAM:?JAսRA?6 =٘i)I9y@YG JNC=JJJJ[E&K Y8]~?yRA"[E{7{7۶95B)iBE[[t ?[O]~?[[[[[BZYY i) Ɠ:I(H?ikT ̈?))̈?̈?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033305.083165 s, next control iter: 1743033305.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033305.463165 s.R=I~,פ]$AA̓@A@A]~? AǫAD9%"AA%tNA"AZAbAjArAzAAA7|"3@A""vUtAx@Akp;A՘=A=?At?A`?AB*AEM:?2A*ֽ:A&=BAEM:?JA*ֽRA&=Yt?=?y9՘=;ٓH`?@@MI?@?`0?!r?`y? ?)t? I٘i)I9x@YG JJZֺJJJ[E&Kv> YM]~?yRA=?([EZ7SI7q9)nB[[I?[wg]~?[Q[[[[BZYY i) ӂ9IZH?i-Fӹ Z?))Z?Z?|ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033305.483165 s, next control iter: 1743033305.863175 s, wait time: 0.380010 sM]~?)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6804, header.stamp.nsec: 00 temperature: 13.564450* salinity: 33.375462, density: 1025.000000* values[0]: 0.581807F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033305.883165 s.y=I~,+x$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033305.883269F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@AF[D@A ^~? ARëA%"AAEtNA"AZAbAjArAzAAA.߈4@A}gtAdfx@AhA]R=AB?A:.?A K?A䪼*AFL:?2Aֽ:Ak=BAFL:?JAֽRAk=٘i)I9fx@Y/G J2B=JJJJ[E&K Yb]~?yϙ-RA-[Eŧ7b794B)qBE[[)*?[]~?[][[[[BZYY i) li0IH?i ˻ t5?))t5?t5? ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033305.903165 s, next control iter: 1743033306.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033306.303165 s.V=I~,wg$AAq= ף@A@A ^~? AA%"AA ftNA"AZAbAjArAzAAAWN R4@A3֩tAZw@AF?YA=A\H?A a?A ?A'5*AJ:?2A+׽:A9<BAJ:?JA+׽RA9<I٘i)I9w@YG JC=JJJJ[E&K Yqw]~?yߓQA2[E77{793B)tBE[[2?[ԗ]~?[5[[[[BZYY i) кIH?i*ڻ ?))??˪YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743033306.323165 s, next control iter: 1743033306.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6805., header.stamp.nsec: 0.0 temperature: 13.564609.* salinity: 33.375473., density: 1025.000000.* values[0]: 0.581181.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033306.723165 s.=I~,H$AJ"J*J2J:JBJnJvJA(\@APoF@A4^~? AAK%"AA΅tNA"AZAbAjArAzAAAA4@AMu tAQw@A8`qAǽ=A%M?A@ǚ?A?AN*ANI:?2A Y]~?yiPAW?B[E77\9-B){BE[[.?[)]~?[[[[[BZYY i) IԯH?iLKf ͺ?))ͺ?ͺ?QêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033307.603165 s, next control iter: 1743033307.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6806, header.stamp.nsec: 00 temperature: 13.564744* salinity: 33.375500, density: 1025.000000* values[0]: 0.580616F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033307.983165 s.=I~,$AAQ@A7@A2q^~? A9AXu%"AA%tNA"AZAbAjArAzAAAՃI5@A!#71tA0u@A[?<A=A]\?A@?A` ?A)*AC:?2Aֽ:Aj=BAC:?JAֽRAj=٘i)I9u@YG J?JJJJ[E&K Y]~?yz;PAH[E7{79)B[[4?[]~?[[[[[BZYY i) (PI8H?iW4 ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033308.003165 s, next control iter: 1743033308.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033308.403165 s.&=I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J< rudderAngleAction: -0.261799*J@ elevatorAngleAction: -0.0749852J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJnJvJ dt: 0.4200042 time: 1743033308.403293F (some fields omitted in printout)A ףp@AjjZ@A^~? AӤAl%"AAtNA"AZAbAjArAzAAA}5@A|]sA9u@AOgv<A=Ab?AV`?A?A6*A=:?2AZֽ:AI=BA=:?JAZֽRAI=٘i)I99u@Y@G JJJJJ[E&K Y{]~?yCtOAM[Ej7j79)B)E[[:?[> ^~?[[[[[BZYY i) ͻI H?ib P?))P?P?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033308.423165 s, next control iter: 1743033308.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6807", header.stamp.nsec: 0"0 temperature: 13.564909"* salinity: 33.375492", density: 1025.000000"* values[0]: 0.580064"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033308.823165 s.=I~,G4$AA\(@Aٵ@A^~? ANAG%"AAuNA"AZAbAjArAzAAAV޽5@AAsAdt@A+<AwH=ASg?A ?A:9?AR*A?8:?2AFֽ:A=BA?8:?JAFֽRA=٘i)I9t@YG JJJJEJ[E&K YF]~?ym}OA _DS[E{79&B)BE[[A?[H!^~?[I[[[[BZYY i) 0IcH?it@A9AHP=Axl?AI?A?A[⎼*AM2:?2A=^׽:A=BAM2:?JA=^׽RA=٘i)I9>t@YG JPJJJJ[E&K Y]~?ygOAX[Ej79$B)BE[[G?[6^~?[x[[[[BZYY i) H_Id~H?iq ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033309.263165 s, next control iter: 1743033309.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033309.663165 s.=I~,qj$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074985< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033309.663292F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6808, header.stamp.nsec: 00 temperature: 13.565042* salinity: 33.375526, density: 1025.000000* values[0]: 0.579550F (some fields omitted in printout)A@A#)嗺@AǼ^~? A铫A#%"AAUuNA"AZAbAjArAzAAA1.6@A,sAvs@Am"AN0=A"r?Aa\?A?AR?*AZ,:?2AR׽:Ast<BAZ,:?JAR׽RAst Y^~?y_NAq?][E{7G9)B[[2%M?[K^~?[0r[[[[BZYY i) QIpH?i(M# U?))U?U?4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033309.683165 s, next control iter: 1743033310.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033310.083165 s.D=I~,S$AJ"J*J2J:J]?BJ]?nJ5vJARk@AKToQ@A^~? A AY%"AAdquNA"AZAbAjArAzAAAyA*AM:?2Aֽ:A\ =BAM:?JAֽRA\ =٘i)I9q@Y;G JJJJJ\E&K YQ^~?yiCMMAs[Eb79B)B E[[e?[^~?[U[[[[BZYY i) RI4H?i O^8 (?))(?(?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033311.363165 s, next control iter: 1743033311.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6810&, header.stamp.nsec: 0&0 temperature: 13.565310&* salinity: 33.375511&, density: 1025.000000&* values[0]: 0.578581&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033311.763165 s.6=I~,$AJ"J*J2J:JBJnJvJA@ALM@A_~? AvuAp%"AA|uNA"AZAbAjArAzAAAz4127@AsAdq@ACm<A6=A?A?A Ox?A*A:?2Aֽ:A =BA:?JAֽRA =YS?M?y:=Bn<ٓH? 0?`??}:?Ns D? ?)S? I٘i)I9dq@YG JJ5<JJJ\E&Kwx> Y_^~?y;LA?x[E)7b719)B[[k?[^~?[gN[[[[BZYY i)  bI$H?i𕿉? Zy?))Zy?Zy?E˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033311.803165 s, next control iter: 1743033312.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033312.183165 s.>I~,s $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074985< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743033312.183280F (some fields omitted in printout)AQ@A~;k@Ax"_~? AoA%"AAuNA"AZAbAjArAzAAAb7@A+uusAp@AQj]<A =A?A]Z?A?A*A :?2AԿֽ:Af^ =BA :?JAԿֽRAf^ =٘i)I9p@YG JJJJJ$\E&K Yn^~?y)4LA}[E{7{79)B[[q?[^~?[F[[[[BZYY i) ^qIH?iК*F z?))z?z?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033312.203165 s, next control iter: 1743033312.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033312.603165 s.94 >I~,&$AJ"J*J2J:JBJnJvJA= ף@A֚@A1_~? AhAj%"AA vNA"AZAbAjArAzAAA17@A[[[[BZYY i) [OIH?iK ]?))]?]?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033312.623165 s, next control iter: 1743033313.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6811 , header.stamp.nsec: 0 0 temperature: 13.565466 * salinity: 33.375526 , density: 1025.000000 * values[0]: 0.577997 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033313.023165 s.Z>I~,|A$AA(\@AB@A A_~? AaAZ%"AA!vNA"AZAbAjArAzAAAx 47@A isAo@A,ƳAݴ=A?AG?AOS?A*Ah:?2Au׽:A =BAh:?JAu׽RA =٘i)I9o@YG JHC=JJJJ/\E&K YE^~?y$KA[Eŧ7ŧ79)B[[g~?[\^~?[6[[[[BZYY i) IG?ix@N [?))[?[?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033313.063165 s, next control iter: 1743033313.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033313.443165 s.8>I~,B]\$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033313.443292F (some fields omitted in printout)J"J*J2J:JBJnJvJAzǛ@AW@AO_~? AE[Al%"AA7vNA"AZAbAjArAzAAA\7@Ac=sAgKo@AA]A2=AŚ?A?A N?A(*A9?2A׽:A2 =BA9?JA׽RA2 =٘i)I9Ko@YG JsJJJJ4\E&K Yd^~?yI^KA[Eb779B)BE[[S?[^~?[.[[[[BZYY i) IG?i;aP ,?)),?,?yӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033313.463165 s, next control iter: 1743033313.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6812, header.stamp.nsec: 00 temperature: 13.565648* salinity: 33.375542, density: 1025.000000* values[0]: 0.577400F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033313.863165 s.+>I~,>w$AA33333@A @A]_~? A|TA%"AAfMvNA"AZAbAjArAzAAACw/ʇ8@AvssAn@AkA{A=A8?A)?A@?A4]*A 9?2A>׽:A@=BA 9?JA>׽RA@=Yn?_?yP==ClٓH?$5쬒?@1?~!?l?ยq?)n? I٘i)I9n@YSG JŝJ5<JJJ:\E&Kx>  9Y^~? 9yAJA?[E{7{79)B[[kn?[_~?[&[[[[BZYY i) | IG?iPsqW ?))??!تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033313.903165 s, next control iter: 1743033314.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033314.283165 s.0R$>I~,$AJ"J*J2J:JBJnJvJAQ@A"@Ak_~? AMAt%"AAbvNA"AZAbAjArAzAAA^$.&@8@A:ǙsA=n@A-A加=A•?AY?A?AM3*A9?2A%׽:A=BA9?JA%׽RA=٘i)I9=n@YG JJJJJ?\E&K Y^~?y: JA[E9B)BE[[ʍ?[_~?[O[[[[BZYY i) IxG?i[5\ J?))J?J?ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033314.303165 s, next control iter: 1743033314.683173 s, wait time: 0.380008 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6813., header.stamp.nsec: 0.0 temperature: 13.565821.* salinity: 33.375561., density: 1025.000000.* values[0]: 0.576834.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033314.703165 s.ٺ*>I~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743033314.703277F (some fields omitted in printout)Aףp= @A,@Ax_~? AFA%"AAwvNA"AZAbAjArAzAAAUbfh8@AqY:jsAm@AZJ;A%=AA?A?AV?A*A9?2ALֽ:AaS=BA9?JALֽRAaS=٘i)I9m@YG JYJJJJD\E&K Y^~?y1!JA[Ej7Z7G 9B)BE[[ఋ?[~!_~?[[[[[BZYY i) ; IG?i[4u` C?))C?C?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033314.743165 s, next control iter: 1743033315.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033315.123165 s.81>I~,a$AJ"J*J2J:JBJnJvJA)\u@AZ![@A_~? A?A8%"AAvNA"AZAbAjArAzAAAhF8@A@esAm@AH<A=A Ś?Aϴ?A L?Aպ*A9?2Agֽ:A\=BA9?JAgֽRA\=٘i)I9m@YJG JJJJJJ\E&K Y^~?y*IA[E{7 9)B[[Վ?[y/_~?[( [[[[BZYY i)  IG?iNUb y?))y?y?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033315.163165 s, next control iter: 1743033315.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033315.543165 s.I8>I~,$AA{G᝺@AG 1ǝ@A _~? A8AE%"AAvNA"AZAbAjArAzAAANx.8@A4%BȼsAttl@Au<A'˨=AY?A?Ac?A*A9?2Ahֽ:ACp=BA9?JAhֽRACp=٘i)I9tl@YG JJJJJO\E&K Y,^~?y"NIA[E777r9B)BE[[?[<_~?[d[[[[BZYY i) IdG?i3yd ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033315.563165 s, next control iter: 1743033315.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6814, header.stamp.nsec: 00 temperature: 13.566018* salinity: 33.375557, density: 1025.000000* values[0]: 0.576199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033315.963165 s.|>>I~,$AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743033315.963299F (some fields omitted in printout)AL@A}b2@A_~? AS1Aԙ%"AAgvNA"AZAbAjArAzAAA)8@A2,dsAk@A "<Aw=A?A t?A`?A¼*A9?2Aֽ:A=BA9?JAֽRA=Y??yS=%"<ٓH@ ?^+9?`E?@2,?m?NA?+?)? I٘i)I9k@YG JJ<JJJT\E&K\x> Y ^~?yHA?[E77{79B)BE[[v?[`I_~?[[[[[BZYY i) WInG?ifoyi ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033315.983165 s, next control iter: 1743033316.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033316.383165 s.E>I~,<$AAQ@Av1<@AY_~? A*A&%"AAvNA"AZAbAjArAzAAAdg8@AX4sA-k@A.ιAvZ=A^?A"?A7?A~¼*A9?2A׽:A6=BA9?JA׽RA6=٘i)I9-k@Y"G J¼JJJJZ\E&K Y^~?yoiHA[E779)B[[F?[NU_~?[[[[[BZYY i) ާüIZG?i)m ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033316.403165 s, next control iter: 1743033316.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6815", header.stamp.nsec: 0"0 temperature: 13.566271"* salinity: 33.375557", density: 1025.000000"* values[0]: 0.575487"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033316.803165 s.{AL>I~,g3$AJ"J*J2J:JS?BJS?nJ{5vJAq= #@A @AF_~? A"AO%"AA vNA"AZAbAjArAzAAApQ*9@AN'S|sAtj@Ak'+A=A[¼*A79?2Al׽:Az$=BA79?JAl׽RAz$=٘i)I9j@YG Jz¼JJJJ_\E&K Y^~?yܩGA[Eŧ7b739)B[[p?[`_~?[[[[[BZYY i) ʼIFG?i1p 2?))2?2?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033316.843165 s, next control iter: 1743033317.203181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033317.223165 s.gS>I~,HN$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033317.223294F (some fields omitted in printout)A(\@AׇFu@A_~? ATAE%"AABvNA"AZAbAjArAzAAA+fO)<9@AsAi@AuAݷ=Ae?A@]?A@U?Ayļ*A9?2A s׽:AF=BA9?JA s׽RAF=٘i)I9i@Y[G J3üJJJJe\E&K Y^~?yөGA[E{7j79 B)BE[[?[k_~?[X[[[[BZYY i) HҼI\2G?iۅq (@))(@(@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033317.263165 s, next control iter: 1743033317.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033317.643165 s.Y>I~,=*i$AJ"J*J2J:J"?BJ"?nJG5vJAG@A^)@A_~? AA3%"AAvNA"AZAbAjArAzAAANZ9@Ai/oisA?i@A~>AS=A᭪?A{?AS?Aɼ*A9?2A",׽:AI=BA9?JA",׽RAI=٘i)I9?i@Y G JƼJJJJj\E&K Y^~?ya˩GA[Eb77]"9 B)BE[[Gš?[t_~?[ש[[[[BZYY it) ټIG?i~q @))@@YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6816, header.stamp.nsec: 00 temperature: 13.566515* salinity: 33.375561, density: 1025.000000* values[0]: 0.574742F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743033317.663165 s, next control iter: 1743033318.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033318.063165 s.`>I~,V $AAfffff@AbMeQL@A_~? AW A~h%"AAvwNA"AZAbAjArAzAAAk{v9@AP ѡsA~h@ALMA=A-?A ?A`?A Ѽ*A9?2Aֽ:A=BA9?JAֽRA=Y?g'?yw=_ٓH`?_>??`??.Na`?)? I٘i)I9h@Y G J̼Js<JJJo\E&K9x> Y_~?y©FA'?[E{7j7%9)ƯB[[?[}_~?[ͩ[[[[BZYY i) IIp G?i򿿉u D@))D@D@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033318.103165 s, next control iter: 1743033318.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033318.483165 s.y_g>I~,$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092996< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033318.483308F (some fields omitted in printout)AѠ@A1]շ@A_~? AA%"AAtwNA"AZAbAjArAzAAA$9@A0sA%g@Aw <A =A?AMl?A`?AEռ*A´9?2A Sֽ:AP=BA´9?JA SֽRAP=٘i)I9g@Y G J#ӼJJJJu\E&K Y _~?y5!FA[E77)9)̯B[[v?[Y_~?[[ĩ[[[[ZZ¸BZYY i¸0=) ԼIF?i*¿sx @))@@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033318.503165 s, next control iter: 1743033318.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6817, header.stamp.nsec: 00 temperature: 13.566776* salinity: 33.375572, density: 1025.000000* values[0]: 0.573972F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033318.903165 s.m>I~,͹$AA ףp=@A2Mc#@A_~? A Ah%"AAwNA"AZAbAjArAzAAA8ҫ9@AJ8sA,g@Ao<Aؽ=A3?A@?A D?Aǎڼ*A9?2A+ֽ:A =BA9?JA+ֽRA =٘i)I9,g@Y G J׼B=JJJJz\E&K Y_~?yEA[E77j7-9 B)ЯBE[[6H?[_~?[ݺ[[[[ZZBZYY i) ȼIF?iSÿ2z a@))a@a@y XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033318.923165 s, next control iter: 1743033319.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033319.323165 s.{t>I~,:$AJ"J*J2J:J?BJ?nJ5vJA\@A"ߎ@A_~? AqA%%"AA1)wNA"AZAbAjArAzAAAFLD9@Aw\דsA_f@ABQW<A0=AӴ?A?Af?A\*Av9?2A2Xֽ:A<BAv9?JA2XֽRA<٘i)I9_f@Y5 G JC=JJJJ\E&K Y_~?y 1EA[Ej7Z709B)ԯBE[[u?[Ҕ_~?[P[[[[ZZBZYY i) bǼIF?ikÿ2#z ~@))~@~@ySŵ=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033319.343165 s, next control iter: 1743033319.723175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6818., header.stamp.nsec: 0.0 temperature: 13.567065.* salinity: 33.375576., density: 1025.000000.* values[0]: 0.573165.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033319.743165 s.W{>I~,q$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083101< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743033319.743278F (some fields omitted in printout)AGz@A.e@A_~? AAM%"AA4wNA"AZAbAjArAzAAAf9@A~$sAPe@A;Aj=A?A?A`R?A8 *Ae9?2Aֽ:A<BAe9?JAֽRA<٘i)I9e@Y G JJJJJ\E&K Y _~?ysDA[Eb777H49)ۯB[[ȣ?[_~?[[[[[ZZBZYY i) ðIF?is¿wx g @))g @g @y1=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033319.783165 s, next control iter: 1743033320.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033320.163165 s.u}>I~,q $AJ"J*J2J:JBJnJvJA@At e@A_~? AAS%"AA?wNA"AZAbAjArAzAAAؖ9@A t`sAod@A#ٻAs=A5?A?A V?A`Y*A9?2A6ֽ:Aa<BA9?JA6ֽRAa YR _~?yhDA(?[Ej7SI779)B[[\Ҵ?[?_~?[[[[[ZZBZYY i) \I|F?iĿ{ n @))n @n @۩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033320.183165 s, next control iter: 1743033320.563178 s, wait time: 0.380013 s"R _~?)" rAdjusting time to match Gazebo time: 1743033320.583165 s.>I~,R%$AAR뢺@AlѢ@A[`~? AުA%"AA JwNA"AZAbAjArAzAAA{%+:@AWQsA(c@ApA(.0=Aټ?A{A?A@?Ao-ɼ*AX9?2Aֽ:A;BAX9?JAֽRA;٘i)I9c@Y G J޼JJJJ\E&K Y#_~?yDA[E77r;9B)BE[[?[Ҥ_~?[X[[[[ZZBZYY i) FI2F?iƿz}  @)) @ @mwYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033320.623165 s, next control iter: 1743033320.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6819, header.stamp.nsec: 00 temperature: 13.567464* salinity: 33.375572, density: 1025.000000* values[0]: 0.572147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033321.003165 s.v >I~,D4@$AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJnJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083101< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033321.003281F (some fields omitted in printout)Ap= W@AG<@AG`~? AC֪A%"AApSwNA"AZAbAjArAzAAAnG:@A.]πsA`Uc@A,{A<Ap?AOe?A g?A,:*A9?2Aֽ:A2BA9?JAֽRA2٘i)I9Uc@Y[ G JJJJJ\E&K Y&_~?y1CA[E{7{7?9)B[[3?[_~?[[[[[ZZBZYY i) IuF?i6ƿ} 9@))9@9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033321.023165 s, next control iter: 1743033321.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033321.423165 s.u>I~,[$AA(\£@A+z@A `~? A^ΪA&"AA\wNA"AZAbAjArAzAAAG1ā%:@AW{sAb@AA<A?A?A ?A*A9?2A!ֽ:AP|BA9?JA!ֽRAP|٘i)I9b@Y G JJJJJ\E&K Y+*_~?yp}rCA[E77B9)B[[cd?[_~?[Ѐ[[[[ZZBZYY i) 9ȃI`F?iTſ| @))@@oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033321.443165 s, next control iter: 1743033321.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6820, header.stamp.nsec: 00 temperature: 13.567721* salinity: 33.375595, density: 1025.000000* values[0]: 0.571402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033321.843165 s.ݜ>I~,u$AJ"J*J2J:JBJnJvJAHz.@AD1y@A`~? ApƪA2&"AAcwNA"AZAbAjArAzAAAP4:@Au&wsAvxb@A_>;AٯǻAĞ?Aྡྷ?AV?AN9*Ay9?2Aֽ:A\w|BAy9?JAֽRA\w|٘i)I9xb@Y G JbJJJJ\E&K Yt-_~?yt CA[E3F9)B[[?[ܭ_~?[w[[[[ZZBZYY i) qIKF?i`ÿz b@))b@b@V(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033321.883165 s, next control iter: 1743033322.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033322.263165 s.>I~,ؐ$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083101< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743033322.263249F (some fields omitted in printout)A@A#@A`~? AzAPT&"AAjwNA"AZAbAjArAzAAA͍UA:@AJrsA7b@AsG<A*2A4??Az?AC-?A+w*A9?2Aֽ:AmBA9?JAֽRAmY*?6?y.\G<ٓH?`@\\?`f? ?R{%???)*? II٘i)I97b@Y G JJCJJJ\E&Kx> Y-_~?ykI~,g$AJ"J*J2J:JBJnJvJAQ@A뤺@A`~? A~A&"AA*qwNA"AZAbAjArAzAAA$5&M:@Ax4kmsAb@Aq<A A?Az?A\??A*Aس9?2Agֽ:AHμBAس9?JAgֽRAHμ٘i)I9b@Y G JJJJJ\E&K YE._~?y cYCA\E)7b7]M9)B[[Q?[_~?[bc[[[[BZYY i=) LIQ!F?iſ*/| N@))N@N@9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033322.683165 s, next control iter: 1743033323.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743033323.103165 s.>I~,$AA= ףp@A<͌V@A`~? A|A!&"AAvwNA"AZAbAjArAzAAA]b`0W:@AhsA b@A7<A29AFq?A1?AO?AcP\;*A\9?2Aֽ:A;BBA\9?JAֽRA;B鼙٘i)I9b@Y G J\9JJJJ\E&K Y._~?y6ZuCA \E{7{7P9)[['?[ٯ_~?[Y[[[[BZYY i) H:I9 F?i;Ŀ-{ @))@@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033323.123165 s, next control iter: 1743033323.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033323.523165 s.>I~,{$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069597< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743033323.523293F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܥ@A%¥@A`~? AuA(&"AAG{wNA"AZAbAjArAzAAAT_:@A1csA%=b@AEA#^AI~,[]$AAzG@A-@A#!`~? AjA&"AA'wNA"AZAbAjArAzAAA:;Ĉf:@AS^sAb@A8As+|A~?AY۬?AMf?AA<*A9?2A8ֽ:A j BA9?JA8ֽRA j ٘i)I9b@Y G J<JJJJ\E&K Y/_~?yHCA\E)7ŧ7X9B)BE[[?[B_~?[E[[[[BZYY i) IE?iq u F@))F@F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033323.983165 s, next control iter: 1743033324.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033324.363165 s.>I~,>$AJ"J*J2J:JBJnJvJA3333@A*:@A"`~? A[Ab&"AA>wNA"AZAbAjArAzAAAk:@A7ւYsAjb@AUC~AA ?A@K?A[n?At<*A9?2Aս:AhhBA9?JAսRAhhY$?K1?ye~ٓH.ǃ?{ Z4? ȏ}?)$? I٘i)I9b@Y G J4Z<JCJJJ\E&K7w> Y -_~?y? DA1?\E[9)B[[}?[̪_~?[6<[[[[BZYY ih=) ,(IE?iο}u @))@@Ѻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033324.383165 s, next control iter: 1743033324.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6823", header.stamp.nsec: 0"0 temperature: 13.567744"* salinity: 33.375584", density: 1025.000000"* values[0]: 0.571203"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033324.783165 s.^>I~,2$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743033324.783297F (some fields omitted in printout)AQ@A$@A$`~? AKA*&"AAwNA"AZAbAjArAzAAA/Oo:@AX8>TsAIc@AA?ArA'?A6J?At?AKl<*A"9?2A>ֽ:A=BA"9?JA>ֽRA=٘i)I9Ic@YT G Jc<JJJJ\E&K Y*_~?y7gDA\Eb77H_9)B[[?[_~?[{2[[[[BZYY i) yIIE?it 6j@))6j@6j@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033324.803165 s, next control iter: 1743033325.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033325.203165 s.>I~, M$AJ"J*J2J:JBJnJvJAףp=@Ap@A$`~? A8A&"AAwNA"AZAbAjArAzAAAq:@APOsAGc@ATA^A+e?AK?A`w?A2=<*A¬9?2A ֽ:A`BA¬9?JA ֽRA`٘i)I9c@Y G J=<JJJJ\E&K Y#(_~?y=.DA$\E7b9B)BE[[ ?[_~?[([[[[BZYY i) EлI7E?iV;Zr d@))d@d@-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033325.243165 s, next control iter: 1743033325.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033325.623165 s.T>I~,Pg$AA)\@A~Oۧ@A$`~? A%~A^;&"AAwNA"AZAbAjArAzAAAr:@AkCKsALd@A,<A@AB?ARmAx?AC<*A9?2A0 ׽:Av BA9?JA0 ׽RAv ٘i)I9Ld@Y G JΟ<JJJJ\E&K Y%_~?yw% EA)\E{7{7sf9)ޯB[[ 7?[̞_~?[*[[[[BZYY i) S>I)E?in @))@@yah=L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033325.643165 s, next control iter: 1743033326.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6824 , header.stamp.nsec: 0 0 temperature: 13.567530 * salinity: 33.375595 , density: 1025.000000 * values[0]: 0.571754 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033326.043165 s.>I~,Â$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033326.043284F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@Aŏ1G@A$`~? AvA&"AAwNA"AZAbAjArAzAAAe@p:@AuFsANd@A*:v<A!A|?AA?w?A*<*Az9?2A,׽:A2BAz9?JA,׽RA2٘i)I9d@YG G Jd<JJJJ\E&K Y;#_~?y}EA.\Ej9)ٯB[[]?[L_~?[[[[[BZYY i%=) 6I}E?ii $!@))$!@$!@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033326.063165 s, next control iter: 1743033326.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033326.463165 s.V>I~,褝$AĄ@Ad@A#`~? AnAv&"AAwNA"AZAbAjArAzAAA:k.n:@A\+AsAhe@AW<AA[?A3A`Us?A><*A9?2A׽:ABA9?JA׽RAY.?:?yj.|X<ٓH ǿ+l@)ћ?bW?@%ȿ _@Z???).? I٘i)I9he@Y G J(<JJJJ\E&KLx> Y_~?y EA:?4\E77m9)կB[[Æ?[_~?[ [[[[BZYY i) 8hIiE?i i ش"@))ش"@ش"@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033326.483165 s, next control iter: 1743033326.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6825, header.stamp.nsec: 00 temperature: 13.567280* salinity: 33.375595, density: 1025.000000* values[0]: 0.572379F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033326.883165 s.y>I~,8$AJ"J*J2J:J?BJ?nJ5vJAQ8@A9@A9"`~? AeAC&"AAكwNA"AZAbAjArAzAAAHwSi:@Ab@E?I~,g$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033327.303313F (some fields omitted in printout)Aq= ף@AȗP@AC `~? A]A&"AAOwNA"AZAbAjArAzAAAc:@A[+CT7sAf@AٻA#A`?A;&Ac?A <*A9?2AUֽ:AS[BA9?JAUֽRAS[٘i)I9f@YQ G J<JJJJ\E&K YU_~?yFA>\E)7ŧ7t9)˯B[[?[K_~?[=[[[[BZYY i) ߺIqCE?i c [%@))[%@[%@V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033327.343165 s, next control iter: 1743033327.703178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6826*, header.stamp.nsec: 0*0 temperature: 13.567002** salinity: 33.375572*, density: 1025.000000** values[0]: 0.573090*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033327.723165 s.>I~,H$AJ"J*J2J:JBJnJvJA(\@AI@A`~? AUAN &"AA}wNA"AZAbAjArAzAAAnQ\:@Atl2sA"g@A8chAxԓA?A5곿AX?A~<*A 9?2A2ֽ:ABA 9?JA2ֽRA٘i)I9"g@Y G JW<JJJJ\E&K Y_~?yGAD\EZ7SI7^x9B)ȯBE[[?[{_~?[[[[[BZYY i) rNI0E?i^ h'@))h'@h'@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033327.743165 s, next control iter: 1743033328.123184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743033328.143165 s.V/?I~,* $AAGz@A5`@A`~? AMA &"AAywNA"AZAbAjArAzAAAAܙ2S:@ArIŷ-sAg@A elevatorAngleAction: 0.065990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033328.563277F (some fields omitted in printout)Affff檺@A2P̪@A<`~? AEA, &"AAtwNA"AZAbAjArAzAAA-^{H:@A,(sAq@h@AݻAȍA3?AA r:?A`<*A9?2A>ֽ:AQaBA9?JA>ֽRAQaY6?(C?y8ǍI޻ٓHKҿaLE?`?kOҿvG?@{0?)6? I٘i)I9@h@YZ G J7<J{<JJJ\E&K7x> Y_~?yGAC? `DO\Eb779B)BE[[7?[h_~?[ݨ[[[[BZYY i) Jp:I E?iV >*@))>*@>*@I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033328.603165 s, next control iter: 1743033328.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6827, header.stamp.nsec: 00 temperature: 13.566760* salinity: 33.375595, density: 1025.000000* values[0]: 0.573769F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033328.983165 s.?I~,>$AAQ@At%7@A,`~? A=AA$ &"AA4owNA"AZAbAjArAzAAAm)<:@A7#sA`h@A;AA0?AVA`r'?A<*A"9?2A ׽:A@BA"9?JA ׽RA@٘i)I9h@Y G JG<JJJJ\E&K Y^~?yCHAT\Eŧ79)B[[W?[J^_~?[Ԩ[[[[BZYY i) ;ID?i9i}S *,@))*,@*,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033329.023165 s, next control iter: 1743033329.383176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033329.403165 s.&?I~,Y$AJ"J*J2J:J?BJ?nJ5vJA ףp@AQ [@A`~? A5A׿ &"AAhwNA"AZAbAjArAzAAA<.:@A(sABi@AqV<AiA?A+A@?A_9<*A9?2A?׽:ABA9?JA?׽RA񼙘٘i)I9Bi@Y G JT<JJJJ]E&K Ys^~?y%بHAY\Eb79)B[[u?[S_~?[˨[[[[BZYY i) lrA;I\D?iN 5-@))5-@5-@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033329.423165 s, next control iter: 1743033329.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6828", header.stamp.nsec: 0"0 temperature: 13.387103"* salinity: 33.391632", density: 1025.000000"* values[0]: 0.694201"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033329.823165 s.?I~,\t$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743033329.823307F (some fields omitted in printout)A\(@A`@Av `~? A-AZ &"AAYawNA"AZAbAjArAzAAAnhķ:@A泷sAi@A Xv<AwzA5?AuÿA?A<*Ad9?2A2׽:A7BAd9?JA2׽RA79٘i)I9i@Y@G J<JJJJ]E&K Y[^~?yϨIA_\E77I9B)B E[[?[/G_~?[¨[[[[BZYY i) ;IyD?i I 4/@))4/@4/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033329.843165 s, next control iter: 1743033330.223190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743033330.243165 s.#?I~,$AJ"J*J2J:J1?BJ1?nJs:5vJAGz@A~4bz@A`~? A&AA &"AA;YwNA"AZAbAjArAzAAA!4ٟ :@Af(DsA0j@Ay<AWA>?ARſA`W?A<*A9?2Aֽ:ABA9?JAֽRA񼙘٘i)I90j@YG J<JJJJ ]E&K YC^~?yFǨaIAd\E7ލ9)B[[iR@[:_~?[2[[[[BZYY ik,=) lW;I1D?ioA 0@))0@0@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743033330.263165 s, next control iter: 1743033330.643184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743033330.663165 s.*?I~,q$AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6829, header.stamp.nsec: 00 temperature: 13.386926* salinity: 33.391666, density: 1025.000000* values[0]: 0.694984F (some fields omitted in printout)A@A嬺@A_~? A9A &"AAVPwNA"AZAbAjArAzAAA8B9@A9[ysAj@AպAeAF?A(ǿA?A<*A9?2Aֽ:Av|BA9?JAֽRAv|Y(>?vJ?yeֺٓHFlؿ`?C?wؿඩ?ҳZ ?)(>? I٘i)I9j@YG J:<B=J<JJJ]E&Kx> Yt^~?y!IAJ?i\E77j7t9)B[[N@[}-_~?[[[[[BZYY i) ҝ;I'D?i> xN2@))xN2@xN2@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033330.683165 s, next control iter: 1743033331.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033331.083165 s.D1?I~,R$AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033331.083286F (some fields omitted in printout)ARk@AnQ@A_~? AiA'&"AAFwNA"AZAbAjArAzAAAsw9@A"#Lϴ sAk@A <A焽A&?A ȿA`?A<*A9?2AWֽ:A_BA9?JAWֽRA_٘i)I9k@YG J<C=JJJJ]E&K Y^~?yJAo\E{7 9B)BE[[j@[_~?[[[[[BZYY i) ;I{D?iőۖ: >3@))>3@>3@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033331.123165 s, next control iter: 1743033331.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033331.503165 s.7?I~,;4$AAp= ׭@Ae@A_~? AA&"AA<?I~,$AJ"J*J2J:JBJnJvJA(\B@Aho}(@A0_~? AAXW&"AA1wNA"AZAbAjArAzAAAgӹ9@A@sA1 l@A)5AꅽAȂ@A̿A]?AB<*A9?2A,ֽ:A )BA9?JA,ֽRA )٘i)I9 l@YG J̋<JJJJ!]E&K Y ^~?yJAy\E49)B[["|@[D_~?[[[[[BZYY i)  elevatorAngleAction: 0.074792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743033332.343282F (some fields omitted in printout)AHz@A>w@A_~? AAA&"AA%wNA"AZAbAjArAzAAAh 9@AkrA}l@A͆A=A@AxοA@6?Aǔ<*A9?2A8ֽ:ABA9?JA8ֽRA٘i)I9}l@YG J<JJJJ&]E&K Y=^~?y!KA\E777ɟ9B)BE[[@[^~?[[[[[BZYY i) S Y՜^~?yҖ}KA*@\E{7{7^9)B[[z @[^~?[[[[[BZYY i) 0, elevatorAngleAction: 0.074792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033333.603278F (some fields omitted in printout)A= ף@A0֯@Aw_~? AA7&"AAvNA"AZAbAjArAzAAAaZnM9@AjA-rA m@AݭN<A,A@AѿA F?Ax<*A9?2AM׽:ABA9?JAM׽RA٘i)I9m@YG Jφ<JJJJ6]E&K Y^~?yP5LA\E77{79)B[[ @[^~?[7y[[[[BZYY i) K@))`>@`>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033334.043165 s, next control iter: 1743033334.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033334.443165 s.2f?I~,)]$AJ"J*J2J:JBJnJvJAzǰ@A񘭰@A_~? A٩A&"AAvNA"AZAbAjArAzAAA,/esb9@AgrA^n@AJAJA>V @AiӿA Q?A?<*Ao9?2AYֽ:A1 BAo9?JAYֽRA1 ٘i)I9n@YPG J<JJJJA]E&K Y:g^~?ywLA\E79 B)BE[[@[Ϝ^~?[j[[[[BZYY i) djD?iP?- L@@))L@@L@@"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033334.483165 s, next control iter: 1743033334.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6833, header.stamp.nsec: 00 temperature: 13.386249* salinity: 33.391655, density: 1025.000000* values[0]: 0.698026F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033334.863165 s.+m?I~,>$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743033334.863282F (some fields omitted in printout)A33333@A!@A_~? AyҩA\&"AATvNA"AZAbAjArAzAAA>v8@A0ӷmٓH6 y?i? @ɂ?࿪e?)M? I٘i)I9Eo@YG J<JfJJJF]E&Kw> Y_W^~?ypQMA @\Eb77I9)B[[@[^~?[Rc[[[[BZYY i) B/z˩A&"AA&vNA"AZAbAjArAzAAAO8@A}rAo@AdAҗA @Ao^տA`?A <*AŶ9?2ARֽ:ANBAŶ9?JARֽRAN٘i)I9o@YG J<JJJJL]E&K YG^~?y;iMA\E777޸9B)BE[[G@[v^~?[R\[[[[BZYY i) o Z"C@))Z"C@Z"C@y侫=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033335.303165 s, next control iter: 1743033335.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6834., header.stamp.nsec: 0.0 temperature: 13.386066.* salinity: 33.391682., density: 1025.000000.* values[0]: 0.698902.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033335.703165 s.պz?I~, $AAףp= @A҇.@Aތ_~? AĩAxv&"AAAvNA"AZAbAjArAzAAAa8@A urASp@A~ȻAA.A @AU8ֿA?A<*AT9?2Aֽ:AFBAT9?JAֽRAF٘i)I9Sp@YDG JY<B=JJJJQ]E&K Y7^~?yaNA\E)7ŧ7t9)B[[|@[-c^~?[~U[[[[BZYY i) L elevatorAngleAction: 0.083920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033336.123281F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@Ab [@AU_~? AAv&"AAvNA"AZAbAjArAzAAAR7~8@AmEx#rAp@A.;AAʜ@A.׿A`p?A<*A,9?2Af׽:ABA,9?JAf׽RA٘i)I9p@YG Já<C=JJJJW]E&K Y'^~?yZ~NA\E{7j7 9B)BE[[݉@[0O^~?[N[[[[BZYY i) Y<Ap࠽A)@A 2׿Ab2?A)<*AI9?2AG׽:ABAI9?JAG׽RA٘i)I9cq@YG J<JJJJ\]E&K Y^~?y`SNA\EZ7Z79)B[[[@[:^~?[lH[[[[BZYY i)  Y^~?yLPOA0@\E7749B)BE[[{@[%^~?[B[[[[BZYY i)  elevatorAngleAction: 0.083920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743033337.383278F (some fields omitted in printout)AQ@A;@AW_~? AKAØ&"AA[vNA"AZAbAjArAzAAA#r8@Ay9v}rAr@Aq<AWA@A<ٿA?A<*A9?2Aֽ:AKBA9?JAֽRAK٘i)I9r@YG Jp<JJJJg]E&K Y]~?yEOA\Ej7j79)~B[[@[^~?[;[[[[BZYY i) LTrAs@AÚCAA@A ۿA(?A<*A×9?2Aֽ:AwBA×9?JAֽRAw٘i)I9s@YXG J<JJJJq]E&K Yo]~?yg8PA\E779B)xBE[[@[-]~?[30[[[[BZYY i)  elevatorAngleAction: 0.083920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033338.643286F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@AmRഺ@A+_~? A`A &"AAzvNA"AZAbAjArAzAAAAf~7@Ad~6`UrAet@ApxAPAP@A`ۿA=?A_<*A9?2A\ ֽ:ABA9?JA\ ֽRA٘i)I9et@YG J<B=JJJJw]E&K YK]~?y1 QA\E77j79)sB[[dM@[]~?[*[[[[BZYY i) ݀ Y]~?y+QA@\Eb779B)pBE[[@[d]~?[/%[[[[BZYY i)  elevatorAngleAction: 0.083920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199142 time: 1743033339.903302F (some fields omitted in printout)A ףp=@AJ[\#@A}^~? AVA&"AAuNA"AZAbAjArAzAAA!g#6@A'grAgv@A7$<ACA]@AT޿A?ArC<*A9?2AX׽:ABA9?JAX׽RA٘i)I9gv@YG J5<JJJJ]E&K Y]~?yDkRA\Ej7J9B)gBE[[P"@[M]~?[[[[[BZYY i) y@))>,xS@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033339.923165 s, next control iter: 1743033340.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033340.323165 s.t?I~,$AJ"J*J2J:JBJnJvJA\@A1A ߎ@A^~? A3{A&"AAMuNA"AZAbAjArAzAAA=.6@AַrAw@Ak.w<A:A@A}޿AP?A<*A9?2A,׽:ABA9?JA,׽RA٘i)I9w@Y`G J<JJJJ]E&K Ycl]~?y#RA\E779B)dBE[[ $@[r]~?[[[[[BZYY i;=) _ elevatorAngleAction: 0.092888< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743033341.163326F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ae@A^~? ABoA&"AAuNA"AZAbAjArAzAAA5O6@A4D_rAlx@A<;AacA:@AA?A<*A9?2Azzֽ:AoBA9?JAzzֽRAoYC0@h6@y0c}=;ٓH`d ?V?`ʪ?g?5?)C0@ I٘i)I9lx@Y3G JM<JJJJ]E&Kw> Y B]~?y SA6@\E77j7 9B)\BݹE[[&@[|C]~?[ [[[[ZZZZ¸>BZYY i¸>9) =*A9?2Ajս:ABA9?JAjսRA٘i)I9y@YG J<JJJJ]E&K Y]~?yTA\E{7{749)RB[[%)@[]~?[J[[[[ZZZZBZYY i) d1uNA"AZAbAjArAzAAA/e5@A꣗BrACz@A\A0A "@AA ?A=*A9?2Aֽ:ABA9?JAֽRA٘i)I9z@YG J=B=JJJJ]E&K Y\~?y-:UA\E779"B)LB׹E[[+@[\~?[U[[[[ZZZZBZYY i) n: 5))5%\@y&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033342.443165 s, next control iter: 1743033342.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6841, header.stamp.nsec: 00 temperature: 13.384403* salinity: 33.391724, density: 1025.000000* values[0]: 0.706723F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033342.843165 s.?I~,$AJ"J*J2J:JBJnJvJAHz.@A\ @AS}^~? AXA&"AAuNA"AZAbAjArAzAAA/6 m5@A}rA{@AQ+AvA`#@A mA@9R?A<*A9?2AGRֽ:AqBA9?JAGRֽRAq٘i)I9{@Y(G J=C=JJJJ]E&K Y\~?yUA]E77`9$B)GBԹE[[Gx,@[\~?[[[[[ZZZZBZYY i) 蔨o; 4))4]@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033342.863165 s, next control iter: 1743033343.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033343.263165 s.?I~,$AA@A߃@Ai^~? AiSA"&"AAQtNA"AZAbAjArAzAAA25@A8CeCrAd|@Aj;A2A$@A \A?AS<*A9?2Amjֽ:A+PBA9?JAmjֽRA+PY0@U$@y2;ٓH@@6?@4?sCS? qz? ?)0@ I٘i)I9d|@YG J<J=JJJ]E&Kv> Y\~?yUA$@ ]E779)AB[[)-@[\~?[[[[[ZZZZBZYY iÖ) 8ǝhz#; 3))3_@w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033343.283165 s, next control iter: 1743033343.663176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 68426, header.stamp.nsec: 060 temperature: 13.3841066* salinity: 33.3917246, density: 1025.0000006* values[0]: 0.7082096F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033343.683165 s.l?I~,^$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073616< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743033343.683287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A!A 빺@AV^~? A4NA&"AAtNA"AZAbAjArAzAAAqk4@AprA}@Aer<AiaټA3&@A@A ?A <*A9?2A[ֽ:A- ;BA9?JA[ֽRA- ;٘i)I9}@YG J<JJJJ]E&K  9Y\~? 9y:,VA]E9'B)?BйE[[A/@[\~?[[[[[ZZZZBZYY i) fEE; Ͱ1))Ͱ1n`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033343.683165 s, next control iter: 1743033344.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743033344.103165 s.@I~,К%AA= ףp@AGV@AA^~? AIA&"AA?tNA"AZAbAjArAzAAA0@4@A ifrA}@AY<A`&A!P'@Ax]A`?(?Av<*Aܯ9?2ALֽ:A?<BAܯ9?JALֽRA?<٘i)I9}@YJG J<JJJJ]E&K Y\~?y{hVA]E77779)B)=B͹E[[ 0@[Ŗ\~?[A[[[[ZZZZBZYY i) @)0k; D0))D0a@m)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033344.123165 s, next control iter: 1743033344.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033344.523165 s.@I~,{!%AJ"J*J2J:JBJnJvJA(ܺ@Aj.7º@AS-^~? A+DAO&"AAntNA"AZAbAjArAzAAAlpٸ{4@A9)X`rAe}@A% <A;A(@AA8h?ARk,<*Ar9?2Aaֽ:A#+u<BAr9?JAaֽRA#+u<٘i)I9}@YG JV<JJJJ]E&K Y6\~?yVA]E{7{79*B);BʹE[[2@[}\~?[2[[[[ZZZZBZYY i) Cz=s; .)).Ec@y&nM̨YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033344.543165 s, next control iter: 1743033344.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6843, header.stamp.nsec: 00 temperature: 13.383893* salinity: 33.391720, density: 1025.000000* values[0]: 0.709194F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033344.943165 s.Wd@I~,>]<%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033344.943288F (some fields omitted in printout)AzG@A+Kt-@A}^~? AX?Ah&"AA}tNA"AZAbAjArAzAAA~3;4@A/nrAu~@Az2A7<A)@AA`?A1;*A9?2Aֽ֗:A:<BA9?JAֽ֗RA:<٘i)I9~@YG J <JJJJ]E&K Y`r\~?yߧVA ]E777J 9)9B[[\3@[id\~?[V[[[[ZZZZBZYY i) zeM; 7q-))7q-~d@yͩYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033344.963165 s, next control iter: 1743033345.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033345.363165 s.@I~,>W%AJ"J*J2J:JBJnJvJA3333@A5!@AV^~? A:Al &"AAQ]tNA"AZAbAjArAzAAAP3@AxӌrA6~@AJA<A<+@A`;A ?AJ~%;*A 9?2Aֽ:A!<BA 9?JAֽRA!JJJ]E&K\x> YY\~?yܧVA6+@%]E779,B):BǹE[[4@[J\~?[[[[[BZYY i*7l) S"@A]~? A6Af&"AA =tNA"AZAbAjArAzAAAh3@A&"ɂrA1<~@A# yA\.=A,@AAF?A)oպ*A9?2Awֽ:A2<BA9?JAwֽRA2<٘i)I9<~@YG JSF:JJJJ]E&K Y?\~?y اVA*]Eb77u9-B);BĹE[[6@[1\~?[[[[[BZYY i ) B5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743033346.203280F (some fields omitted in printout)Aףp=@AU&p@A!]~? A1A&"AAStNA"AZAbAjArAzAAAx3@A9",rA8!~@A h!A{V=A-@A@AfF?Aܻ*Ag9?2Aֽ:A<BAg9?JAֽRA<٘i)I9!~@YG J|JJJJ]E&K Y&\~?yԧ_VA0]E{7Z7 9/B)=BE[[!s7@[x\~?[[[[[BZYY i) 0 Y[~?yɧUA1@@]E7 93B)IBE[[v;@[[~?[ާ[[[[BZYY ij) su;I9D?iX? < %))%m@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033347.483165 s, next control iter: 1743033347.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6846, header.stamp.nsec: 00 temperature: 13.384038* salinity: 33.391724, density: 1025.000000* values[0]: 0.708886F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033347.883165 s.y=@I~,@%AJ"J*J2J:JBJnJvJAQ8@AVC@Ae~]~? Ab!A!&"AA9sNA"AZAbAjArAzAAAU`h2@ARbK%vrA,|@AF<A=AB2@AA?A9*Aj9?2A? ֽ:AW=BAj9?JA? ֽRAW=٘i)I9|@YG JJJJJ]E&K Y6[~?yŧHUAE]E)7ŧ7`$94B)OBE[[/<@[[~?[ݧ[[[[BZYY i) ;I=FD?if?< D#))D#qqn@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033347.903165 s, next control iter: 1743033348.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033348.303165 s.VD@I~,wg%AAq= ף@AxE𿉾@AQg]~? AAL!&"AAsrsNA"AZAbAjArAzAAA,5"2@AVsrAT$|@AC ;A\=A M4@A A@'?A*A9?2AҒֽ:A=BA9?JAҒֽRA=٘i)I9$|@YvG JfJJJJ]E&K Y֤[~?y§TA aDK]E{7{7'95B)TBE[[>@[ [~?[ۧ[[[[BZYY i) ;I{SD?iqv?< 2N"))2N"o@gԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033348.343165 s, next control iter: 1743033348.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6847*, header.stamp.nsec: 0*0 temperature: 13.384271** salinity: 33.391735*, density: 1025.000000** values[0]: 0.707946*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033348.723165 s.K@I~,H.%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743033348.723302F (some fields omitted in printout)A(\@Aw,I@AO]~? AA!&"AAMOsNA"AZAbAjArAzAAA9 1@ARIqrA{@Ae(A =Ak5@A@(AI?A*Aݤ9?2A;ֽ:A7 =BAݤ9?JA;ֽRA7 =٘i)I9{@Y!G JJJJJ]E&K Ys[~?yTAP]Eb77+96B)YBE[['o?@[o}[~?[Zڧ[[[[BZYY i) d;IaD?i?e(< E ))E p0q@y$k^֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033348.743165 s, next control iter: 1743033349.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033349.143165 s.V/R@I~,*I%AAGz@A%:`@Ap8]~? AAq!&"AA+sNA"AZAbAjArAzAAA{Hژ1@ADporA {@AzAV=A6@A\A`lj?A *A9?2A׽:Aa=BA9?JA׽RAa=٘i)I9 {@YG JGJJJJ]E&K Yp[~?yo&TAU]E{7{7 /9)^B[[J@@[c[~?[;٧[[[[BZYY i) ;IpD?i}?5< ))r@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033349.183165 s, next control iter: 1743033349.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033349.563165 s.X@I~,V d%AJ"J*J2J:J5?BJ5?nJ=5vJAffff濺@A-R̿@A ]~? AiA"&"AAsNA"AZAbAjArAzAAA3L1@A ٝmrA7xz@Aт_A=AH8@AَA?AW*Av9?2Aֽ:Ab=BAv9?JAֽRAb=Y 2*@.88@y=#`ٓH `xп@Pl?`hy?,`!9?) 2*@ I٘i)I9xz@YqG JdJ4<JJJ^E&K9x> YT[~?y%SA88@[]E297B)cBE[[1 B@[.J[~?[Cا[[[[BZYY i) x G;ID?i?<< a5))a5Ts@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033349.583165 s, next control iter: 1743033349.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6848, header.stamp.nsec: 00 temperature: 13.384540* salinity: 33.391731, density: 1025.000000* values[0]: 0.706848F (some fields omitted in printout)>T[~?)>% rAdjusting time to match Gazebo time: 1743033349.983165 s._@I~,~%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033349.983292F (some fields omitted in printout)AQ@ASAE7@A]~? AJA[X"&"AArNA"AZAbAjArAzAAAT1@AckrAy@AAL=A9@A@'A?A9*A 9?2A ֽ:AC=BA 9?JA ֽRAC=٘i)I9y@YG JB=JJJJ^E&K Y9[~?yڷXSA`]EK698B)iBE[[\C@[z0[~?[wק[[[[BZYY i)  ;IbD?i?E< o))oFFu@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033350.003165 s, next control iter: 1743033350.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033350.403165 s.&f@I~,͙%AJ"J*J2J:JBJnJvJA ףp@A'd@A{\~? AS A"&"AA@rNA"AZAbAjArAzAAAC m0@AirAQy@A ;A(=A:@A A_?A%*A`9?2AzHֽ:Aڝ<BA`9?JAzHֽRAڝ<٘i)I9Qy@YG J+C=JJJJ ^E&K YE[~?yRAe]E77999B)oBE[[TD@[[~?[֧[[[[BZYY i) :IڢD?ix?O< ~))~v@VʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033350.423165 s, next control iter: 1743033350.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6849", header.stamp.nsec: 0"0 temperature: 13.384777"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.705694"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033350.823165 s.l@I~,%%AA\(@A1@A\~? A A"&"AAvrNA"AZAbAjArAzAAA Yp0@A!.hrArx@Aj<AR=A@<@AA ?AO*AY9?2A&ֽ:Ah<BAY9?JA&ֽRAh<٘i)I9x@YeG JJJJJ^E&K Y[~?yFRAk]Ej7Z7u=9:B)tBE[[E@[Z~?[^֧[[[[BZYY i) $ŏ9IAD?i,?e[< H%))H%mw@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033350.863165 s, next control iter: 1743033351.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033351.243165 s.s@I~,\%AJ"J*J2J:J4?BJ4?nJH=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033351.243291F (some fields omitted in printout)AGz@Aefbz@A\~? AA:#&"AAcurNA"AZAbAjArAzAAA,D&0@Az}frAa2x@Ao<A=A]=@A@7>AP?A*AV9?2A8Iֽ:A F<BAV9?JA8IֽRA F<٘i)I92x@YG JJJJJ^E&K YZ~?y"RAp]E{7{7 A9;B)zBE[[8G@[WZ~?[֧[[[[BZYY i) `r)ID?i?=Qg< y))y@AdA E3?A*A9?2Azֽ:AxY<BA9?JAzֽRAxY@yD=;ٓHڃ@JĿj {? @@*?=ﰿq}?@?)0@ I٘i)I9w@YG JIB=JJJJ^E&Kx> YZ~?yQA>@v]Eŧ7ŧ7D9=B)BE[[H@[Z~?[է[[[[BZYY i)  XѺID?iҺ?!o< u))uz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033351.683165 s, next control iter: 1743033352.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033352.083165 s.D@I~,R%AJ"J*J2J:JBJnJvJARkº@A؀qQº@A\~? AAld#&"AAs*rNA"AZAbAjArAzAAA124/@A[O_crAp/w@AᄻAV=A @@A +AZ?A68*A9?2Abֽ:A&<BA9?JAbֽRA&<٘i)I9/w@YqG JC=JJJJ#^E&K YZ~?y'lQA{]E)75H9>B)BE[[gI@[tZ~?[է[[[[BZYY i) X&ID?i? x< ))|@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033352.123165 s, next control iter: 1743033352.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033352.503165 s.@I~,U4 %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033352.503287F (some fields omitted in printout)Ap= º@A*9'º@At\~? AA#&"AArNA"AZAbAjArAzAAA ?bV.@AAbrAwv@AWA96=AdA@AA}?A*A9?2A1׽:A<BA9?JA1׽RA<٘i)I9v@Y*G J?JJJJ(^E&K YZ~?yQA]E77K9)B[[K@[EZ~?[֧[[[[BZYY i) :eIFE?i?< ))V}@޴YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033352.523165 s, next control iter: 1743033352.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6851, header.stamp.nsec: 00 temperature: 13.385331* salinity: 33.391743, density: 1025.000000* values[0]: 0.703598F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033352.923165 s.4@I~,;%AJ"J*J2J:JBJnJvJA(\Bú@A/x(ú@A[\~? AA6#&"AAqNA"AZAbAjArAzAAAlM-@A$arAJv@A|A3=AB@A A`x?A*A9?2A:'׽:A6 <BA9?JA:'׽RA6 <٘i)I9Jv@YG JJJJJ.^E&K Y8xZ~?ySPA]E77`O9)BE[[VL@[MZ~?[k֧[[[[BZYY i) IE?i8?Ɗ< ))Ě~@pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033352.963165 s, next control iter: 1743033353.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033353.343165 s.<@I~,U%AAHzú@A/nú@A_B\~? AAo#&"AALqNA"AZAbAjArAzAAA@WU-@A`_rAKu@AFA=AC@A7A$?A)*A9?2Amֽ:A]<BA9?JAmֽRA]<٘i)I9u@YG JJJJJ3^E&K YT\Z~?y詧[PA]E{7{7R9?B)BE[[M@[fZ~?[֧[[[[BZYY i) =氻I5E?i?< C))C@ʲYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033353.363165 s, next control iter: 1743033353.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6852&, header.stamp.nsec: 0&0 temperature: 13.385571&* salinity: 33.391743&, density: 1025.000000&* values[0]: 0.702686&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033353.763165 s.J "J *J 2J :J 3?BJ 3?nJ <59@I~vJ,'p%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033353.763300F (some fields omitted in printout)Aĺ@Abú@A(\~? A.A$&"AAڑqNA"AZAbAjArAzAAASsx,@As*^rAKou@A6:AX=A=E@A`A@?Apー*Ah9?2Anֽ:An<BAh9?JAnֽRAnE@yO=y:ٓH֍@/`r?`du?@<@ƒV??)87@ II٘i)I9ou@YaG J悼B=J%ջJJJ8^E&Kw> Y@Z~?ybPA>E@]Eb7b7V9@B)BE[[.N@[MZ~?[ק[[[[BZYY i) [лIME?i?r< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033353.783165 s, next control iter: 1743033354.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033354.183165 s.ˢ@I~,g%AAQĺ@A1 kĺ@Ah\~? AA#$&"AA=kqNA"AZAbAjArAzAAAE ,@A,]rAt@A%<<A=AYF@AA ?Ai*Aj9?2AGֽ:Af<BAj9?JAGֽRAf<٘i)I9t@YG JℼC=JJJJ>^E&K Y#Z~?yܨOA]E77 Z9AB)BE[[ P@[4Z~?[Lا[[[[BZYY i) HIfE?i?Ҕ< ))1@yJؙyYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033354.203165 s, next control iter: 1743033354.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033354.603165 s.54@I~,%AJ"J*J2J:JBJnJvJA= ףĺ@A4ތĺ@A[~? A<A@$&"AAyDqNA"AZAbAjArAzAAA+@Aɩ} ]rA t@A><AA=AG@A@9+Aj?AuV*A\9?2AAֽ:A =BA\9?JAAֽRA =٘i)I9t@YG JWJJJJC^E&K YZ~?yUUOA]E7]9)BE[[`Q@[4Z~?[9٧[[[[BZYY i) ƝIE?i6?l< z))zpҁ@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033354.623165 s, next control iter: 1743033355.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6853 , header.stamp.nsec: 0 0 temperature: 13.385777 * salinity: 33.391739 , density: 1025.000000 * values[0]: 0.701849 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033355.023165 s.Z@I~,|%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743033355.023339F (some fields omitted in printout)A(\ź@AHzBź@A[~? AAAZ$&"AAqNA"AZAbAjArAzAAAM*@AG\rAt@AA<<AW=AIA`=A?A{ʇ*Av9?2A~ֽ:A(=BAv9?JA~ֽRA(=٘i)I9t@YG J!JJJJH^E&K YY~?yϧNA]E77{7Ka9BB)BE[[lR@[Z~?[Jڧ[[[[BZYY i) WIVE?i?,< S< ))S< q@︪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033355.063165 s, next control iter: 1743033355.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033355.443165 s.2ö@I~,)]%AJ"J*J2J:J3?BJ3?nJH<5vJAzź@AR(ź@AE[~? AAp$&"AApNA"AZAbAjArAzAAAUL*@AE{ [rAOs@Ao:Au=AGAMA̶?A腼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9s@YMG JJJJJN^E&K YLY~?yHNA]Eb77d9)BE[[?S@[Y~?[~ۧ[[[[BZYY i) X'IE?i@!"<  )) @ӻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033355.463165 s, next control iter: 1743033355.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6854, header.stamp.nsec: 00 temperature: 13.385983* salinity: 33.391731, density: 1025.000000* values[0]: 0.700978F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033355.863165 s.+@I~,u>%AA33333ƺ@AX7ƺ@Aj[~? A A*$&"AAjpNA"AZAbAjArAzAAAiؕC)@APe[rAY:s@AA=AZQFA{[Ab?A ܄*A9?2A0׽:AI=BA9?JA0׽RAI=Y=@[FyS=sZٓH `?@<@dxC@[@_?)=@ I٘i)I9:s@Y G JGJ*<JJJS^E&KQx> YY~?yINA[F]E77vh9)B[[U@[Y~?[ܧ[[[[BZYY i) 6IrE?i@ܨ<  )) L@5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033355.883165 s, next control iter: 1743033356.263175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033356.283165 s.;R@I~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033356.283286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQƺ@Afƺ@A[~? ALAG$&"AA1pNA"AZAbAjArAzAAAs)@ANZrAGr@A Y(&Y~?y<nLAA]E77az9)BvE[[<[@[]Y~?[[[[[BZYY i) B́IRPF?i@>< )){@ЪYOYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033358.003165 s, next control iter: 1743033358.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033358.383165 s.@I~,'%AAQȺ@AT:Ⱥ@AD [~? A A$&"AAoNA"AZAbAjArAzAAA %@A!RYrAIp@A,o<A㞚=Ab@A@BA`|Aa*AP:?2A ǽ:A=BAP:?JA ǽRA=٘i)I9Ip@Y>G JJJJJs^E&K Y% Y~?yTLA]Eŧ7b7}9)¯BsE[[2t\@[FY~?[[[[[BZYY i) H]IqF?ix@< g))g\@y߀gԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033358.403165 s, next control iter: 1743033358.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6857", header.stamp.nsec: 0"0 temperature: 13.386694"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.698224"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033358.803165 s.vA@I~,wg%AJ"J*J2J:J2?BJ2?nJm;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084281< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033358.803290F (some fields omitted in printout)Aq= #ɺ@A5}v ɺ@A+Z~? A.A$&"AAWoNA"AZAbAjArAzAAABw^%@AYrAHo@An;AU`=Aq>AA,1A*Ag:?2Apʽ:An=BAg:?JApʽRAn=٘i)I9o@YG JhJJJJy^E&K Y X~?ylKA]E9)ǯBpE[[c]@[#0Y~?[$[[[[BZYY i) IF?iy@S< [2))[2@2تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033358.823165 s, next control iter: 1743033359.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033359.223165 s.g@I~,H%AA(\ɺ@ARAEuɺ@AZ~? AxA$&"AAʓoNA"AZAbAjArAzAAA@G$@AZrA/o@AgAW=AAe=A@A@IA]*AF:?2Ayͽ:A-+=BAF:?JAyͽRA-+=٘i)I9/o@YG J;JJJJ~^E&K YX~?y*A0m:?2Aҽ:A"=BA0m:?JAҽRA"=Y>TI@U:yԦ=mvٓH@~?u@S@̿~1`丠Դ?)>TI@ I٘i)I9n@YG J{J<JJJ^E&Kp> YX~?yfJA:]E)7ŧ7L9DB)ԯBkE[[Q@a@[X~?[[[[[BZYY i) mIiF?i*@< 6))6$‰@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033360.083165 s, next control iter: 1743033360.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033360.483165 s.u_AI~,%AJ"J*J2J:JBJnJvJAʺ@ACԷʺ@AZ~? ADA$&"AA_oNA"AZAbAjArAzAAA="@A8[rAozm@AbA=Ac9AkA།A *A`:?2A/ӽ:A=BA`:?JA/ӽRA=٘i)I9zm@YG J%JJJJ^E&K Y X~?yIA]E779)دBhE[[0rb@[X~?[[[[[BZYY i) gˮI$G?iE.@ < ))[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033360.503165 s, next control iter: 1743033360.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6859, header.stamp.nsec: 00 temperature: 13.387211* salinity: 33.391697, density: 1025.000000* values[0]: 0.696123F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033360.903165 s. AI~,9%AA ףp=˺@A]X#˺@ApZ~? A.A$&"AAnNA"AZAbAjArAzAAA3I"@A-D[rA l@AR,:Aլ=A8Ad]An>AL¼*A.U:?2A ӽ:A?=BA.U:?JA ӽRA?=٘i)I9l@Y(G JwJJJJ^E&K YcX~?ytIA]E77v9)ݯBeE[[c@[(X~?[a[[[[BZYY i) (I2KG?i)2@^ < Os))Os@oYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033360.943165 s, next control iter: 1743033361.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033361.323165 s.{AI~,:T%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084281< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033361.323278F (some fields omitted in printout)J"J*J2J:JBJnJvJA\˺@AyZ~˺@A6VZ~? AAAzo$&"AAnNA"AZAbAjArAzAAA ̬!@ARo\rA5l@A4<A=A6A xLAAu;˼*AJ:?2AnԽ:Aq=BAJ:?JAnԽRAq=٘i)I95l@YG J\ƼJJJJ^E&K YHX~?ygIA]E77{7 9)BbE[[d@[X~?[^[[[[BZYY i) eIlrG?iq6@+< ))牋@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033361.343165 s, next control iter: 1743033361.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6860*, header.stamp.nsec: 0*0 temperature: 13.387508** salinity: 33.391701*, density: 1025.000000** values[0]: 0.694936*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033361.743165 s.WAI~,qo%AAGz̺@A^-wf˺@An=BAHA:?JA[սRAV>=٘i)I9k@YYG J:μJJJJ^E&K Y~,X~?yZHA]E7779)B_E[[He@[X~?[t[[[[BZYY i) lļIG?i;@@< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033361.783165 s, next control iter: 1743033362.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033362.163165 s.x}"AI~,q%AJ"J*J2J:J1?BJ1?nJb:5vJA̺@Ame̺@A"Z~? AA?$&"AAnNA"AZAbAjArAzAAA3ϭt @A'o ^rAj@A";<Av=A24A`#A8AҼ*A8:?2A1ս:AA=BA8:?JA1սRAA=YAO@S"4y}=;<ٓH 0~?v zԿPObm/`:d??)AO@ I٘i)I9j@YG JYҼJO<JJJ^E&K|> YX~?y-/HA"4]E)7ŧ769)B[[)*g@[$X~?[[[[[BZYY i) ̼IG?i=@+< +c))+c@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033362.183165 s, next control iter: 1743033362.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033362.583165 s.(AI~,R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084281< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743033362.583293F (some fields omitted in printout)AR̺@AI}̺@A% Z~? ArA"$&"AAYnNA"AZAbAjArAzAAA<@Ai[^rA&j@A:::A=A2AX AÿAײѼ*AD0:?2AEֽ:A=BAD0:?JAEֽRA=٘i)I9&j@YG JҼB=JJJJ^E&K YW~?yGA^E77̡9)B\E[[Wh@[nX~?[ [[[[BZYY i) tVӼIG?i;A@/V< {)){←M@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033362.623165 s, next control iter: 1743033362.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6861, header.stamp.nsec: 00 temperature: 13.387836* salinity: 33.391708, density: 1025.000000* values[0]: 0.693683F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033363.003165 s.y 0AI~,P4%AJ"J*J2J:JBJnJvJAp= Wͺ@A@<ͺ@AY~? A*A$&"AA3nNA"AZAbAjArAzAAA ~@ApKx `rAvi@A!AAK=Ar1A AſAϼ*Al(:?2Ay/׽:A&=BAl(:?JAy/׽RA&=٘i)I9vi@YG J'ѼC=JJJJ^E&K YZW~?y@GA^E77a9)BYE[[ׂi@[:ZX~?[{[[[[BZYY i) ڼIkH?iD@< ϱ))ϱ쿩g@cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033363.043165 s, next control iter: 1743033363.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033363.423165 s.u6AI~,%AA(\ͺ@A_|ͺ@AOY~? A A#&"AA nNA"AZAbAjArAzAAAG(J@AR&2arA>h@APsA)=A(0A`A ƿAf2м*A :?2At׽:AZ=BA :?JAt׽RAZ=٘i)I9h@Y G JϼJJJJ^E&K YW~?yçFA ^Ej7Z79)BVE[[Tj@[DFX~?[ [[[[BZYY i) lIBH?iH@= ^))^꿩%x@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033363.443165 s, next control iter: 1743033363.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6862, header.stamp.nsec: 00 temperature: 13.388153* salinity: 33.391712, density: 1025.000000* values[0]: 0.692393F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033363.843165 s. YIW~?y$ʧEA-^E7b7!9CB)BPE[[6l@[ X~?[e[[[[ZZBZYY i) ɼIyH?iO@F= ))忩@JYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033364.303165 s, next control iter: 1743033364.663180 s, wait time: 0.360015 s.IW~?).$ʧ.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6863., header.stamp.nsec: 0.0 temperature: 13.388452.* salinity: 33.391705., density: 1025.000000.* values[0]: 0.691091.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033364.683165 s.lJAI~,^+%AJ"J*J2J:J0?BJ0?nJ95vJAQϺ@A_)κ@AY~? AAc#&"AA5mNA"AZAbAjArAzAAA0 >Y@AB:erAݛf@A+;AY=A:L,A@gA \̿A*A:?2A ֽ:AL<BA:?JA ֽRAL<٘i)I9f@YZ G JJJJJ^E&K YsW~?yͧ]EA^EZ7Z79)B[[]'n@[ X~?[A[[[[ZZBZYY i) IH?iR@0= h))h㿩5@y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033364.683165 s, next control iter: 1743033365.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743033365.103165 s.QAI~,F%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082863< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743033365.103277F (some fields omitted in printout)A= ףpϺ@AVϺ@AXrY~? A,Aq4#&"AAtmNA"AZAbAjArAzAAA'87@A3wfrA"e@Af)e<AP=A+Au@A`(οA*A:?2AԚֽ:A<BA:?JAԚֽRA<٘i)I9e@Y G J^JJJJ^E&K YZW~?ywѧDA!^E77L9)BNE[[No@[W~?[3[[[[ZZBZYY i) JIH?iTV@+ = ))Ῡiɐ@yz=vԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033365.123165 s, next control iter: 1743033365.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033365.523165 s.WAI~,{a%AJ"J*J2J:J0?BJ0?nJR95vJA(Ϻ@AϺ@AYY~? A A#&"AA.OmNA"AZAbAjArAzAAAsf+d@ASdhrAd@A_<Au=Ap)AAϿAW*A$:?2Aֽ:Av<BA$:?JAֽRAv<٘i)I9d@YK G JJJJJ^E&K Y_@W~?y էiDA&^E9)BKE[[tp@[-W~?[:[[[[ZZBZYY i) II?iZ@ = ޿))޿;\@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033365.543165 s, next control iter: 1743033365.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6864, header.stamp.nsec: 00 temperature: 13.388831* salinity: 33.391685, density: 1025.000000* values[0]: 0.689555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033365.943165 s._d^AI~,_]|%AAzGк@A["-к@A_AY~? A A"&"AA*mNA"AZAbAjArAzAAA)J<@A7=^jrAAd@Az7;A0=Ac(AAпAlҼ*AX':?2Aֽ:A;BAX':?JAֽRA;٘i)I9d@Y G JJJJJ^E&K Y&W~?yاCA,^E77w9BB)"BHE[[Hq@[W~?[U"[[[[ZZBZYY i) H}Ii?^@== ܿ))ܿ@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033365.963165 s, next control iter: 1743033366.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033366.363165 s.eAI~,p>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082863< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198692 time: 1743033366.363283F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333к@Aiк@A()Y~? AA "&"AA4mNA"AZAbAjArAzAAAc@A}vvkrAwc@A+Aj<Av'AAѿA"u*A%:?2Aֽ:AwBA%:?JAֽRAwY]@'y<:ٓHN@5?3@81lEv"?)]@ I٘i)I9wc@Yp G JJJJJ^E&Kww> YSW~?yBݧCA'1^E{7j7 9)&BEE[[r@[W~?[&[[[[ZZBZYY iHˌ=) ,Ii`@ = 7ڿ))7ڿ@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033366.383165 s, next control iter: 1743033366.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6865&, header.stamp.nsec: 0&0 temperature: 13.389202&* salinity: 33.391674&, density: 1025.000000&* values[0]: 0.688120&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033366.783165 s.ZkAI~,%AAQѺ@A,'Ѻ@A$Y~? AAX"&"AAlNA"AZAbAjArAzAAA-Gl@Ad¡fmrAb@AgAe<A%A`AӦҿAw*A:?2Aֽ:A#BA:?JAֽRA#٘i)I9b@Y$ G JJJJJ^E&K YV~?yCA7^E77779)*B[[ws@[W~?[*[[[[ZZBZYY i6ž=) ڄIigc@9= ׿))׿7@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033366.823165 s, next control iter: 1743033367.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033367.203165 s.sAI~,%AJ"J*J2J:JBJnJvJAףp=Ѻ@A;%pѺ@AUX~? A A"&"AAblNA"AZAbAjArAzAAAUW@AworAšb@ARȀA/˻Aw$A#bA`ԇӿA*A:?2Aֽ:Ax^BA:?JAֽRAx^٘i)I9b@Y G JQJJJJ^E&K YV~?y2CA<^Eb7779),BBE[[~ u@[W~?[\/[[[[ZZBZYY i) uIif@= տ))տ@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033367.223165 s, next control iter: 1743033367.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033367.623165 s.WyAI~,]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743033367.623303F (some fields omitted in printout)A)\Ѻ@A%Ѻ@AX~? AzA!&"AArlNA"AZAbAjArAzAAA ْ@A>%qrAKkb@A8AОA(#A .AfԿA*A:?2Aֽ:AaBA:?JAֽRAa٘i)I9kb@Y G JJJJJ^E&K YV~?y`CAA^E77779AB).B?E[[.v@[یW~?[3[[[[ZZBZYY i) ul`Iij@= Yӿ))Yӿi9@y=)YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743033367.643165 s, next control iter: 1743033368.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6866 , header.stamp.nsec: 0 0 temperature: 13.389410 * salinity: 33.391693 , density: 1025.000000 * values[0]: 0.687257 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033368.043165 s.AI~,%AJ"J*J2J:J/?BJ/?nJ{85vJA{GaҺ@A/GҺ@AaX~? AA\!&"AAtlNA"AZAbAjArAzAAA6IF@AU]trA*Qb@A:AmAa!A 4ADտA# κ*A?:?2A׽:A˼BA?:?JA׽RA˼٘i)I9Qb@Y G JxJJJJ^E&K YV~?y"<A0A AȽAa ֿA;*Af9?2AX׽:A&BAf9?JAX׽RA&Yc@ yr0?<ٓH A?f?#? ? >݇?@?)c@ I٘i)I9Y JA8Jh(JJJ^E&Kx> YV~?yZxCA L^Eŧ7ŧ79)=E[[tx@[2kW~?[=[[[[BZYY ibh=) n:Iip@֫= 7ο))7οM\@m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033368.483165 s, next control iter: 1743033368.863185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6867, header.stamp.nsec: 00 temperature: 13.389494* salinity: 33.391670, density: 1025.000000* values[0]: 0.687014F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033368.883165 s.yAI~,Q8%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056832< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743033368.883317F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8Ӻ@A?Ӻ@AeX~? A%A!&"AA.lNA"AZAbAjArAzAAAF @ApxrAlb@Ax<A#XA^0A@FA ֿAk;*A,9?2A]׽:A`BA,9?JA]׽RA`٘i)I9lb@Y G J;B=JJJJ^E&K YV~?yCAQ^E7779@B)-B:E[[y@[ZW~?[A[[[[BZYY iQV=) *Iir@-D=  ̿)) ̿@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033368.903165 s, next control iter: 1743033369.283183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033369.303165 s.UAI~,sgS%AAq= ףӺ@A)Ӻ@A˅X~? A)A &"AAJ lNA"AZAbAjArAzAAAXr @A?X7{rAb@AI,<AyAAEEA׿At-<*Ab9?2A2׽:ABAb9?JA2׽RA٘i)I9b@Y G JQ<C=JJJJ^E&K YJhV~?yCAW^Eb77"9)+B7E[[[z@[JW~?[F[[[[BZYY i) DIixu@'= Dʿ))Dʿ~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033369.323165 s, next control iter: 1743033369.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6868*, header.stamp.nsec: 0*0 temperature: 13.389467** salinity: 33.391663*, density: 1025.000000** values[0]: 0.687245*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033369.723165 s.J "J *J 2J :J /?BJ /?nJ vJ AI~,Hn%AA(\Ժ@ASDӺ@AuoX~? A-AMf &"AA8kNA"AZAbAjArAzAAACH@A}rAb@Az9A+A#AAؿA;g<*A99?2Aֽ:Au BA99?JAֽRAu I٘i)I9b@Y# G JsH<JJJJ_E&K Y}QV~?y*DA\^E779)(B[[{@[:W~?[K[[[[BZYY i) mIix@-= Sȿ))Sȿ@ylĈ=2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033369.743165 s, next control iter: 1743033370.123182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033370.143165 s.X/AI~,*%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743033370.143326F (some fields omitted in printout)AGzԺ@Abf`Ժ@AeYX~? A#2A &"AAkNA"AZAbAjArAzAAAE1~@AsarAcc@AƤ(AAbA#A`KfٿA<*A9?2A1`ֽ:A BA9?JA1`ֽRA ٘i)I9cc@Yd G J <JJJJ _E&K Y:V~?y: fDAb^Eb77L9?B)$B4E[[5|@[+W~?[P[[[[BZYY i) V/IiU|@3~!= ſ))ſ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033370.163165 s, next control iter: 1743033370.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033370.563165 s.AI~,F %AJ"J*J2J:JBJnJvJAffffԺ@A:YԺ@ACX~? A6A&"AAPkNA"AZAbAjArAzAAAZA'm@A0XrA\c@An}AWAfAJA1ڿAf<*A9?2ALֽ:ABA9?JALֽRAYj@y X~ٓHe@l??Ie ځ? ?Z?)j@ I٘i)I9c@Y G Jb<B=JyJJJ_E&Kw> Y%V~?y"DAg^E7)79>B)B0E[[~@[^W~?[U[[[[BZYY i) лIi'~@ը"= ÿ))ÿq.@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033370.583165 s, next control iter: 1743033370.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6869, header.stamp.nsec: 00 temperature: 13.389301* salinity: 33.391640, density: 1025.000000* values[0]: 0.687996F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033370.983165 s.AI~,%AAQպ@A[7պ@A".X~? A$;Af&"AAkNA"AZAbAjArAzAAA}Gd@A r{rA"kd@ANAႛAA=A;ڿAO<*A9?2AAֽ:ABA9?JAAֽRA٘i)I9kd@Y G J<C=JJJJ_E&K YV~?y1EAl^Eb7b7w9?B)B1E[[q8@[ W~?[Z[[[[BZYY i) GIi-@$= F))F4@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033371.023165 s, next control iter: 1743033371.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033371.403165 s.&AI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743033371.403276F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpպ@Aip[պ@AX~? A?A &"AA*fkNA"AZAbAjArAzAAAiZLc@AͿrA d@AKAuAoA@AۿAq٬<*A9?2A)ֽ:ABA9?JA)ֽRA٘i)I9d@Y\ G Jm<JJJJ_E&K YU~?yEAr^E7777 9>B)B.E[[q+@[V~?[_[[[[BZYY i) ZIiv@ص%=  )) lM@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033371.423165 s, next control iter: 1743033371.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6870", header.stamp.nsec: 0"0 temperature: 13.389126"* salinity: 33.391624", density: 1025.000000"* values[0]: 0.689035"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033371.823165 s.AI~,6%AA\(ֺ@Aurֺ@AX~? ADAd&"AAKFkNA"AZAbAjArAzAAA-?A#_k*rAe@A<A?$AA8AܿA4<*AI9?2A/X׽:A BAI9?JA/X׽RA ٘i)I9e@Y G J<JJJJ _E&K YU~?y EAw^E)7)79)B+E[[@[V~?[=e[[[[BZYY i) F&lIi@ח'= Gϼ))Gϼ ܙ@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033371.863165 s, next control iter: 1743033372.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033372.243165 s.AI~,m%AJ"J*J2J:J0?BJ0?nJ95vJAGzֺ@AOczֺ@AW~? AIAO&"AA&kNA"AZAbAjArAzAAAN"?ADrA'f@Abs<AAA^AOݿA}̭<*A!9?2A>|׽:AKBA!9?JA>|׽RAK٘i)I9f@Y G J<JJJJ%_E&K YU~?y&cFA|^Eb7779) B[[G@[V~?[j[[[[BZYY i) /Ii@ )= 뗺))뗺i@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033372.283165 s, next control iter: 1743033372.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033372.663165 s.AI~,q*%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033372.663283F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6871, header.stamp.nsec: 00 temperature: 13.388886* salinity: 33.391605, density: 1025.000000* values[0]: 0.690188F (some fields omitted in printout)A׺@AIֺ@A]W~? ANAc&"AAkNA"AZAbAjArAzAAAq?A`7ڑrAбf@AMbd<AY A}pA@IAv ޿ALm<*A9?2AT׽:AЙBA9?JAT׽RAЙYp@ yo e<ٓHW_??`ih?A? ?!?)p@ I٘i)I9f@Yg G J<B=JhʻJJEJ*_E&K|x> YU~?yG-FA^E779=B)B(E[[ց@[V~?[o[[[[BZYY i) 3IiW@3*= [))[@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033372.683165 s, next control iter: 1743033373.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033373.083165 s.DAI~,SE%AJ"J*J2J:J0?BJ0?nJE95vJARk׺@AYnQ׺@AW~? ASA&"AAjNA"AZAbAjArAzAAAŒ`W?Ac rAMFg@A;APA.-AA޿AgZ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Fg@Y G Jٰ<C=JJJJ0_E&K YU~?y36GA^E7777b9)B&E[[Ve@[DV~?[nu[[[[BZYY i) ^IiG@+= '"))'"Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033373.103165 s, next control iter: 1743033373.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033373.503165 s.AI~,e4`%AAp= ׺@A-v׺@AW~? AXYAk!&"AAjNA"AZAbAjArAzAAAժ+6I?A.o-PrA2g@AAYnAAA_rA@ |߿A]<*A9?2A-ֽ:ABA9?JA-ֽRA٘i)I9g@Y G J<B=JJJJ5_E&K Y2U~?yY:GA^E779)B[[m@[^V~?[z[[[[BZYY i) 8Iih@R-= 鳿))鳿h@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033373.523165 s, next control iter: 1743033373.903184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6872, header.stamp.nsec: 00 temperature: 13.388660* salinity: 33.391579, density: 1025.000000* values[0]: 0.691364F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033373.923165 s.=AI~,{%AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743033373.923341F (some fields omitted in printout)A(\Bغ@A!q(غ@AѠW~? A^Aַ&"AAojNA"AZAbAjArAzAAAҪ?AmnprA[uh@AVbAǖABA@c A`EA<*A9?2Amֽ:A<BA9?JAmֽRA<٘i)I9uh@Yz G J9<C=JJJJ:_E&K  9YKU~? 9y@ HA^E)7ŧ79 YbU~?yNHA ^Ej7Z7 9;B)B E[[@[V~?[݋[[[[BZYY i) 9;Ii̊@1= 7I))7I@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033374.803165 s, next control iter: 1743033375.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033375.183165 s.AI~,^%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743033375.183310F (some fields omitted in printout)AQٺ@Aukٺ@AiW~? AoAm&"AAYjNA"AZAbAjArAzAAAsTA5rA'j@AH;AȍA AA A)<*A9?2A9׽:AaBA9?JA9׽RAa٘i)I9'j@YG J<JJJJK_E&K YRU~?yU4IA^Eb77M 9&"AA>jNA"AZAbAjArAzAAAWοA'鮼rASj@AeM<AqAR A߿AKqA<*A9?2As׽:A-BA9?JAs׽RA-󼙘٘i)I9j@YG JG<B=JJJJP_E&K YOAU~?y\IA^E779.B)دBE[[F@[V~?[s[[[[BZYY i)  ;Ii@n3= gި))gިA؞@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033375.623165 s, next control iter: 1743033376.003178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6874, header.stamp.nsec: 00 temperature: 13.388184* salinity: 33.391544, density: 1025.000000* values[0]: 0.693688F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033376.023165 s.ZBI~,|%AA(\ں@ABں@AFW~? A{A4&"AA$jNA"AZAbAjArAzAAAic4YܿAnrA&k@AVs|<AA A@޿AA<*A9?2ADl׽:AoBA9?JADl׽RAo𼙘٘i)I9&k@YG Jk<C=JJJJU_E&K Y0U~?ycIA^E7{7x9)ԯB[[B@[uV~?[M[[[[BZYY i=) ȸ;Ii@X5= ))d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033376.063165 s, next control iter: 1743033376.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033376.443165 s.9BI~,F]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075251< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743033376.443313F (some fields omitted in printout)J"J*J2J:JBJnJvJAzں@Aǚں@A5W~? AA&"AA9 jNA"AZAbAjArAzAAAGx-#Aw1rAk@A\'<A(IAAY޿A(A<*A.9?2A)׽:ABA.9?JA)׽RA򼙘٘i)I9k@YhG J"<B=JJJJ[_E&K YU~?yjXJA^ESI7SI7 9-B)ЯBE[[Ά@[}jV~?[0[[[[BZYY i) qp;Ii@ 7= {)){@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033376.463165 s, next control iter: 1743033376.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6875, header.stamp.nsec: 00 temperature: 13.387970* salinity: 33.391548, density: 1025.000000* values[0]: 0.694715F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033376.863165 s.+ BI~,>7%AA33333ۺ@Ad#ۺ@A@%W~? A^AƔ&"AAiNA"AZAbAjArAzAAAsAK rAl@AxA.AwAQݿAv^ALI<*A9?2Aֽ:AFBA9?JAֽRAFY}@wy.ܱٓH`&`?G?A/`5"??/6` ?)}@ I٘i)I9l@YG J)<C=J!,<JJJ`_E&KRx> YU~?yrJAw^E77j79.B)ͯBE[[[@[<`V~?[+[[[[BZYY i) ;Iil@{7= G))G}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033376.903165 s, next control iter: 1743033377.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033377.283165 s.4RBI~,R%AJ"J*J2J:JBJnJvJAQۺ@Aۺ@A3W~? AA&"AAFiNA"AZAbAjArAzAAAsAqArA}l@A]n/A}ćAl5AܿA೨Aґ<*A9?2Aֽ:AOBA9?JAֽRAO٘i)I9l@YG J<JJJJe_E&K Y]U~?y"zKA^E{7{789-B)ɯBE[[@[UVV~?[0[[[[BZYY i)  elevatorAngleAction: 0.075251< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033377.703294F (some fields omitted in printout)Aףp= ܺ@Ad,ۺ@AW~? A3AR&"AA elevatorAngleAction: 0.075251< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201112 time: 1743033378.963409F (some fields omitted in printout)ALݺ@A캷2ݺ@ACV~? A,AW&"AA|iNA"AZAbAjArAzAAA[O=Aݷ rAvn@AY <AA^A@SlٿA@A6<*AT9?2A]׽:Al1BAT9?JA]׽RAl1Y@y <ٓHÄڿ ?1? o ȋڿ?@? )? `?)@ I٘i)I9vn@Y"G JX<Ji»JJJ{_E&Kx> YT~?y}LA^E777-9-B)BE[[@[=2V~?[Ǩ[[[[BZYY i) I= ɐ))ɐݤ@Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033380.243165 s, next control iter: 1743033380.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033380.643165 s.IBI~J"J,,*) %A*J2J:J2?BJ2?nJ;5vJAG޺@A޺@AV~? A ũA&"AA*iNA"AZAbAjArAzAAAK)AE rA_p@AλAA A`ֿA@*A<*A9?2A%ֽ:A&_BA9?JA%ֽRA&_٘i)I9_p@YLG JM<JJJJ_E&K Y֝T~?yMA^Eŧ7;9)B[[F@[V~?[[[[[BZYY i) 6_ YȔT~?yS^NA^Eb77x?9)B[[Ҍ@[ V~?[[[[[BZYY i)  elevatorAngleAction: 0.084244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033381.483283F (some fields omitted in printout)J"J*J2J:JBJnJvJAߺ@A$ӡӷߺ@AV~? ApөA1&"AAiNA"AZAbAjArAzAAAi"AVrArq@A}oAKAydA`mԿA%AԨ<*A9?2AIbֽ:ABA9?JAIbֽRA٘i)I9rq@YG J<JJJJ_E&K YT~?yɨNA^E C9-B)BE[[X]@[}V~?[[[[[BZYY i) vW&"AAhNA"AZAbAjArAzAAAm-h/AVJMrAr@A3A'A:A*ӿAXAj<*A9?2Aݻֽ:A*BA9?JAݻֽRA*٘i)I9r@YJG J<JJJJ_E&K YT~?yҨ,OA^E777F9.B)BE[[@[mV~?[[[[[BZYY i)  elevatorAngleAction: 0.084244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743033382.743301F (some fields omitted in printout)AGz@AW]j@AmV~? AAI7&"AAhNA"AZAbAjArAzAAAW.^%AiXrAM!s@AC_Q<A2A8JAѿA`A<*A9?2A`׽:ABA9?JA`׽RA٘i)I9!s@YG J<JJJJ_E&K YpT~?yOA_Eb77M9)B[[1@[aU~?[[[[[BZYY i) ,UAըA?пA dA<*A9?2AeO׽:A BA9?JAeO׽RA Y[@yIPoy<ٓHvk̿z3?fl?*d[̿`Z??? h?)[@ I٘i)I9s@YSG J <JJJJ_E&Krx> YDjT~?yAkPA_E{7{7cQ9)B E[[@[bU~?[W[[[[BZYY i) 0s elevatorAngleAction: 0.084244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033384.003287F (some fields omitted in printout)Ap= W@Ah<@AQV~? A@A.~&"AAhNA"AZAbAjArAzAAA( AaE1rAt@A}A୽AA'/οA@8AK<*As9?2A~ֽ:ABAs9?JA~ֽRA٘i)I9t@YG Jľ<JJJJ_E&K Y]T~?yhMQA_E77X9)B[[@[tU~?[g[[[[BZYY i)  $ elevatorAngleAction: 0.084244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743033385.263282F (some fields omitted in printout)A@Akc@A:V~? AfA&"AA hNA"AZAbAjArAzAAA=Β A 8R sAv@A=AAؿA` ȿA`A-<*A9?2A^ֽ:ABA9?JA^ֽRAYڋ@ ؿy=ٓHC`?묖?~@@߲?@C;??)ڋ@ I٘i)I9v@YNG J<J9JJJ_E&Kx> YMT~?yJRAؿ#_Ej7SI7Nc90B)yB E[[T>@[U~?[([[[[BZYY i) b BZYY i¸>-) 1B %AJ"J*J2J:JBJnJvJA3333@AϾ @A V~? A>Aj &"AAYhNA"AZAbAjArAzAAAĩЀԊAU^$sAfz@A Ԑ;AZA˿A A A3<*A9?2AԺֽ:AW'BA9?JAԺֽRAW'Y@-˿yh8;ٓHSk`,?$g `$eѲ?`i̲?`}r??)@ I٘i)I9z@YG J1=B=J+=JJJ_E&Knx> Y=?T~?yBTA˿=_E779u9)]B[[@[U~?[CI[[[[ZZZZBZYY i) IT~?yJOUA cDC_E7x9)VB[[}@[U~?[O[[[[ZZZZBZYY i) T~?ySUAH_Ej7j7c|94B)RBE[[@[WU~?[V[[[[ZZZZBZYY i) #]<JJJJ_E&K Yv=T~?yi\VAM_E779)MB[[S@[U~?[G][[[[ZZZZBZYY i) wA 1_A2}<*Ae9?2Axֽ:A<BAe9?JAxֽRA<٘i)I9X}@Y2G J<JJJJ_E&K YJJJ`E&Kv> Y#?T~?ynsVA̾X_Ej7Z7$9)=B[[Uſ[qU~?[j[[[[ZZZZBZYY icz) mihNA"AZAbAjArAzAAATaىAzAsAn}@A_<Ap<A<A` "A oA䝗;*A9?2Aֽ:Az<BA9?JAֽRAz<٘i)I9}@YG JG;JJJJ`E&K YgAT~?yvgVA^_Eŧ7b79)JJJ`E&KQx> YRMT~?yߙUAñs_E779)?B[[W[U~?[ [[[[BZYY iKi) AW&"AA=hNA"AZAbAjArAzAAA}.}AФ\ZsA/-}@AsAG=A% A@CC?A@kA\*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9-}@YG JBJJJJ"`E&K YpRT~?yUAx_Eb779,B)CBE[[[{U~?[[[[[BZYY i) `;Ii@'@= K ())K (K (CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033392.023165 s, next control iter: 1743033392.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033392.403165 s.&CI~, %AJ"J*J2J:J?BJ?nJ5vJA ףp@A|\@AV~? AKA`&"AA0@hNA"AZAbAjArAzAAAݵ9%hAaF_sA:|@A(AS=AyA׭?A.cAع*A9?2A»ֽ:A =BA9?JA»ֽRA =٘i)I9|@YG JuJJJJ'`E&K YWT~?y5IUA~_E7799)FB[[_[nU~?[U[[[[BZYY i) ;Ii@T?= #))##wʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033392.423165 s, next control iter: 1743033392.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6891, header.stamp.nsec: 00 temperature: 13.567717* salinity: 33.374989, density: 1025.000000* values[0]: 0.580653F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033392.823165 s. CI~,K4 %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743033392.823297F (some fields omitted in printout)A\(@AHm@AV~? AUA&"AACChNA"AZAbAjArAzAAAIX:LAoX.dsAJ|@AA[=AA`Э?A XA(M*Ae9?2AhYֽ:A=BAe9?JAhYֽRA=٘i)I9J|@YG J.B=JJJJ,`E&K Y\T~?y೩TA_E{7{7ϣ9)JBE[[1[U~?[[[[[BZYY i) ;IiY@*?= [R))[R[RyiҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033392.843165 s, next control iter: 1743033393.223185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743033393.243165 s.CI~,dO %AJ"J*J2J:J?BJ?nJ5vJAGz@A3cz@AV~? A[A&&"AAGhNA"AZAbAjArAzAAAxڮ)AisAƾ{@AҴ"<Ad˛=AvA`l?AKA 1*A99?2A ֽ:AR=BA99?JA ֽRAR=٘i)I9{@Y8G JzC=JJJJ2`E&K YaT~?yTA_EZ7Z7d9)NB[[[lU~?[[[[[BZYY i) *M;Ii<@?= [))[[yih֪YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743033393.263165 s, next control iter: 1743033393.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033393.663165 s.CI~,qj %AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6892, header.stamp.nsec: 00 temperature: 13.567926* salinity: 33.374996, density: 1025.000000* values[0]: 0.580065F (some fields omitted in printout)A@Aw@AV~? A]As&"AAKhNA"AZAbAjArAzAAALWA smsAi){@AIrt<AX=A)褿A-?A`c<Ad*A9?2A?ֽ:Ae,=BA9?JA?ֽRAe,=Yܘ@¤yoT=)u<ٓH'?~?|?ۡ ?ϳ? ;?)ܘ@ I٘i)I9){@YG JͱJ=JJJ7`E&Kw> YiT~?yĩ7TA¤_E{7{79)SB[[K֯[rU~?[)[[[[BZYY i) D;Ii8@== ))yӈ.תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033393.683165 s, next control iter: 1743033394.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033394.083165 s.D!CI~,S %AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743033394.083314F (some fields omitted in printout)ARk@A/XnQ@AV~? AXAQ&"AA6QhNA"AZAbAjArAzAAAWBPAărsAz@AwE<Aг=AwEA0?A*AFC*A/9?2AAֽ:A& =BA/9?JAAֽRA& =٘i)I9z@YG JJJJJ<`E&K YqT~?ypͩSA_Eb779-B)YBE[[q[U~?[[[[[BZYY i) A{D;Iib@<= A))AA`֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033394.103165 s, next control iter: 1743033394.483177 s, wait time: 0.380012 s2qT~?)2pͩ rAdjusting time to match Gazebo time: 1743033394.503165 s.'CI~,e4 %AAp= @AJ@Ac"V~? AMǪAR&"AAsWhNA"AZAbAjArAzAAAQ:K9A/GwsAy@A3;;A 6=AA A?A Ak*A?9?2Aֽ:Ajn=BA?9?JAֽRAjn=٘i)I9y@Y$G J"JJJJB`E&K Y{yT~?yթfSA_E$9.B)^BE[[Uy[U~?[I[[[[BZYY i) o;Ii@;=  ))  aԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033394.523165 s, next control iter: 1743033394.903181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6893, header.stamp.nsec: 00 temperature: 13.568214* salinity: 33.374996, density: 1025.000000* values[0]: 0.579386F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033394.923165 s.8.CI~, %AJ"J*J2J:JBJnJvJA(\B@A~(@AP'V~? A;ϪA&"AA}^hNA"AZAbAjArAzAAA,!%A$S|sAfy@A$AV=AnݜA)?AA*A9?2As׽:A=BA9?JAs׽RA=٘i)I9fy@YG JB=JJJJG`E&K YbT~?yWީRA_Eŧ7b79)cB[[H[U~?[[[[[BZYY i) :IiB@x6;=  ))  ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033394.963165 s, next control iter: 1743033395.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033395.343165 s.<5CI~, %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033395.343292F (some fields omitted in printout)AHz@A?@A,V~? A תA&"AASfhNA"AZAbAjArAzAAAWFQ=AZsAx@A]lAa=A2Aఫ?APA*A9?2A&׽:A=BA9?JA&׽RA=٘i)I9x@YtG JC=JJJJM`E&K YHT~?yRA_Ej7Z7O9)gB[[[:U~?[\ǩ[[[[BZYY i) "r9Ii@`:= W ))W W  ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033395.363165 s, next control iter: 1743033395.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6894&, header.stamp.nsec: 0&0 temperature: 13.568455&* salinity: 33.375004&, density: 1025.000000&* values[0]: 0.578718&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033395.763165 s.4;CI~, %AJ"J*J2J:J&?BJ&?nJY5vJA@As~@A2V~? AުA %"AAnhNA"AZAbAjArAzAAAle AX&sALx@A\Aon=AA ?A^A*A9?2A׽:A<BA9?JA׽RA YT~?y0RA_E7779/B)lBE[[w餿[V~?[ͩ[[[[BZYY i) ր2Iiǐ@*Q9= ))u̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033395.783165 s, next control iter: 1743033396.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033396.183165 s.BCI~,V %AAQ@Auk@A99V~? AA%"AA[xhNA"AZAbAjArAzAAAyEG AsAw@AH䱻Aq=A%A_?A=A&F*A9?2Aֽ:AJh<BA9?JAֽRAJh<٘i)I9w@YG JC=JJJJW`E&K YT~?yQA_E77{7z9)qBE[[m[AV~?[Gԩ[[[[BZYY i) ҺIiď@8= ))ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033396.203165 s, next control iter: 1743033396.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033396.603165 s.64ICI~,& %AJ"J*J2J:J?BJ?nJ/5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743033396.603282F (some fields omitted in printout)A= ף@A7@A7@V~? AAQ%"AAhNA"AZAbAjArAzAAAQWee ASsA6w@A;AT=AA`_1?A`A+*A9?2A^^ֽ:A^=BA9?JA^^ֽRA^=٘i)I96w@YvG JB=JJJJ]`E&K Y"T~?yEiQA_E779)uB[[-[V~?[ک[[[[BZYY i) k&Ii@n6= ))ᄅƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033396.623165 s, next control iter: 1743033397.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6895 , header.stamp.nsec: 0 0 temperature: 13.568693 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.578105 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033397.023165 s.ZPCI~,|A %AA(\@AyB@AGV~? AQA %"AAzhNA"AZAbAjArAzAAA7֯ AdsAv@A7\<Aq =AA?ANhAP*Al9?2AQ5ֽ:Ai=BAl9?JAQ5ֽRAi=٘i)I9v@Y!G JC=JJJJb`E&K YT~?ylQA_E{7{790B){B E[[T[V~?[$[[[[BZYY i) LcIiK@E#6= 0))0義0êYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743033397.043165 s, next control iter: 1743033397.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033397.443165 s.8VCI~,B]\ %AJ"J*J2J:JBJnJvJAz@Aa@AOV~? AA#%"AA.hNA"AZAbAjArAzAAAx A(VZsA"v@Aj<A=AnA=?A*CA1*A9?2A_Oֽ:Ae=BA9?JA_OֽRAe=٘i)I9"v@YG JJJJJg`E&K Y]T~?yPA_E)7b7:9)B[[[V~?[[[[[BZYY i) IiՍ@a5= ^޾))^޾^޾}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033397.463165 s, next control iter: 1743033397.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6896, header.stamp.nsec: 00 temperature: 13.568946* salinity: 33.375023, density: 1025.000000* values[0]: 0.577450F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033397.863165 s.+]CI~,>w %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066168< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743033397.863279F (some fields omitted in printout)A33333@A@A5XV~? AA%"AAhNA"AZAbAjArAzAAA[UH ABuԾsAu@Apx;A]=A0ĊAm?AWA*A9?2Aiֽ:A$<BA9?JAiֽRA$ YT~?y^EPA_E7791B)B!E[[7[$V~?[[[[[BZYY i) )Iix@+3= &վ))&վ&վZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033397.883165 s, next control iter: 1743033398.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033398.283165 s.4RdCI~, %AJ"J*J2J:J?BJ?nJ5vJAQ@AE@A6aV~? A7 AN%"AAhNA"AZAbAjArAzAAA"WGE A:_sAu@A.hGAo=AHA?A@A*A9?2Aֽ:A-<BA9?JAֽRA-<٘i)I9u@Y0G JVJJJJr`E&K YT~?y&OA_Ee92B)B$E[[[,V~?[([[[[BZYY i) 8λIiI@I2= ̾))̾̾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033398.323165 s, next control iter: 1743033398.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6897., header.stamp.nsec: 0.0 temperature: 13.569129.* salinity: 33.375019., density: 1025.000000.* values[0]: 0.576862.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033398.703165 s.ԺjCI~, %AAףp= @A-@AjV~? AAe%"AAhNA"AZAbAjArAzAAAO Y/U~?y=wNA\{_Eb7b794B)B+E[[C[XPV~?[ [[[[BZYY i) )%IiR@5-= Va))VaVaYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033400.003165 s, next control iter: 1743033400.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033400.383165 s.؅CI~,+%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076487< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743033400.383279F (some fields omitted in printout)AQ@A;@AV~? A*2AY$%"AAIiNA"AZAbAjArAzAAA'[NAOsAr@A|,<A =AVvAT?AA *A9?2AAֽ:A=BA9?JAAֽRA=٘i)I9r@YG JcJJJJ`E&K YU~?y%ENA_E7O9)B[[񨌿[ ZV~?[%[[[[BZYY i) 04Ii@A}+= ))ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033400.403165 s, next control iter: 1743033400.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6899", header.stamp.nsec: 0"0 temperature: 13.569475"* salinity: 33.375023", density: 1025.000000"* values[0]: 0.575857"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033400.803165 s.tACI~,og3%AJ"J*J2J:Jk?BJk?nJ5vJAq= #@AVa3 @AV~? AX9AU%"AAiNA"AZAbAjArAzAAAE'̛-A5ıNsA^r@ASv<A'3=Au4qA?AA~*AC9?2AF4ֽ:A =BAC9?JAF4ֽRA =٘i)I9^r@YG JJJJJ`E&K Y/U~?yxLMA_E779)B[[3o[IdV~?[8[[[[BZYY i) n"DIiЄ@!*= ))ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033400.843165 s, next control iter: 1743033401.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033401.223165 s.gCI~,HN%AA(\@A?$Du@AV~? As@A %"AAM$iNA"AZAbAjArAzAAA ,TSAEԤsAq@A&><A6=AkA?A`As*A9?2AJnֽ:Aha =BA9?JAJnֽRAha =٘i)I9q@Y5G JcJJJJ`E&K YA?U~?yS_MA_E7z96B)B/E[[3[nV~?[B[[[[BZYY i) ĝSIi׃@(= ))ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033401.263165 s, next control iter: 1743033401.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033401.643165 s.uЙCI~,*i%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076487< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743033401.643287F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A{@AV~? AyGAŁ%"AA_7iNA"AZAbAjArAzAAABW9A, lsAS^q@A3;A1=A*fA๚?AbJAK*An9?2Aֽ:Ab =BAn9?JAֽRAb =٘i)I9^q@YG JӘJJJJ`E&K YNU~?y[MA_Eb79)B[[[yV~?[C%[[[[BZYY i) cIi @'= ))ʪtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6900, header.stamp.nsec: 00 temperature: 13.569697* salinity: 33.375015, density: 1025.000000* values[0]: 0.575295F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033401.663165 s, next control iter: 1743033402.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033402.063165 s.CI~,N %AAfffff@AjQL@AV~? AjNA\%"AA&KiNA"AZAbAjArAzAAAg{NACT*sAp@A AG=A!aA@o?A A*AF9?2A#׽:AR =BAF9?JA#׽RAR =Y@WIaybF=/t ٓH U?`??Bg?B ?)@ II٘i)I9p@YG JJG<JJJ`E&KLx> Y`U~?yaLAIa_E77j797B)B2E[[y[݄V~?['+[[[[BZYY i) iNrIi^@%= \y))\y\y\ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033402.103165 s, next control iter: 1743033402.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033402.483165 s.y_CI~,%AJ"J*J2J:JBJnJvJA@AE^ӷ@AV~? AEUAr%"AA_iNA"AZAbAjArAzAAA ǬsAqYsA^p@A{nA}=As[AA?A/A'*AH9?2A=׽:A =BAH9?JA=׽RA =٘i)I9^p@YKG J!JJJJ`E&K YrU~?yh:LA_EZ7SI7:9)B5E[[遁[eV~?[1[[[[BZYY i) Ii@#= g))gg[ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033402.503165 s, next control iter: 1743033402.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6901, header.stamp.nsec: 00 temperature: 13.569847* salinity: 33.375011, density: 1025.000000* values[0]: 0.574730F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033402.903165 s.ȭCI~,͹%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076487< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033402.903293F (some fields omitted in printout)A ףp=@A9}=_#@AV~? A\A%"AAtiNA"AZAbAjArAzAAANAzsAo@AmUAJ=AVA` ?A`Ax*A9?2A׽:AE =BA9?JA׽RAE =٘i)I9o@YG JB=JJJJ`E&K YU~?yzoKA`E779)B[[dž~[PV~?[6[[[[BZYY ih~) \Ii}@o!= U))UU`ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033402.943165 s, next control iter: 1743033403.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033403.323165 s.tCI~,%AJ"J*J2J:J?BJ?nJ45vJA\@A'ێ@AV~? AbAMj%"AAiNA"AZAbAjArAzAAA(pb|Ac˙sAKUo@AXA=AQA?A sAAl*A9?2Aֽ:AR =BA9?JAֽRAR =٘i)I9Uo@YG J2C=JJJJ`E&K YU~?yCvqKA `E)7)7e99B)B9E[[z[V~?[<[[[[BZYY i) @Iiz@Ί = pC))pCpC֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033403.363165 s, next control iter: 1743033403.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6902&, header.stamp.nsec: 0&0 temperature: 13.570055&* salinity: 33.375019&, density: 1025.000000&* values[0]: 0.574193&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033403.743165 s.'WCI~,%AAGz@Aj@AW~? AIiA%"AAiNA"AZAbAjArAzAAAY[!AzdGősAgn@Ah.;A=ALA@1?A A`*A<9?2AJֽ:A=BA<9?JAJֽRA=٘i)I9n@YTG JB=JJJJ`E&K  9YU~? 9y } KA`E9)ïB[[Cu[BV~?[YB[[[[BZYY i) Iix@V= 1))11تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033403.783165 s, next control iter: 1743033404.143187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743033404.163165 s.r}CI~,q %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743033404.163272F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ae@A.W~? AoA*i%"AA9iNA"AZAbAjArAzAAADO/1A+{sA6n@Azb<A=AGA@hZ?A@A*㰼*A9?2A"ֽ:A=BA9?JA"ֽRA=Y$@@Gy=h+c<ٓH ?`M}?Zw?`f? O?:?)$@ I٘i)I96n@YG JC=J&L<JJJ`E&Kw> YU~?y:JA@G`E779:B)ȯB*A9?2A"3ֽ:A+=BA9?JA"3ֽRA+=٘i)I9m@YG JJJJEJ`E&K YU~?yh6JA`Eb77%9;B)ίB?E[[[l[^V~?[M[[[[BZYY i) yIir@=  ))  $ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033404.603165 s, next control iter: 1743033404.983185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6903, header.stamp.nsec: 00 temperature: 13.570242* salinity: 33.375061, density: 1025.000000* values[0]: 0.573557F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033405.003165 s.J "J *J 2J :J ?BJ ?nJ 5vJ y CI~,P4@%AAp= W@Af<@Ai1W~? Ap|Ao%"AAbiNA"AZAbAjArAzAAAU?,AsBsAm@A;A૤=A<A S?AA"*A,9?2Aֽ:A;}=BA,9?JAֽRA;}=٘i)I9m@YCG JӴJJJJ`E&K Y6U~?yIA`E7 9)үB[[g[V~?[S[[[[BZYY i) /ﭼIio@= g))gg\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033405.023165 s, next control iter: 1743033405.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033405.423165 s.#uCI~,[%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743033405.423298F (some fields omitted in printout)A(\@Ax@A%BW~? AA%"AAijNA"AZAbAjArAzAAAީ߿AbsAypl@ApA'=AM7Aa?AA*A9?2Aeֽ:As=BA9?JAeֽRAs=٘i)I9pl@YG J&B=JJJJ`E&K YPU~?yĕ_IA$`EZ7Z7P9 Yj#V~?ytHA0-/`E{7{9=B)BFE[[YZ[W~?[;c[[[[BZYY i) #ļIilf@x= J))JJ(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033406.303165 s, next control iter: 1743033406.663174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 69052, header.stamp.nsec: 020 temperature: 13.5706622* salinity: 33.3750652, density: 1025.0000002* values[0]: 0.5722562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033406.683165 s.J "J *J 2J lCI~:J?BJ?,%AnJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743033406.683295F (some fields omitted in printout)AQ@A.o@AvW~? A|A%"AA'PjNA"AZAbAjArAzAAALti?AtJsA`j@ARAF=A'AY?A Aά¼*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9j@YG J2JJJJ`E&K Yi9V~?y HA4`EZ7SI79>B)BIE[[OU[W~?[wh[[[[BZYY i) 7m˼Iib@4/= @K))@K@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033406.683165 s, next control iter: 1743033407.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743033407.103165 s.CI~,%AA= ףp@AeV@A W~? A6Af$%"AAkjNA"AZAbAjArAzAAA A?A:nsAki@A:A=A6"A@?AzA|˼*Am9?2AoUֽ:A<=BAm9?JAoUֽRA<=٘i)I9i@YdG JƼJJJJ`E&K YhOV~?ywGA9`E{7j79)B[[8Q[+&W~?[m[[[[BZYY i) ҼIi_@#= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033407.123165 s, next control iter: 1743033407.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033407.523165 s.CI~,{%AJ"J*J2J:JBJnJvJA(@A|\@AW~? AԟA%"AAjNA"AZAbAjArAzAAAeR ?AH>sAGi@At3<A3o=AUA,?A#A=BԼ*A9?2Aaս:A=BA9?JAaսRA=٘i)I9Gi@Y G JϼB=JJJJ`E&K YjeV~?y%GA dD?`E77{7;!9@B)BME[[L[5W~?[r[[[[BZYY i) !ڼIi\@DV = c))ccYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033407.543165 s, next control iter: 1743033407.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6906, header.stamp.nsec: 00 temperature: 13.570888* salinity: 33.375061, density: 1025.000000* values[0]: 0.571554F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033407.943165 s.VdCI~,:]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033407.943279F (some fields omitted in printout)AzG@Aӿ$-@AW~? ASAH%"AAjNA"AZAbAjArAzAAAf].VQ?At7sALh@AVLu<A=AAOT?A߿A]ټ*A#9?2Aս:A=BA#9?JAսRA=٘i)I9h@Y G JּC=JJJJ`E&K Yh{V~?y{FAD`Eŧ7b7$9)BPE[[H[EW~?[w[[[[BZYY i) JIihZ@ = ;));;OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033407.983165 s, next control iter: 1743033408.343175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033408.363165 s.J "J *J 2J :J 7?BJ 7?nJ Q5vJ DI~,>%AA3333@A>@AW~? AA%"AA#jNA"AZAbAjArAzAAA*S}mT?A@_YtAg@A6<Az=AgA?A޿Aڼ*A9?2A:ֽ:A=BA9?JA:ֽRA=Y@&yw=87<ٓH?`Ol? t?OT?o`gφ?Z?)@ I٘i)I9g@Y G JIڼJ%)<JJJ`E&Kw> YV~?yC7FA&I`Eb77f(9AB)BSE[[CnC[VW~?[|[[[[ZZ¸BZYY i¸ի=) <>ռIi3V@ = 3<))3<3<mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033408.403165 s, next control iter: 1743033408.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6907&, header.stamp.nsec: 0&0 temperature: 13.571127&* salinity: 33.375080&, density: 1025.000000&* values[0]: 0.570774&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033408.783165 s.S DI~,2%AAQ@AI+@AW~? AAv%"AAjNA"AZAbAjArAzAAA@'?ABζtA$g@A <:A7=AU A ?A`2#޿Azؼ*A~9?2A[ֽ:A1N=BA~9?JA[ֽRA1N=٘i)I9$g@Y G J'ڼJJJJ`E&K YV~?y EAO`E777+9)B[[?>[fW~?[[[[[ZZBZYY i) 2ɼIi`R@,= #=)) #=#=>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033408.803165 s, next control iter: 1743033409.183177 s, wait time: 0.380012 s&V~?)&  rAdjusting time to match Gazebo time: 1743033409.203165 s.DI~,M%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033409.203269F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@A2%p@AW~? AA{%"AAjNA"AZAbAjArAzAAAq=?A0tAb[f@AٺA=A AD?A`t^ݿAz*A9?2Aս:APx<BA9?JAսRAPx<٘i)I9[f@Y3 G JJJJJ`E&K YkV~?yŪDEAT`Eb77/9BB)BVE[[2:[wW~?[^[[[[ZZBZYY i) &IiN@o= m=))m=m=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033409.223165 s, next control iter: 1743033409.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033409.623165 s.VDI~,Xg%AA)\@AĬ@AHW~? AA%"AAkNA"AZAbAjArAzAAAR?AJ(M tAe@AqtA =AeAp?AOܿAX*A9?2A]ս:AJ<BA9?JA]սRAJ<٘i)I9e@Y G J JJJJaE&K YV~?yʪDAZ`E77{7&39)BZE[[k5[W~?[[[[[ZZBZYY i) IiK@y= +=))+=+=y%}=_ѪY|2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033409.643165 s, next control iter: 1743033410.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6908 , header.stamp.nsec: 0 0 temperature: 13.571374 * salinity: 33.375103 , density: 1025.000000 * values[0]: 0.569932 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033410.043165 s. DI~,Â%AJ"J*J2J:J?BJ?nJ5vJA{Ga@A ~1G@AX~? AAIN%"AA:kNA"AZAbAjArAzAAAw/?ArrtAWd@AXAr=AvAK?ABۿAGF*A9?2A~ս:AR<BA9?JA~սRAR<٘i)I9d@Y0 G JJJJJ aE&K YV~?ybϪPDA_`E7769CB)B]E[[o0[W~?[[[[[ZZBZYY i) Ii1I@= `=))`=`=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033410.063165 s, next control iter: 1743033410.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033410.463165 s.O'DI~,ʤ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743033410.463261F (some fields omitted in printout)A@A @A(X~? AëAr%"AA@ZkNA"AZAbAjArAzAAA@A`tAc@A5fA~@.=AqA?A9ۿAx_μ*Aq9?2Aս:A;BAq9?JAսRA;Y@y?.=)ٓH>s?h/?@?`+ݿ z? ܎`Pƥs}?)@ I٘i)I9c@Y G JJJJJaE&Kjv> Y W~?yhӪDAd`Eb77Q:9DB)$B^E[[7,[^W~?[<[[[[ZZBZYY i =) FIiD@< =))A{==tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033410.483165 s, next control iter: 1743033410.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6909, header.stamp.nsec: 00 temperature: 13.571680* salinity: 33.375103, density: 1025.000000* values[0]: 0.569032F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033410.883165 s.y-DI~,4%AJ"J*J2J:JBJnJvJAQ8@Aۋh;@A[=X~? ACȫA*%"AAUzkNA"AZAbAjArAzAAAr@AhtASc@A߻;A<A8A Ie?A WڿAW*A)9?2A8ֽ:A¬BA)9?JA8ֽRA¬٘i)I9Sc@YZ G JJJJJaE&K Y$W~?ynתCAj`Eŧ7b7=9)*BaE[['[W~?[[[[[ZZBZYY i) Ii@@#< >)) >>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033410.903165 s, next control iter: 1743033411.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033411.303165 s.[4DI~,g%AAq= ף@Ahlj@ASX~? A̫A<%"AAkNA"AZAbAjArAzAAAR( @A^=#DtAb@AwuT<AQ]<A ޾A˭?AUٿAH$*A)9?2AԽ:A- BA)9?JAԽRA- ٘i)I9b@Y G J6JJJJaE&K YH=W~?yt۪CAo`E7777{A9EB).BdE[["[#W~?[[[[[ZZBZYY i) Ii=@s< >))>>^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033411.323165 s, next control iter: 1743033411.703178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 69102, header.stamp.nsec: 020 temperature: 13.5718772* salinity: 33.3751112, density: 1025.0000002* values[0]: 0.5683512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033411.723165 s.;DI~,H%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743033411.723289F (some fields omitted in printout)A(\@ANG@AhX~? AѫA~%"AAkNA"AZAbAjArAzAAAf7D@AA2 tAob@AU<A}NۻA<ӾA@e?AؿAP4*A69?2ALԽ:A^mBA69?JALԽRA^m٘i)I9ob@Y G J=eJJJJaE&K YtVW~?yzߪfCAt`E{7Z7E9)2BgE[[[W~?[N[[[[ZZBZYY i=) tsIi9@< +>))+>+>yn=d(Yu YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033411.763165 s, next control iter: 1743033412.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033412.143165 s.T/BDI~,) %AAGz@A5`@A*X~? AAիA%"AAZkNA"AZAbAjArAzAAAJ%, @Aip}xtA3b@A;AAɾA -?A׿Aꈺ*AP9?2A ս:A[BAP9?JA սRA[٘i)I93b@Y G JJJJJ$aE&K YoW~?y+CAz`E777H9)4B[[T[aW~?[[[[[ZZBZYY i) Q^Ii6@< P>>))P>>P>>yP=5)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033412.163165 s, next control iter: 1743033412.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033412.563165 s.HDI~,F $%AJ"J*J2J:JBJnJvJAffff@AGT@AX~? AP٫AIB%"AA5kNA"AZAbAjArAzAAA{ 5 @AtAb@AAPAAh?A`W-׿A|]*Ab9?2A ս:AмBAb9?JA սRAмY@ryPӓٓH?b?H]׿j?쾐?B ?wr`a?)@ I٘i)I9b@Y G JlJ8JJJ)aE&KRs> YW~?yYCAr`Eŧ7ŧ7;L9FB)5BjE[[3[ X~?[[[[[BZYY i)k=) CLIiE2@0< Q>))xQ>Q>y%=5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033412.603165 s, next control iter: 1743033412.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6911, header.stamp.nsec: 00 temperature: 13.571963* salinity: 33.375122, density: 1025.000000* values[0]: 0.568025F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033412.983165 s.ODI~,>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242748> elevatorAngleAction: 0.057413< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743033412.983296F (some fields omitted in printout)AQ@Ay7@AcX~? A<ݫA6%"AAt!lNA"AZAbAjArAzAAAw[]@AcXqW!tA"b@A%rRAI6AlYA`?A\ֿAt:v;*Aε9?2Aս:AXBAε9?JAսRAX٘i)I9"b@Y G Jk:JJJJ.aE&K YOW~?yCA`E7777O9)mE[[[pX~?[{[[[[BZYY i<=) ;Ii.@< pd>)) pd>pd>y}٩=t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033413.003165 s, next control iter: 1743033413.383183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033413.403165 s.&VDI~,Y%AJ"J*J2J:JBJnJvJA ףp@A _@AbX~? AA%"AADlNA"AZAbAjArAzAAA5[mE@AԂRn#tAKb@AJ&oA׽[A`BA ?AрտAx <*A9?2AHӽ:AJBA9?JAHӽRAJ٘i)I9Kb@Y G J};JJJJ4aE&K YW~?y+CA`E7fS9)4BpE[[ [2X~?[Y[[[[BZYY i) **Ii<*@p< w>))w>w>y;d=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033413.423165 s, next control iter: 1743033413.803184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6912", header.stamp.nsec: 0"0 temperature: 13.571834"* salinity: 33.375122", density: 1025.000000"* values[0]: 0.568098"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033413.823165 s.\DI~,Bt%AA\(@A7@AX~? AAv`%"AA glNA"AZAbAjArAzAAAvL_@A?%tAKb@A3^A}>xAA`?A;ԿAs<<*A9?2Aj=Խ:ABA9?JAj=ԽRA٘i)I9b@Y G J"<JJJJ9aE&K YW~?ydCA`E)7b7V9HB)tE[[E[FX~?[[[[[BZYY i) Ii&@< >))>>yڹ= *Y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033413.843165 s, next control iter: 1743033414.223181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033414.243165 s.cDI~,i%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067499< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743033414.243280F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@ALRbz@AX~? A"A%"AAlNA"AZAbAjArAzAAA{@AR'tAub@Ax4:AAcA`H?AӿAc<*A,9?2AԽ:AL BA,9?JAԽRAL ٘i)I9b@Y G JO<JJJJ>aE&K YWW~?yDA`ES7S7Z9IB)1BwE[[o[[X~?[ʸ[[[[BZYY i) 6fIi#@< A>))A>A>ͷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033414.283165 s, next control iter: 1743033414.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033414.663165 s.jDI~,q%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6913, header.stamp.nsec: 00 temperature: 13.571590* salinity: 33.375141, density: 1025.000000* values[0]: 0.568512F (some fields omitted in printout)A@Aw@A Y~? AyA%"AA:lNA"AZAbAjArAzAAA F@A''*tAMc@A1<AoAA X{?AZҿA<*A9?2Aս:A; BA9?JAսRA; YiK@ymU2<ٓH? >? X @ѿ@?? ?4?'?)iK@ I٘i)I9Mc@YW G J s<JJJJDaE&Kt> YX~?yqDA`E{7j7&^9).B[[P[pX~?[J[[[[BZYY i m=) !Ii @ϖ< Θ>))uΘ>Θ>%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033414.683165 s, next control iter: 1743033415.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033415.083165 s.DqDI~,S%AJ"J*J2J:JBJnJvJARk@ATkQ@A!Y~? AA%"AAHlNA"AZAbAjArAzAAA$3@AfG+tAc@Al<ACAd&AT?A ҿAڐ<*AB9?2A*ս:A BAB9?JA*սRA ٘i)I9c@Y G J<JJJJIaE&K Y)X~?y_DA`E77a9)+BzE[[[X~?[[[[[BZYY i) wѻIi@T< o>))}ބo>o>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033415.123165 s, next control iter: 1743033415.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033415.503165 s.wDI~,@4%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259510> elevatorAngleAction: 0.057874< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743033415.503328F (some fields omitted in printout)Ap= @A a@A9Y~? AA[%"AAlNA"AZAbAjArAzAAA$KA@Am-tAJAd@A*<AARnA8?A0ѿA<*A9?2A*Խ:A BA9?JA*ԽRA ٘i)I9Ad@Y G J<B=JJJJOaE&K YDX~?y3EA`E{7j7Qe9)'B}E[[[X~?[ê[[[[BZYY i) ʲIi@< )$>)) )$>)$>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033415.543165 s, next control iter: 1743033415.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6914, header.stamp.nsec: 00 temperature: 13.571293* salinity: 33.375145, density: 1025.000000* values[0]: 0.569083F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033415.923165 s.7~DI~,%AJ"J*J2J:JBJnJvJA(\B@Aw~(@A"RY~? AA!%"AA]mNA"AZAbAjArAzAAAy? @ADS/tAd@Aq:AmAb[AV?A rXпA_<*A9?2Aӽ:A BA9?JAӽRA ٘i)I9d@YA G J<C=JJJJTaE&K Y`X~?y"EA`E77h9SB),BE[[6ܾ[X~?[4ƪ[[[[BZYY i) Ii7@o< >))>>y^m=a*Y) YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033415.963165 s, next control iter: 1743033416.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033416.343165 s.)) > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033416.383165 s, next control iter: 1743033416.743175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6915*, header.stamp.nsec: 0*0 temperature: 13.570906** salinity: 33.375164*, density: 1025.000000** values[0]: 0.569827*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033416.763165 s.6DI~,0%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057874< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743033416.763290F (some fields omitted in printout)A@A@ALY~? AA%"AAemNA"AZAbAjArAzAAANj\@A[`2tAf@AjA˛A3AU?A>:ͿAc<*A:?2A3gԽ:A{ BA:?JA3gԽRA{ Y|@1ypkٓHm?{E?l`ƿ`0?؛?DN?`[X@?)|@ I٘i)I9f@Y G JB<JAJJJ_aE&KBs> YX~?y ]FA1`Ej7j7p9)#BE[[Ⱦ['X~?[6̪[[[[BZYY i) .Ii< @!9< q>))sq>q>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033416.803165 s, next control iter: 1743033417.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033417.183165 s.˒DI~,cK%AAQ@Ak@A Y~? A^AC%"AAmNA"AZAbAjArAzAAAoZh@AW4tAf@ADA薽A:A`z?A`so˿A<<*A:?2Aս:ABA:?JAսRA٘i)I9f@Y\ G J'<JJJJdaE&K YX~?yFA`E77s9)BE[[i侾[X~?[Ϫ[[[[BZYY ia=) Ii@< M;>))DM;>M;>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033417.223165 s, next control iter: 1743033417.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033417.603165 s.;4DI~,f%AJ"J*J2J:J?BJ?nJ.5vJA= ף@AD@AY~? AA V%"AA԰mNA"AZAbAjArAzAAA*@ASD5tAm6g@A)YAvA( AA?AɿA!<*A-:?2Aӽ:A=>BA-:?JAӽRA=>٘i)I96g@Y G J<B=JJJJiaE&K YX~?y,GA`E77{7)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033417.623165 s, next control iter: 1743033418.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6916 , header.stamp.nsec: 0 0 temperature: 13.570479 * salinity: 33.375210 , density: 1025.000000 * values[0]: 0.570647 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033418.023165 s.ZDI~, |%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743033418.023307F (some fields omitted in printout)A(\@A6B@AFY~? AA*%"AAmNA"AZAbAjArAzAAAB"@Ap%7tAg@A4;AEAAq?AǿA_<*A4:?2AԽ:ABA4:?JAԽRAI٘i)I9g@Y G Jj<C=JJJJoaE&K YX~?yGA`E77z9)BE[[y[p!Y~?[LԪ[[[[BZYY i) (y8IiC?< = >))= >= >*YcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033418.063165 s, next control iter: 1743033418.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033418.443165 s.7æDI~,>]%AJ"J*J2J:J/?BJ/?nJI5vJAz@Ak@AY~? AA%"AA mNA"AZAbAjArAzAAALs.T@A';8tAUIh@Ad<A AA ?AſA<*A?5:?2AԽ:ABA?5:?JAԽRA9٘i)I9Ih@Y_ G Jѝ<B=JJJJtaE&K Y[Y~?y GA`E{7g~9)BE[[a[8Y~?[֪[[[[BZYY i) :Ii?'< U >))U >U >yxy=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033418.483165 s, next control iter: 1743033418.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6917, header.stamp.nsec: 00 temperature: 13.570082* salinity: 33.375191, density: 1025.000000* values[0]: 0.571432F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033418.863165 s.+DI~,>%AA33333@A>@AZ~? AA%"AAp#nNA"AZAbAjArAzAAAAP@AgxUW9tA|h@A`kZ<AAA?A !ĿA<*Aa4:?2A$ս:AjBAa4:?JA$սRAjY@×y Z<ٓH`X?j?)E`C鲿T??.`?7M? ?)@ I٘i)I9h@Y G J(<C=J<JJJzaE&Ks> Y"Y~?yXHA×`E)7ŧ79RB) BE[[i1[#PY~?[ ٪[[[[BZYY i) {;Ii?S< M>))rM>M>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033418.883165 s, next control iter: 1743033419.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033419.283165 s.4RDI~,%AJ"J*J2J:J^?BJ^?nJ{5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237036> elevatorAngleAction: 0.066649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743033419.283282F (some fields omitted in printout)AQ@Av@A{Z~? A7A%"AAJnNA"AZAbAjArAzAAA+C @Ai1Z:tABi@A`?;A҆AZA2?A@L¿A-<*A2:?2ATս:A!hBA2:?JATսRA!h񼙘٘i)I9Bi@Y G J<JJJJaE&K Y>Y~?ynHA`E779)BE[[9[gY~?[3۪[[[[BZYY i) Q>;Ii?)< Ps?)) pPs?Ps?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033419.323165 s, next control iter: 1743033419.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6918., header.stamp.nsec: 0.0 temperature: 13.569744.* salinity: 33.375217., density: 1025.000000.* values[0]: 0.572096.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033419.703165 s.׺DI~,%AAףp= @AI+@A4Z~? AA%"AApnNA"AZAbAjArAzAAA @AE% C;tAki@AAAaAR A-?AbAخ<*AR:?2A7ӽ:AMBAR:?JA7ӽRAM٘i)I9i@YBG J(<JJJJaE&K YZY~?y IA`E{7j7'9)BE[[q*[Y~?[<ݪ[[[[BZYY i) U|;Ii?R< z?)) z?z?o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033419.743165 s, next control iter: 1743033420.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033420.123165 s.:DI~,i%AJ"J*J2J:JBJnJvJA)\u@A([@AMZ~? A A΀%"AAnNA"AZAbAjArAzAAAO̱z!@A elevatorAngleAction: 0.075395< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743033420.543326F (some fields omitted in printout)A{G@Av2@AgZ~? A: Ag%"AAnNA"AZAbAjArAzAAA7z3 "@A#oH YyY~?y) JA<`E{7Z79)B[[ I[Y~?[}[[[[BZYY i) -;Ii?>@|< X?))!IrX?X?ѱ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033420.983165 s, next control iter: 1743033421.363176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033421.383165 s.DI~,'X%AAQ@A^c@@AtZ~? A A?%"AA$ oNA"AZAbAjArAzAAAS!8Q#@A 5Y=tAk@Ak;ALGAo<=A`m?AAB<<*AF:?2Aս:A BAF:?JAսRA ٘i)I9k@YcG JL<C=JJJJaE&K YY~?y vJA`E{7|9QB)BE[[#15[Y~?[[[[[BZYY i) i;Ii?3p< ?))DK??yM=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033421.403165 s, next control iter: 1743033421.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6920", header.stamp.nsec: 0"0 temperature: 13.569025"* salinity: 33.375240", density: 1025.000000"* values[0]: 0.573406"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033421.803165 s.xADI~,gs%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256434> elevatorAngleAction: 0.075395< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743033421.803294F (some fields omitted in printout)Aq= #@A~ @ArZ~? A AP0%"AA~4oNA"AZAbAjArAzAAA}oS#@Ah`>tAl@AL;<AeA=A`{?A1A!m~<*A}a:?2Aqӽ:ABA}a:?JAqӽRA٘i)I9l@YG Js<JJJJaE&K YY~?y JA`E7779)BE[[ [vY~?[A[[[[BZYY i) Mj tAnl@A0m<A~Ay=A?A ֤AD<*Aa:?2AԽ:AjIBAa:?JAԽRAjI٘i)I9nl@YG Jb~<JJJJaE&K Y3Z~?y| %KA`Eb779)BE[[C [Z~?[k[[[[BZYY i) tA*l@A!<A;qAy=A@?AA_<*A[:?2AaԽ:ABA[:?JAaԽRA٘i)I9l@Y(G J-<JJJJaE&K Ys Z~?yB }KAaE)7ŧ7<9PB)BE[[{[$-Z~?[m[[[[BZYY i) e, elevatorAngleAction: 0.075395< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743033423.063296F (some fields omitted in printout)Afffff @APL @A[~? A A-%"AAoNA"AZAbAjArAzAAA %@AJ ?tAGOm@A_#8AwA,>Ah?A@ Al<*AS:?2AEԽ:ABAS:?JAEԽRAY"@K+>yw#8ٓH ? `?`?G?`k?v?)"@ I٘i)I9Om@YnG J<JOJJJaE&Kr> YzaEb77ҥ9)BE[[`Ž[^FZ~?[D[[[[BZYY i) !=<A?ASc?A0<*AL:?2AԽ:A4 BAL:?JAԽRA4 ٘i)I9m@YG J<JJJJaE&K YXZ~?y;LA aEg9OB)BE[[f蛽[_Z~?[[[[[BZYY i) KA6?A4?AH<*A[g:?2Aqӽ:A BA[g:?JAqӽRA ٘i)I9Jn@YG J<JJJJaE&K YtZ~?yLAaE{7{79)ݯBE[[-d[yZ~?[|[[[[BZYY i) [ elevatorAngleAction: 0.075395< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743033424.323267F (some fields omitted in printout)J"J*J2J:JBJnJvJA\ @ABގ @AQ[~? A A1%"AA!pNA"AZAbAjArAzAAA\'@AM>tAn@A >AǓAj<>A?AtA;To@A)A|KAzQ>A?A@է?A<*Ab:?2ATԽ:A8 BAb:?JATԽRA8 ٘i)I9To@YG J<B=JJJJaE&K YZ~?yXMAaEb77'9)ԯB[[>tAMo@AG;AfAf>A`Yw?A-^?Aқ<*AX:?2Ab?ս:A BAX:?JAb?սRA Y@;Zf>ydo;ٓH~? ̿@ y?M0??ۨ??)@; I٘i)I9o@YG J><C=J2PJJJaE&KTs> YZ~?yMAZf> aEZ7SI79)ϯBE[[@;[Z~?[[[[[BZYY i) 4 elevatorAngleAction: 0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033425.583283F (some fields omitted in printout)AR @A2uWv @A[~? A A3%"AApNA"AZAbAjArAzAAAd9|)@AwD=tAO[p@Axd<AUAAk?Aw?A <*AM:?2Aս:A BAM:?JAսRA ٘i)I9[p@YIG J<JJJJaE&K YZ~?y%NA%aE77R9MB)ʯBE[[i<[Z~?[[[[[BZYY i) A^?A i?A*Ǣ<*Ad:?2Aӽ:AsBAd:?JAӽRAs٘i)I9p@YG J@<JJJJaE&K Y&Z~?yNA+aEŧ7b79)ƯBE[[TB=[Z~?[[[[[BZYY i) .AN?A 1?A<*A`:?2Aӽ:ApBA`:?JAӽRAp٘i)I9lq@YG JH<B=JJJJaE&K Y[~?yNA0aEb77}9LB)B¹E[[]=[[~?[,[[[[BZYY i) 0 elevatorAngleAction: 0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743033426.843343F (some fields omitted in printout)AHz. @A3K @A[~? AAnm%"AA qNA"AZAbAjArAzAAAmS+@A;tAr@A/AkA >A;?A {?AX<*AaW:?2Aӽ:ABAaW:?JAӽRA٘i)I9r@YJG J<C=JJJJaE&K Y46[~?yXOA5aE)7ŧ79KB)BŹE[[z=[.1[~?[[[[[BZYY i) yA@&?A@_?AV<*AM:?2AUԽ:ABAM:?JAUԽRAY*#= :>y#9bYٓH9?XԿX?`3V?׋@?@?)*#= I٘i)I9r@YG J<JɖJJJaE&K#s> YP[~?y#OA:> eD;aE7779)BȹE[[d=[qK[~?[[[[[BZYY i) s@A\dApAp>A`?A@?AqB<*AD:?2A:Խ:AݽBAD:?JA:ԽRAݽ٘i)I9>s@Y G J<JJJJaE&K Yk[~?yT9PA@aEb77=9)B[[>[e[~?[[[[[BZYY i) p elevatorAngleAction: 0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033428.103302F (some fields omitted in printout)A= ףp@A#.V@Ac:\~? AA%"AA]qNA"AZAbAjArAzAAA:%-@A>B8tAis@AAOwA>A ?A@?A=<*AX:?2Aӽ:A2BAX:?JAӽRA2٘i)I9s@YpG J<JJJJaE&K Yn[~?yPAFaE9JB)B˹E[[>[}[~?[[[[[BZYY i) ʸ ; 3p?)) 3p?3p?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033428.143165 s, next control iter: 1743033428.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033428.523165 s.GEI~,$|!%AJ"J*J2J:J?BJ?nJ'5vJA(@A<@AS\~? AA%"AAqNA"AZAbAjArAzAAA$+--@A#7tAJt@A K;Am;A->A?Aİ?A ?<*A.S:?2AԽ:ABA.S:?JAԽRA٘i)I9t@YG Ju<JJJJaE&K Y-[~?yQAKaEh9GB)B͹E[[}z2>[2[~?[ [[[[BZYY i)  #%; zu?))zu?zu?h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033428.563165 s, next control iter: 1743033428.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6927, header.stamp.nsec: 00 temperature: 13.566418* salinity: 33.375343, density: 1025.000000* values[0]: 0.578407F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033428.943165 s.XdNEI~,B]<%AAzG@A *-@A m\~? AA %"AATqNA"AZAbAjArAzAAAF4[X.@A96tA9/u@AKB<AA]>A@?A]?A/<*A5K:?2AwYս:A]BA5K:?JAwYսRA]٘i)I9/u@Y:G J<JJJJaE&K Y[~?yQAPaE{7{79FB)BйE[[MH>[[~?[[[[[BZYY i) {ɯm; .3{?)).3{?.3{?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033428.983165 s, next control iter: 1743033429.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033429.363165 s.UEI~,}>W%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743033429.363265F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A!@A)\~? AA4%"AAqNA"AZAbAjArAzAAA&|{.@Az)fD5tA~u@A k<A⹱A8@>A`p?AR?AE<*AC:?2Aս:An1BAC:?JAսRAn1YR>>y)l<ٓH` ? uڿ/SJ?("?`/?~{?S?)R> I٘i)I9u@YG J2<J4JJJbE&Kt> Y[~?yIRA>VaEj7Z79@B)BӹE[[`^>[Y[~?[[[[[BZYY i) b`%>; T?))YxT?T?**YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743033429.383165 s, next control iter: 1743033429.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6928&, header.stamp.nsec: 0&0 temperature: 13.565981&* salinity: 33.375370&, density: 1025.000000&* values[0]: 0.579265&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033429.783165 s.W[EI~,r%AAQ@A@A"\~? AA|`%"AA}rNA"AZAbAjArAzAAAQ?0/@A-`23tAuv@A<APAFs>A`u?A?Av<*A::?2Aս:ABA::?JAսRA٘i)I9v@YG J~<JJJJbE&K YQ[~?y{RA[aE77(9)B[[it>[[~?[ު[[[[BZYY i)  +-; '?)) '?'?\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033429.823165 s, next control iter: 1743033430.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033430.203165 s.cEI~,%AJ"J*J2J:JBJnJvJAףp=@AXc'p@A\~? AA%"AA:ArNA"AZAbAjArAzAAAԫbI0@AsZG6Q2tA82w@A*.%AA5>AqP?A?A<*AM:?2AԽ:ABAM:?JAԽRA٘i)I92w@YsG Jo<JJJJ bE&K Y \~?yRA`aE77779?B)BֹE[[O>[i\~?[ܪ[[[[BZYY i) O$ܿ: ۅ?))ۅ?ۅ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033430.243165 s, next control iter: 1743033430.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033430.623165 s.XiEI~,a%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033430.623287F (some fields omitted in printout)A)\@Az@A\~? AiA%"AAfrNA"AZAbAjArAzAAAZ0@A.Ns0tAw@A'AgA>A)?Al?A\%<*AF:?2A:Խ:Al BAF:?JA:ԽRAl ٘i)I9w@YG J<JJJJbE&K Y"\~?ygݪiSAfaE{7{7R9)BٹE[[>[ \~?[ڪ[[[[ZZZZ¸>BZYY i¸>ܪ) $B)yBܹE[[S>[:\~?[ت[[[[ZZZZBZYY i) %?y{`M7ٓH`?@ ,@q?ٱ?Ơ֨?Ԇ?)> I٘i)I9sy@YG J2<B=Jנ;JJJbE&Ku> YT\~?y]ժUTA?paE)7ŧ7~9=B)rB߹E[[>[T\~?[Wժ[[[[ZZZZBZYY i) 3[n\~?[{Ҫ[[[[ZZZZBZYY i) Dp?A[?A<*ASf:?2A Խ:AVBASf:?JA ԽRAV٘i)I9&{@YG J.<JJJJ&bE&K Y\~?y̪>UA{aEZ7Z79:B)`BE[[#}>[3\~?[jϪ[[[[ZZZZBZYY i) T?A74?A<*Ag:?2ADս:AN8BAg:?JADսRAN8٘i)I9{@YNG J<JJJJ+bE&K Y\~?y ȪUAaE777=99B)ZBE[[C>[]\~?[%̪[[[[ZZZZBZYY i) c[r\~?[Ȫ[[[[ZZZZBZYY i) |re ?yR ;ٓH@?7ln@??JQ`|?`[`v?@?)L> II٘i)I9|@YG J<J9>JJJ6bE&K3v> Ya\~?y3VAe ?aE{7h9)PB[[;>[ \~?[ Ū[[[[ZZZZBZYY iL) 5VAaE7797B)LBE[[#U>[\~?[2[[[[ZZZZBZYY i ) ȇk[J ]~?[$[[[[ZZZZBZYY i) Wx@A]~? A˫A%"AA/tNA"AZAbAjArAzAAAF>2Ռ3@AbAtAx}@A{{;A\=A:?A`b?A ?A[*A:6:?2Aս:A=BA:6:?JAսRA=Y?g+:?yL\={;ٓH?@Dd?`#>? ? ڠ? ``po? ?)? I٘i)I9}@YSG JJ>JJJQbE&Khu> Y;>]~?yVA+:?aE{7j7S91B)E[[ ?[U]~?[ϯ[[[[BZYY ig) B8 (@A'^~? AA %"AAqtNA"AZAbAjArAzAAA`\j4@Aiҵ tA^|@AUm<A=AЎI?A?A@N?A?*A5:?2Aս:Asa=BA5:?JAսRAsa=٘i)I9|@YG JCJJJJabE&K Y}]~?yd9UAaE77779/B)KBE[[?[u]~?[[[[[BZYY i) ;IH?i+ ۻ r?))r?r?yz&h'ȪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033436.943165 s, next control iter: 1743033437.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033437.343165 s. tA|@AJ1xAC=A=N?A ł?A?A;*A3:?2AENֽ:A=BA3:?JAENֽRA=٘i)I9|@YdG J*JJJJfbE&K Y]~?yTAaEj7j79+B)E[[$?[B]~?[P[[[[BZYY i) kn;IgH?i4i Ե?))Ե?Ե?y̤ΪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033437.363165 s, next control iter: 1743033437.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6936&, header.stamp.nsec: 0&0 temperature: 13.563696&* salinity: 33.375469&, density: 1025.000000&* values[0]: 0.583356&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033437.763165 s.5EI~,p%AJ"J*J2J:JV?BJV?nJ5vJA@A(r@AP^~? AA0%"AAtNA"AZAbAjArAzAAA6Y4@A%_tAT{@Ac/A4=AWT?A@g5?A?A|*AP2:?2Aֽ:A>8 =BAP2:?JAֽRA>8 =Yp ?#T?y=/ٓH` ?ՙ9??}?`?8`]셿 i?)p ? I٘i)I9{@YG JvJO=JJJlbE&KEw> Y̥]~?y TA#T?aE{7>#9)OB[[*?[s]~?[•[[[[BZYY i) C;IH?iB}e l?))l?l?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033437.803165 s, next control iter: 1743033438.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033438.183165 s.EI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033438.183296F (some fields omitted in printout)AQ@A&k@Ad^~? A魫A*.%"AA*tNA"AZAbAjArAzAAAid{{#5@A][~qtAz@AOrAl=A~Y?A@]~?)>y rAdjusting time to match Gazebo time: 1743033439.023165 s.ZEI~,{%AA(\@A%B@Aˋ^~? A)Av%"AA uNA"AZAbAjArAzAAA=5@ApsAy@AͺA*=APc?AD?A`?A*A/:?2Auֽ:A =BA/:?JAuֽRA =٘i)I9y@YG J5JJJJ|bE&K Y ]~?yrRSAaEŧ7b7-9)B)ZBE[[%AA33333@AD @A\^~? AA-%"AA]DuNA"AZAbAjArAzAAA1 6@A" sAx@Am<Adj=AQm?A d?A]?A*A/:?2A~ֽ:A =BA/:?JA~ֽRA =Y-6?En?yAf=8n<ٓH? ٬?`?`)#?H?`1(@{?*?)-6? I٘i)I9x@YYG JJJJJbE&Kx> Y^~?yeRAEn?aE77{7)59)_B[[^H?[<^~?[ w[[[[BZYY i) 9I{H?iw \?))\?\?FӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033439.903165 s, next control iter: 1743033440.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033440.283165 s./RFI~,%AJ"J*J2J:JBJnJvJAQ@AT@A^~? A$AE%"AAK`uNA"AZAbAjArAzAAA}GB6@A~sAx@A:M<A=ACs?A`C?A?A*A/:?2Aaֽ:AY=BA/:?JAaֽRAY=٘i)I9x@YG JJJJJbE&K Y^~?y]RAaE7789#B)cBE[[N?[Q^~?[^p[[[[BZYY i) k%ImH?i&& O?))O?O?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033440.303165 s, next control iter: 1743033440.683174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 69392, header.stamp.nsec: 020 temperature: 13.5642032* salinity: 33.3755112, density: 1025.0000002* values[0]: 0.5815572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033440.703165 s.Ժ FI~,-%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033440.703271F (some fields omitted in printout)Aףp= @AME*@Am^~? A=A %"AA{uNA"AZAbAjArAzAAA+x6@Ab/sAJw@A);AOؓ=AGx?A?A T?Ad*A/:?2A6!׽:Aq;=BA/:?JA6!׽RAq;=٘i)I9w@YG JJJJJbE&K Y$^~?yVQAaEb7S<9)gB[[T?[ f^~?[i[[[[BZYY i) ¶˺Iu_H?iq, I?))I?I?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033440.723165 s, next control iter: 1743033441.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743033441.123165 s.8FI~,aG%AJ"J*J2J:JBJnJvJA)\u@A=[[@A^~? A9AU,%"AAhuNA"AZAbAjArAzAAA2(3ϭ6@A  8sAtv@A;,ۻA=A~?A ?A?AĢ*AY/:?2AI}׽:At<BAY/:?JAI}׽RAt<٘i)I9v@YLG JJJJJbE&K Y5^~?yOOQAaE7ŧ7?9B)E[[[?[@z^~?[sb[[[[BZYY i)  <"IPH?i,Y0 cI?))cI?cI?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033441.163165 s, next control iter: 1743033441.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033441.543165 s.IFI~,b%AA{G@A YT^~?y:APA4?aE77{7G9B)nB E[[bLg?[^~?[S[[[[BZYY i홽) (I1H?i쒿U< F?))F?F?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033442.003165 s, next control iter: 1743033442.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033442.383165 s.%FI~,%AAQ@AoB@@A_~? AsA%"AAuNA"AZAbAjArAzAAA$'E7@A:WsAku@A@ ԻA;=Aކ?A ?A?A ֗*Ag,:?2A=׽:AZ<BAg,:?JA=׽RAZ<٘i)I9ku@Y^G JJJJJbE&K Ycc^~?y9+PAaE77J9)rB[[um?[n^~?[^L[[[[BZYY i)  IQ!H?i򗿉 ~B F?))F?F?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033442.403165 s, next control iter: 1743033442.783220 s, wait time: 0.380055 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6941", header.stamp.nsec: 0"0 temperature: 13.564546"* salinity: 33.375553", density: 1025.000000"* values[0]: 0.580408"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033442.803165 s.|A,FI~,g%AJ"J*J2J:J?BJ?nJ5vJAq= #@AQG @A(_~? AmA%"AAPuNA"AZAbAjArAzAAA~t7@AXisAt@Ao;A=ANc?A`U?A1?A⥖*A':?2Aֽ:Am<BA':?JAֽRAm<٘i)I9t@YG J於JJJJbE&K Yq^~?y2OAbEŧ77>N9B)uBE[[ws?[y^~?[D[[[[BZYY i) ˻IH?i𛿉aG L?))L?L?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033442.843165 s, next control iter: 1743033443.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033443.223165 s.g3FI~,H%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199242 time: 1743033443.223288F (some fields omitted in printout)A(\@AnEu@A7_~? AfAA%"AAvNA"AZAbAjArAzAAA7@AEXsAnt@Aa?P<Ar=A&?AY?A@_#?Aż*A!:?2Aֽ:AzT=BA!:?JAֽRAzT=٘i)I9nt@YG JzJJJJbE&K YU^~?y*nOAbE77{7Q9B) E[[y?[^~?[<[[[[BZYY i) IvG?i垿bK KX?))KX?KX?yؙ|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033443.263165 s, next control iter: 1743033443.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033443.643165 s.u9FI~,*%AJ"J*J2J:JBJnJvJAG@A"h@AF_~? A_A%"AA)vNA"AZAbAjArAzAAAF7@A}sAs@Axm<A=ʉ=A ?A?A@i?ABN*A:?2Aľֽ:A5=BA:?JAľֽRA5=٘i)I9s@YxG J JJJJbE&K YΎ^~?y"OA bEiU9)yB[[e ?[^~?[4[[[[BZYY i) I.G?iΠM h?))h?h?tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6942, header.stamp.nsec: 00 temperature: 13.564709* salinity: 33.375530, density: 1025.000000* values[0]: 0.579861F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033443.663165 s, next control iter: 1743033444.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033444.063165 s.@FI~,_ %AAfffff@ADQOL@AgU_~? A5YA%"AAV@vNA"AZAbAjArAzAAA1j*7@A'sAMts@A <An=A/?A ?A`E?Ad*A:?2A׽:Af=BA:?JA׽RAf=Yxmj? C?ynm=+3<ٓH? (???`x?NJ?`?)xmj? I٘i)I9ts@Y,G J⓼Jd0JJJbE&Kx> Y^~?yNAC?bE77X9B)|BE[['?[%^~?[,[[[[BZYY i) OITG?i pT l?))l?l?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033444.103165 s, next control iter: 1743033444.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033444.483165 s.v_GFI~,%AJ"J*J2J:Ja?BJa?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033444.483300F (some fields omitted in printout)A@Aaӷ@Awc_~? AeRA%"AAVvNA"AZAbAjArAzAAA[@&8'8@A/󮦔sAr@AA=A?A?A?AF*A{:?2A^׽:A]1=BA{:?JA^׽RA]1=٘i)I9r@YG JLJJJJbE&K Y^~?yUNAbEŧ7b7\9)B[[F?[_~?[l$[[[[BZYY i) #IG?i>Y w?))w?w?"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033444.523165 s, next control iter: 1743033444.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6943, header.stamp.nsec: 00 temperature: 13.564867* salinity: 33.375557, density: 1025.000000* values[0]: 0.579311F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033444.903165 s.MFI~,9%AA ףp=@AZ#@Aq_~? A~KAٝ%"AAkvNA"AZAbAjArAzAAA!P8@A1h_^sAr@A6AJ=AE?Ax?A>0?A/*Av :?2A׽:A›=BAv :?JA׽RA›=٘i)I9r@YG JJJJJbE&K Y^~?y MAbE{7j7)`9B)BE[[h?[_~?[[[[[BZYY i) L3IbG?ifa] ?))??jªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033444.943165 s, next control iter: 1743033445.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033445.323165 s.uTFI~,!T%AJ"J*J2J:J??BJ??nJr5vJA\@ABގ@A6~_~? ADA]%%"AALvNA"AZAbAjArAzAAA0>bx8@AsAr@AO9qAj=A?9?AhG?A n?Aʖ*A:?2A׽:ADq=BA:?JA׽RADq=٘i)I9r@YRG JnJJJJbE&K Y^~?y MA!bE77{7c9)B[[Q?[d%_~?[q[[[[BZYY i) BIG?i5` H?))H?H?KŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033445.363165 s, next control iter: 1743033445.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6944*, header.stamp.nsec: 0*0 temperature: 13.565006** salinity: 33.375553*, density: 1025.000000** values[0]: 0.578831*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033445.743165 s.W[FI~,yo%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033445.743282F (some fields omitted in printout)AGz @Ag@A_~? Aq=A~%"AAvNA"AZAbAjArAzAAAxr8@AVYʿsAq@AG,A]=Aʛ?Ap?A?Aϒ*A:?2AS׽:A<=BA:?JAS׽RA<=٘i)I9q@Y G JJJJJbE&K Ys^~?y>MA'bETg9)B[[b?[43_~?[ [[[[BZYY i) JRIG?ia *?))*?*?wȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033445.763165 s, next control iter: 1743033446.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033446.163165 s.t}bFI~,q%AJ"J*J2J:J?BJ?nJM5vJA @Ah$e @A_~? AL6A+9%"AAɥvNA"AZAbAjArAzAAAz8@A3nsAq@AGFA =AJO?A?AE?Ai*A9?2Arֽ:Ab =BA9?JArֽRAb =Y-A?}M?y=dbGٓH?J;~?&?@?ń?yH`?)-A? I٘i)I9q@YG JJ)5<JJJbE&Kfx> Y^~?yLAM?,bE77j9B)BE[[w֒?[I@_~?[[[[[BZYY i) :aI~G?i괿g \?))\?\?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033446.183165 s, next control iter: 1743033446.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033446.583165 s.hFI~,R%AAR @AK %v @Aڢ_~? A/AS%"AAvNA"AZAbAjArAzAAA;"8@A O@sAp@A3<AΕ=AҠ?A^?A`K?Aj١*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9p@YkG JB=JJJJbE&K Y^~?yjxLA2bE{7j7n9B)BE[[S?[L_~?[[[[[BZYY iqի) pIDjG?i:k ?))??ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033446.603165 s, next control iter: 1743033446.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6945, header.stamp.nsec: 00 temperature: 13.565158* salinity: 33.375580, density: 1025.000000* values[0]: 0.578273F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033447.003165 s.} pFI~,a4%AJ"J*J2J:J ?BJ ?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033447.003308F (some fields omitted in printout)Ap= W!@A{ Y=^~?yȩJAZ?GbE77|9 B)BE[[ܥ?[w_~?[ԩ[[[[BZYY i) 鼖IJG?iAt r$@))r$@r$@تYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743033448.283165 s, next control iter: 1743033448.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6947., header.stamp.nsec: 0.0 temperature: 13.565679.* salinity: 33.375584., density: 1025.000000.* values[0]: 0.576798.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033448.683165 s.lFI~,k+%AJ"J*J2J:J?BJ?nJ5vJAQ#@A4 "@A\_~? A Av%"AAwNA"AZAbAjArAzAAAۃ9@A$,&i_sAm@AdA=A?A@S?A?A*A9?2A׽:A=BA9?JA׽RA=٘i)I9m@YG JãJJJJbE&K Y_~?yU{JALbE777i9)B[[ҥ?[i_~?[#˩[[[[BZYY i) $IA\bEb77*9)B[[]?[_~?[[[[[BZYY i) IF?ih¿x g@))g@g@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033449.963165 s, next control iter: 1743033450.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033450.363165 s.FI~,>%AJ"J*J2J:J|?BJ|?nJ5vJA3333$@AUO$@A_~? A?A;%"AA:wNA"AZAbAjArAzAAA DY9@AHwDsAk@A V<A^X=A=?Ak?A?A(&ż*A9?2A\Hֽ:AP=BA9?JA\HֽRAP=Y`U?a?yT=[V<ٓH3?m? "?Q?Ŵ? /d`O? ?)`U? I٘i)I9k@YWG JJ?<JJJ cE&K!x> Y_~?y革HAa?bbE79)B[[?[_~?[[[[[BZYY i) IpF?iĿ| " @))" @" @|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033450.383165 s, next control iter: 1743033450.763181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6949&, header.stamp.nsec: 0&0 temperature: 13.566037&* salinity: 33.375572&, density: 1025.000000&* values[0]: 0.575773&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033450.783165 s.VFI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033450.783299F (some fields omitted in printout)AQ%@AsHj%@Ad_~? AsA%"AACEwNA"AZAbAjArAzAAAh/9@Ay4ۈsAj@Aqj<A =A9ֺ?A?A`?Aɼ*A9?2AXֽ:AΨ=BA9?JAXֽRAΨ=٘i)I9j@YG JǼJJJJcE&K Y _~?y0XHAgbE{7T9)B[[긵?[_~?[Q[[[[BZYY i) UüIF?iQƿ} d @))d @d @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033450.803165 s, next control iter: 1743033451.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033451.203165 s.FI~,%AJ"J*J2J:JBJnJvJAףp=%@AdA=A?A ?A ?Aȼ*A;9?2AY׽:A=BA;9?JAY׽RA=٘i)I9h@Y G J.ɼJJJJ"cE&K Y+_~?y{FAwbE77779)B[[F?[S_~?[~[[[[BZYY i3) @ټI_[F?i0Ŀn{ ?@))?@?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033452.083165 s, next control iter: 1743033452.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033452.463165 s.UFI~,%AA&@A6<&@Ah`~? AêA&"AARhwNA"AZAbAjArAzAAAL+<:@Ay{usA6h@ApAϱ=AR?A?A m ?Asʼ*AӲ9?2APQ׽:A=BAӲ9?JAPQ׽RA=Y8`?l?y˱=pٓH`?@? ʛ?J?;2``D?)8`? I٘i)I96h@YT G JoɼB=J;JJJ(cE&KZx> YX,_~?y;rFAl?}bEj7j79)ïB[[Ku?[V_~?[Rt[[[[BZYY i) xIFF?iſL} @))@@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033452.483165 s, next control iter: 1743033452.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6951, header.stamp.nsec: 00 temperature: 13.566592* salinity: 33.375580, density: 1025.000000* values[0]: 0.574216F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033452.883165 s.J "J *J 2J :J ?yFI~BJ?nJ#5,<8%AvJAQ8'@A3<'@A`~? A껪A.&"AAowNA"AZAbAjArAzAAAyrj I:@A8k4RpsAًg@A#ANa=A#?A`}G?A@3?Aoͼ*A 9?2Aq׽:Am=BA 9?JAq׽RAm=٘i)I9g@Y G J˼C=JJJJ-cE&K Y%-_~?ypiFAbEb77?9B)ƯBE[[e?[_~?[j[[[[ZZ¸BZYY i¸ =) yԼI0F?i,ƿ} `@))`@`@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033452.923165 s, next control iter: 1743033453.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033453.303165 s.RFI~,fgS%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083033< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743033453.303273F (some fields omitted in printout)Aq= ף'@APlj'@AD`~? A쳪A!&"AAuwNA"AZAbAjArAzAAA㊸T:@A!yksA f@A6Aą=A?A.?A@C?A/Լ*A9?2Aֽ:A5i=BA9?JAֽRA5i=٘i)I9f@Y G JмJJJJ2cE&K Y-_~?y`EAbEէ9)̯B[[?[_~?[`[[[[ZZBZYY i) yȼIF?iſX| @))@@yW[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033453.323165 s, next control iter: 1743033453.703175 s, wait time: 0.380010 s&-_~?)&`.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6952., header.stamp.nsec: 0.0 temperature: 13.566888.* salinity: 33.375568., density: 1025.000000.* values[0]: 0.573424.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033453.723165 s.FI~,Hn%AJ"J*J2J:J?BJ?nJ5vJA(\(@AsE'@Al`~? A髪A/&"AAOzwNA"AZAbAjArAzAAA~;rM^:@A/;fsAf@A!<Aap=A?A<˴?AN?A*A9?2A:ֽ:A<BA9?JA:ֽRA<٘i)I9f@Y G JJJJJ8cE&K Y._~?yW"EAbE)7ŧ7j9)үB[[?[_~?[V[[[[ZZBZYY i) {IF?iÿz @))@@y|=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033453.743165 s, next control iter: 1743033454.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033454.143165 s.W/FI~, *%AAGz(@Ac`(@A!`~? A㣪AZ&"AA~wNA"AZAbAjArAzAAA;A3Hf:@AZsbsA4e@A΅m<A4h=AX?A?A`Y?AW*A9?2A|5ֽ:Aa"<BA9?JA|5ֽRAa"<٘i)I94e@Y G JHJJJJ=cE&K Y/_~?yODAbEj7j79B)دBE[[-?[_~?[-M[[[[ZZBZYY i) a|IE?i*@w @))@@yʩ=@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033454.163165 s, next control iter: 1743033454.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033454.563165 s.FI~,R %AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083033< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743033454.563292F (some fields omitted in printout)Affff(@AP(@A)#`~? AٛA&"AA\wNA"AZAbAjArAzAAA+{ 7l:@AТH']sA[d@A&8<A>=t=AQ?A@ Y}-_~?yGFYDAg?bE7779)ޯB[[o\?[_~?[dC[[[[ZZBZYY i)  elevatorAngleAction: 0.083033< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033455.823277F (some fields omitted in printout)A\(*@A됛*@AT&`~? AA&"AAvwNA"AZAbAjArAzAAA -Cv:@A@dNsA7b@Ab{A<A|5?A@ |?A u?Aj,t*A9?2Aw_ֽ:AQ#BA9?JAw_ֽRAQ#٘i)I9b@Y G J璼JJJJScE&K YN'_~?y+cCAbEb77U9B)BE[[?[]_~?[:&[[[[ZZBZYY i) {I5E?iuq \h@))\h@\h@aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033455.863165 s, next control iter: 1743033456.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033456.243165 s.GI~,q%AJ"J*J2J:JBJnJvJAGz*@A2dz*@AT&`~? A{A"m&"AAwNA"AZAbAjArAzAAAzBv:@AdVKwIsAn&b@A7cA;ٻA?A@Afv?A &*AM9?2A^ֽ:AiBAM9?JA^ֽRAi٘i)I9&b@Y G JoSJJJJXcE&K Y?%_~?y #CAbE79)B[[s ?[i_~?[[[[[ZZBZYY i) 'zpILE?i@m m@))m@m@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033456.263165 s, next control iter: 1743033456.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033456.663165 s. GI~,q*%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6955, header.stamp.nsec: 00 temperature: 13.567830* salinity: 33.375599, density: 1025.000000* values[0]: 0.570966F (some fields omitted in printout)A+@AA*@A%`~? AsA &"AAwNA"AZAbAjArAzAAAVt:@A=rDsAja@A\|A(nAh?AjA@t?A߽*A 9?2Aֽ:A늰BA 9?JAֽRA늰Y`?_l?ym]ٓH@2>ƿ ZQ\ ? ;ƿIm?@Ov?)`? I٘i)I9a@Y G JJbDJJJ]cE&Kw> YS _~?yo-CAl?bE77{79)B[[9?[_~?[[[[[ZZBZYY i&#q=) {g^IiwE?iظl  !@)) !@ !@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033456.683165 s, next control iter: 1743033457.063184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743033457.083165 s.DGI~,SE%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743033457.083291F (some fields omitted in printout)J"J*J2J:JBJnJvJARk+@A{mQ+@A$`~? AtkAU&"AAZwNA"AZAbAjArAzAAAjq:@AY ?sAa@Aaҷ;A A ?A@jA`?o?ADK޺*A|9?2Aֽ:A)ҼBA|9?JAֽRA)Ҽ٘i)I9a@Yo G JJJJJccE&K Yh_~?yJCAbE779)[[d?[._~?[z [[[[BZYY iv=) XLIcE?i_)j  #@)) #@ #@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033457.123165 s, next control iter: 1743033457.483175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033457.503165 s.GI~,]4`%AAp= +@A#i7+@A"#`~? AfcAE&"AA^wNA"AZAbAjArAzAAAljhl:@A>8:sAa@AH\<A%8A%?AAg?A J;*A(9?2Aֽ:A?BA(9?JAֽRA?漙٘i)I9a@Yq G J49JJJJhcE&K Y|_~?y gCAbE{79B)BE[[L?[_~?[[[[[BZYY i) cG:IAPE?iմ'xg $@))$@$@Qw*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033457.523165 s, next control iter: 1743033457.903184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6956, header.stamp.nsec: 00 temperature: 13.567933* salinity: 33.375572, density: 1025.000000* values[0]: 0.570760F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033457.923165 s.<GI~,{%AJ"J*J2J:JBJnJvJA(\B,@AK(,@A!`~? AZ[A&"AAwNA"AZAbAjArAzAAA7f:@AU15sAMa@AȾe<A\AP?A\A]?Ag;*Ar9?2Aֽ:ACBAr9?JAֽRAC٘i)I9a@Y G J7;JJJJncE&K Y_~?y[CAbE77@9)B[[۴?[_~?[[[[[BZYY i) 6(I2=E?i=b F&@))F&@F&@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033457.943165 s, next control iter: 1743033458.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033458.343165 s.<%GI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033458.343317F (some fields omitted in printout)AHz,@A<*,@AZ`~? ARSA &"AA~wNA"AZAbAjArAzAAA^:@Az"70sA2b@Ah;A{A?A|!A YQ?AY2<*Ab9?2Aֽ:AABAb9?JAֽRAA٘i)I92b@Y G J<JJJJscE&K Y _~?yCAbE7779B)E[[U?[\y_~?[\[[[[BZYY i) 'I*E?iT\ f'@))f'@f'@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033458.383165 s, next control iter: 1743033458.743174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 6957&, header.stamp.nsec: 0&0 temperature: 13.567873&* salinity: 33.375576&, density: 1025.000000&* values[0]: 0.570899&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033458.763165 s.9+GI~,'ذ%AJ"J*J2J:J&?BJ&?nJ?5vJA-@A?nV?)\? I٘i)I9b@Y G JM<JJJJxcE&KTw> Y_~?y1CAh?bEb77k9B)BE[[s?[o_~?[%[[[[BZYY ih=) ɤI9E?iA5[ h)@))h)@h)@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033458.803165 s, next control iter: 1743033459.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033459.183165 s.2GI~,c%AAQ-@A$k-@A}`~? AQCA &"AAsuwNA"AZAbAjArAzAAA`@I:@AyV%X'sAb@A OAMA?A`A@%1?A]<*AZ9?2Aս:ABAZ9?JAսRA٘i)I9b@Y! G J<JJJJ~cE&K Y=^~?yZDAbE9)B[[?[e_~?[ۨ[[[[BZYY i) HIE?iݨ%X -*@))-*@-*@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033459.223165 s, next control iter: 1743033459.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033459.603165 s.649GI~,%AJ"J*J2J:JB?BJB?nJ]5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743033459.603311F (some fields omitted in printout)A= ף-@AwhX-@AH`~? AY;AT &"AAowNA"AZAbAjArAzAAAe~<:@A@t@"sAAvc@AuABA~z?A8,A?A\<*A֧9?2Aֽ:ABA֧9?JAֽRA٘i)I9vc@Yo G J<JJJJcE&K Y^~?y>ިDAbE9)B[[B=?[![_~?[Ҩ[[[[BZYY i) EϻIHD?imS ,@)),@,@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033459.643165 s, next control iter: 1743033460.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6958 , header.stamp.nsec: 0 0 temperature: 13.567708 * salinity: 33.375595 , density: 1025.000000 * values[0]: 0.571330 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033460.023165 s.Z@GI~,|%AA(\.@AB.@A`~? Ai3A) &"AAhwNA"AZAbAjArAzAAAe@'.:@AgsAjd@AgtAܛAS#?A¿A?A<*A9?2AYֽ:AbMBA9?JAYֽRAbM٘i)I9d@Y G J <JJJJcE&K Y^~?yըEAbE+9B)B E[[GY?[O_~?[ɨ[[[[BZYY i) TDID?i򠿉XN _.@))_.@_.@yT_h=&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033460.043165 s, next control iter: 1743033460.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033460.443165 s.FGI~,^%AJ"J*J2J:JBJnJvJAz.@AX4.@AM `~? A+A &"AA7%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198582 time: 1743033460.863275F (some fields omitted in printout)A33333/@A]/@A`~? A#A % &"AAXwNA"AZAbAjArAzAAAF> :@AWSysA)e@A;3<AЙA?A ſAQ?A<*Ao9?2A׽:AHBAo9?JA׽RAHYse?q?ym24<ٓH P׿ q{? ?`˪׿ 簿`;N?u?-?)se? I٘i)I9)e@Yx G J)<JJJJcE&KHx> Y^~?yŨEAq?bE7777U9)ٯB[[@[6_~?[[[[[BZYY i) c?fID?i=%D 221@))221@221@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033460.883165 s, next control iter: 1743033461.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033461.283165 s.;RTGI~,R%AJ"J*J2J:JBJnJvJAQ/@A6/@A9_~? AAw &"AAOwNA"AZAbAjArAzAAA9@A}H zsAe@Ax<AvkA2?A ]ǿA?A+ة<*A9?2A#׽:A^BA9?JA#׽RA^٘i)I9e@Y G J5<JJJJcE&K YJ^~?y@FAbEZ7SI79)ԯB[[R@[)_~?[[[[[BZYY i) Y*ID?i\@ 2@))2@2@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033461.303165 s, next control iter: 1743033461.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6960., header.stamp.nsec: 0.0 temperature: 13.387752.* salinity: 33.391659., density: 1025.000000.* values[0]: 0.691278.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033461.703165 s.ԺZGI~,m%AAףp= 0@A,-/@Ai_~? AAW&"AAEwNA"AZAbAjArAzAAAa9@A elevatorAngleAction: 0.065983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033462.123295F (some fields omitted in printout)A)\u0@AfG[0@A_~? A? A&"AA3;wNA"AZAbAjArAzAAAe[9@Apޚ{sAf@A:A䓽As@A]`˿At?A v<*A9?2A:ֽ:AmYBA9?JA:ֽRAmY٘i)I9f@Y} G J<JJJJcE&K Yt^~?yGAbE779B)ͯBE[[d@[ _~?[i[[[[BZYY i) /FID?iw3 5@))5@5@y=*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743033462.143165 s, next control iter: 1743033462.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033462.543165 s.IhGI~,â%AA{G0@A9@00@AD_~? AA߅&"AA/wNA"AZAbAjArAzAAA9@AsAndg@AA\A@A@j-ͿAP?Aܬ<*A9?2A_Kֽ:A BA9?JA_KֽRA ٘i)I9dg@Y G J<JJJJcE&K Y ^~?ydwGAbE9)ɯB[[@[^~?[K[[[[BZYY i) =+9IwD?i*+ G`7@))G`7@G`7@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033462.563165 s, next control iter: 1743033462.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6961, header.stamp.nsec: 00 temperature: 13.387540* salinity: 33.391666, density: 1025.000000* values[0]: 0.692213F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033462.963165 s.vnGI~,褽%AJ"J*J2J:JBJnJvJAL1@A?;21@A_~? AA&"AA#wNA"AZAbAjArAzAAAk̝9@A+ rAFg@AnrAA+@A >οAT*?AT<*AE9?2A9ֽ:ABAE9?JA9ֽRAYl?<@ysٓH`4xݿ 6f`\j?}Q?zݿ`б? M=?)l? I٘i)I9g@Y* G JԨ<Jc<JJJcE&K x> Y^~?yGA<@cEj7SI7@9B)ƯBE[[Ls@[^~?[>[[[[BZYY i) x:I\vD?i/+' 8@))8@8@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033462.983165 s, next control iter: 1743033463.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033463.383165 s.uGI~,+%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743033463.383283F (some fields omitted in printout)AQ1@A=1@A!_~? AJAٰ&"AAwNA"AZAbAjArAzAAAoh9@AU}rA|h@AfSA䋽A{@AbпA=?A|<*A9?2A)kֽ:ABA9?JA)kֽRA٘i)I9|h@Y G J <JJJJcE&K Y^~?yĔ7HAcE{7{79)¯B[[ @[^~?[Y[[[[BZYY i) ];IhD?i^~%" rq:@))rq:@rq:@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033463.403165 s, next control iter: 1743033463.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6962", header.stamp.nsec: 0"0 temperature: 13.387326"* salinity: 33.391670", density: 1025.000000"* values[0]: 0.693173"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033463.803165 s.zA|GI~,g%AJ"J*J2J:JBJnJvJAq= #2@AG 2@A_~? AAD&"AAwNA"AZAbAjArAzAAA ـkf9@A4rAi@AOAXAw@A@]IѿAm?A<*A9?2AOֽ:AkBA9?JAOֽRAk٘i)I9i@Y G J<JJJJcE&K  9Y^~? 9yHA cE)7ŧ7k9B)BE[[~ @[^~?[~[[[[BZYY i) KC;I[D?iVt>` x;@))x;@x;@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033463.823165 s, next control iter: 1743033464.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033464.223165 s.gGI~,H%AA(\2@AׇFu2@A_~? ADA&"AAovNA"AZAbAjArAzAAAv I9@AfQrA~i@AI;A8EA-@A@ /ҿA?A(O<*A9?2A׽:ABA9?JA׽RA򼙘٘i)I9~i@YG J<JJJJcE&K Y}^~?y$HAcEj7Z79)B[[b @[^~?[ w[[[[BZYY i) g;IOD?iJhЪ {=@)){=@{=@P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033464.243165 s, next control iter: 1743033464.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033464.643165 s.J "J {ЉGI~*J2J,*)%A:J1?BJ1?nJO:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033464.643301F (some fields omitted in printout)AG2@A'2@A_~? AީA i&"AA6vNA"AZAbAjArAzAAAc)9@ARrA^i@Ag<AʅA@AMӿA`v?AI<*A9?2A}?׽:A^BA9?JA}?׽RA^٘i)I9i@YdG J(<B=JJJJcE&K Yp^~?yS}VIAcEŧ7b79)B[[5@[ǩ^~?[o[[[[BZYY i=) .;ISCD?i?Z \?@))\?@\?@=*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6963, header.stamp.nsec: 00 temperature: 13.387135* salinity: 33.391689, density: 1025.000000* values[0]: 0.694059F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743033464.663165 s, next control iter: 1743033465.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033465.063165 s.GI~,R D%AAfffff3@A{2QL3@A_~? AשAP&"AA>vNA"AZAbAjArAzAAAP!C 9@AlMrAgj@Af<A؄A @A@ӿA9C?ABt<*A 9?2A#׽:AcBA 9?JA#׽RAcY:u? @yԄ ]g<ٓH݊ VD??$?ی??):u? I٘i)I9gj@YG Jw<C=J:<JJJcE&KOx> YSa^~?yuIA @cEj7Z7+ 9 B)BE[[@[S^~?[^h[[[[BZYY i) 1w;I7D?iRr @@))@@@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033465.103165 s, next control iter: 1743033465.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033465.483165 s.u_GI~,^%AJ"J*J2J:JBJnJvJA3@A@շ3@A_~? A7ЩA@&"AAvNA"AZAbAjArAzAAA8@AKrAj@Af;AA @A@ԿA>?Aw<*A9?2Aֽ:A#IBA9?JAֽRA#I٘i)I9j@YG Ji<JJJJcE&K YQ^~?ynJA#cEŧ7b79 B)BE[[K@[h^~?[=a[[[[BZYY i) ;I(-D?i|Iy B@))B@B@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033465.523165 s, next control iter: 1743033465.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6964, header.stamp.nsec: 00 temperature: 13.386984* salinity: 33.391712, density: 1025.000000* values[0]: 0.694817F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033465.903165 s.ȝGI~,y%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074713< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033465.903296F (some fields omitted in printout)A ףp=4@A@M-[#4@Aݖ_~? AɩA&"AA"vNA"AZAbAjArAzAAAjV=8@AR@PurAJk@AA|gAV @AHտAd?AM<*AL9?2A~ֽ:ABAL9?JA~ֽRAI٘i)I9Jk@Y4G JC<JJJJcE&K YHB^~?y?gaJA(cE)7ŧ7V9 B)BE[[@[q^~?[JZ[[[[BZYY i) J ;I"D?i>U ՑC@))ՑC@ՑC@y5=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033465.923165 s, next control iter: 1743033466.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033466.323165 s.uGI~,!%AJ"J*J2J:J1?BJ1?nJ:5vJA\4@A~7ݎ4@A_~? AA&"AAvNA"AZAbAjArAzAAA1#68@A4rAѾk@A>TAA @AyֿA e?AHb<*Ac9?2AKIֽ:A BAc9?JAKIֽRA ٘i)I9k@YzG J}<JJJJcE&K Y2^~?y_JA.cE77779)B[[~@[[]^~?[S[[[[BZYY i) *5l@AJXsAA@AN׿Ab?A٦<*A9?2A=Vֽ:A BA9?JA=VֽRA ٘i)I95l@YG J<JJJJcE&K Y=#^~?yXKA gD3cE{7j79B)BE[[@[LI^~?[L[[[[BZYY i) x elevatorAngleAction: 0.074713< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743033467.163291F (some fields omitted in printout)A5@Ae5@Ap_~? A׳A&"AAvNA"AZAbAjArAzAAA- O8@AWx+rAl@A-A׌A;@A"ؿA$?AG<*A9?2Aֽ:AVBA9?JAֽRAVY>@D@yoٓH) ;%??@0.? E4?)>@ I٘i)I9l@Y G JG<JJJJcE&K>x> Yf^~?yQpKAD@8cEj79)B[[s@[4^~?[~F[[[[BZYY i) hU-cE77!9B)BE[[j@[^~?[5@[[[[BZYY i) < elevatorAngleAction: 0.074713< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743033468.423314F (some fields omitted in printout)A(\6@A]~6@AF_~? AqAF&"AAAvNA"AZAbAjArAzAAA lA7@A6˲rAp n@Av<AA>@A`ڿA[?A\<*A9?2AMA׽:A BA9?JAMA׽RA ٘i)I9 n@YG Js<JJJJcE&K Y]~?y4=LAHcE77(9)B[[@[]~?[64[[[[BZYY iҫ=) [I&"AAvNA"AZAbAjArAzAAAGLot7@Ak@.rAn@Ak]:AA@A ܿA?A<*A9?2A.ֽ:A* BA9?JA.ֽRA* Y@@y"D^:ٓH@ʏ;?’?@|ݞ?K?@L?)@ I٘i)I9n@YtG J?<B=J[JJJcE&Kw> Y]~?y%0FMA@ScE{7j709)B[[m@[]~?[([[[[BZYY i) ez elevatorAngleAction: 0.083898< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743033469.683284F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@A7N 7@A_~? A⋩A&"AA3uNA"AZAbAjArAzAAArAD7@A 2&rAo@AEA.)A_ @AܿA@?A<*A9?2AG@ֽ:A^BA9?JAG@ֽRA^٘i)I9o@YG JT<C=JJJJdE&K Y]~?y)MAXcEj7Z739B)BE[[3 @[R]~?[#[[[[BZYY i) !rAp@AmMAA@AS޿A?Aܩ<*A9?2AlZֽ:A6BA9?JAlZֽRA6٘i)I9p@YmG J'<C=JJJJdE&K Y3z]~?ywrNAccEZ7SI7:9)B[[#@["]~?[W[[[[BZYY i) %))E6>pS@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033470.563165 s, next control iter: 1743033470.923181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6969, header.stamp.nsec: 00 temperature: 13.386152* salinity: 33.391708, density: 1025.000000* values[0]: 0.698830F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033470.943165 s.YdGI~,F]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083898< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743033470.943327F (some fields omitted in printout)AzG9@A-9@A^~? A9B)BE[[z$@[k]~?[[[[[BZYY i) %AJ"J*J2J:JBJnJvJA33339@A9@A^~? A;sA&"AAuNA"AZAbAjArAzAAAs0x6@AU~rA|q@A;A,ɣA%V@A4߿AHE?AA<*A9?2A׽:ABA9?JA׽RAYpF@L@yȣ[;ٓH[3?&?#z@ls?}??)pF@ I٘i)I9q@YG J<JڋJJJdE&KVx> YZP]~?yDOAL@ncE777A9)B[[%@[S]~?[[[[[BZYY i) " elevatorAngleAction: 0.083898< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199372 time: 1743033472.203267F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=:@A&p:@A^~? AgA&"AAbuNA"AZAbAjArAzAAAp= 6@A rAr@A.`<AAp@A A?AP <*Aՙ9?2A׽:ABAՙ9?JA׽RA٘i)I9r@YG J<JJJJ$dE&K Y$]~?y PAycEŧ7b7I9!B)BڹE[[(@[#]~?[[[[[BZYY i) ֽ:ABA9?JA>ֽRA٘i)I9t@YG J2<JJJJ/dE&K Y\~?yqPAcE{7j7AP9)B[[h+@[\~?[$[[[[BZYY i) : 5))5"\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033473.063165 s, next control iter: 1743033473.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033473.463165 s.PHI~,Ϥ] %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083898< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743033473.463281F (some fields omitted in printout)A;@A4;@Ax^~? AVA&"AA uNA"AZAbAjArAzAAA.(`5@AzLSؖrAt@AYA A}#@AA%#?A<*A49?2Aս:ABA49?JAսRAY@>#@y,rZٓHwmez?^?Uݭ?C4 ?)@ I٘i)I9t@YG J<J5iJJJ4dE&Kw> YG\~?yrQA#@cEj7Z7S9$B)~BԹE[[,@[\~?[c[[[[BZYY i) j; 4))43^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033473.483165 s, next control iter: 1743033473.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6972, header.stamp.nsec: 00 temperature: 13.385496* salinity: 33.391739, density: 1025.000000* values[0]: 0.701908F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033473.883165 s.yHI~,8x %AJ"J*J2J:J3?BJ3?nJj<5vJAQ8<@A,?<@A:e^~? AQAD&"AAktNA"AZAbAjArAzAAAY $5@A,rAtu@A֤oA6A7%@A`1A`Ok?As<*A"9?2Aֽ:ABA"9?JAֽRA٘i)I9tu@YdG J<B=JJJJ:dE&K Y\~?yQAcEŧ77lW9&B)zBѹE[[O.@[\~?[[[[[BZYY i) }?P%; 2))2r_@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033473.923165 s, next control iter: 1743033474.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033474.303165 s.S$HI~,jg %AAq= ף<@A,D<@AHQ^~? A|LA&"AAytNA"AZAbAjArAzAAA"*b4@A:trA%v@AAA]&@A (A ^?A(T<*AP9?2A mֽ:A1BAP9?JA mֽRA1٘i)I9%v@YG J<C=JJJJ?dE&K Y'\~?y^RAcE77[9'B)vBйE[[/@[ \~?[v[[[[BZYY i) |*{K; 9A1))9A1|`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033474.323165 s, next control iter: 1743033474.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6973*, header.stamp.nsec: 0*0 temperature: 13.385249** salinity: 33.391731*, density: 1025.000000** values[0]: 0.703122*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033474.723165 s.+HI~,H %AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083898< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743033474.723339F (some fields omitted in printout)A(\=@AUE<@A=^~? AqGA&"AAtNA"AZAbAjArAzAAA4@A+{`rAv@A;Ay A'@AvA?A<*A9?2A<ֽ:APBA9?JA<ֽRAP٘i)I9v@Y;G J<JJJJEdE&K Y\~?yRAcEb7b7^9(B)rB͹E[[1@[\~?[J[[[[BZYY i%=) Nv; /))/$Ib@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033474.743165 s, next control iter: 1743033475.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033475.143165 s.X/2HI~,* %AAGz=@Ao`=@Ab(^~? ABA#p&"AA tNA"AZAbAjArAzAAA7ql4@Aq[[`rA˃w@A:A<AGA)@ADA'?A1<*A9?2A!׽:ALBA9?JA!׽RAL٘i)I9w@YG JC<JJJJJdE&K Y\~?yDKSAcE{7j7,b9*B)nBʹE[[k2@[u\~?[O[[[[BZYY i) gؒ; m.))m.c@W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033475.163165 s, next control iter: 1743033475.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033475.563165 s. 8HI~, %AJ"J*J2J:J(4?BJ(4?nJ<5vJAffff=@A{2Q=@As^~? A=A&"AAutNA"AZAbAjArAzAAA ",4@AodurA*0x@A u<AIAg*@A A@`?A(<*A9?2A׽:ABA9?JA׽RAYK@R*@yv<ٓHE~ݿ?@u?,e ě$m???)K@ I٘i)I90x@YG J(<JljJJJOdE&K#x> Yj\~?y3ߧSAR*@cEb77e9,B)jBǹE[[M3@[n\\~?[x[[[[ZZZZ¸>BZYY i¸>yө) !ڡ; Y-))Y-\e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033475.583165 s, next control iter: 1743033475.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6974, header.stamp.nsec: 00 temperature: 13.384989* salinity: 33.391727, density: 1025.000000* values[0]: 0.704348F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033475.983165 s.?HI~, %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082923< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033475.983316F (some fields omitted in printout)AQ>@Aa7>@A5]~? A9A+&"AAUtNA"AZAbAjArAzAAAC63@A>?grA^x@A)<A2A+@AOA?A<*A}9?2AWֽ:AovBA}9?JAWֽRAov٘i)I9x@YwG J=<JJJJUdE&K YQ\~?y#ۧ@A'_[>@A]~? A4A&"AA>5tNA"AZAbAjArAzAAAU_3@A&ށrAy@ATh9ASAq,@A`VA?A=*A9?2A_`ֽ:A]BA9?JA_`ֽRA]٘i)I9y@YG J<JJJJZdE&K Y7\~?yקTAcE77l9-B)`BĹE[[6@[_)\~?[Y[[[[ZZZZBZYY i) <IFI"hFailure count cleared after critical for CTD_SeabirdtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6976, header.stamp.nsec: 00 temperature: 13.384410* salinity: 33.391735, density: 1025.000000* values[0]: 0.707124F (some fields omitted in printout)A@@AO!W?@Aj]~? A'A &"AAsNA"AZAbAjArAzAAAn2@ALzrA|@A 7A%^3A0@ANAc?A<*A9?2AFDֽ:A}BA9?JAFDֽRA}Y"@0@yB[3-7ٓH@A ׿??@ZCi?!?)"@ I٘i)I9|@YsG J<J,=JJJjdE&Kv> Y[~?y˧UA0@cE77w92B)RBE[[:@[[~?[[[[[ZZZZBZYY i떽) u Mֽ:A䜽:BAA9?JA>MֽRA䜽:٘i)I9|@YG JJ<JJJJpdE&K Yg[~?ylȧVAcEŧ77B{9)LB[[;@[[~?[?ާ[[[[ZZZZBZYY i) ;5vJ@@@@A(\BA@AS=(A@Aa]~? ArAe!&"AAjsNA"AZAbAjArAzAAA[f2@ASn!srAҚ}@A2{<Ap;A*4@A:A@%?A/ <*Ai9?2AAֽ:A{<BAi9?JAAֽRA{<٘i)I9}@YZG J1R<C=JJJJzdE&K Y՜[~?yVAcE7777m95B)HBE[[f>@[R[~?[=ۧ[[[[ZZZZBZYY iĽ) 43{JJJdE&Kw> YXg[~?y7VAN7@cEj7Z798B)E[[%A@[[[~?[ا[[[[BZYY ik) T5vJA= ףB@ATB@A]~? A?A(m"&"AA rNA"AZAbAjArAzAAAj@0@Aʭ;krA}@Ai_AU=A#9@AAd?Amջ*A#9?2ADֽ:Ay<BA#9?JADֽRAy<٘i)I9}@YxG JԇJJJJdE&K Y0[~?ybQVAcE79)KB[[C@[o([~?[?ק[[[[BZYY i) !1w"%AA33333D@A 6uD@A\~? AA#&"AA~lrNA"AZAbAjArAzAAA}c)0@A9frA|@A};A}=A=@AEA`r?A*AK9?2A-#ֽ:A=BAK9?JA-#ֽRA=I٘i)I9|@YG JtJJJJdE&K Y@Z~?y"UAcE7{79=B)VBE[[;G@[Z~?[֧[[[[BZYY i) `W;ID?i?5l< c))c6y@ƪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033481.883165 s, next control iter: 1743033482.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033482.283165 s.5RHI~,"%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067525< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743033482.283301F (some fields omitted in printout)AQD@AaۢD@A\~? A}AE#&"AAGrNA"AZAbAjArAzAAAIx1/@Ae[1drAc|@AbQ<AK`=A ?@ATjAɧ?A*A9?2Aս:A,J=BA9?JAսRA,J=٘i)I9c|@YG JSJJJJdE&K Y Z~?yUAcE{7j79>B)[BE[[UH@[Z~?[է[[[[BZYY i) a;ID?i?ƚz<  )) {@ЪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033482.303165 s, next control iter: 1743033482.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6981., header.stamp.nsec: 0.0 temperature: 13.384336.* salinity: 33.391720., density: 1025.000000.* values[0]: 0.707930.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033482.703165 s.ԺHI~,"%AII"IG*Ic|@6I>IFIAףp= E@AC.D@A\~? A/Ayt#&"AAz!rNA"AZAbAjArAzAAA<$.@Az crA>{@AEv<A#؛=AU@@AAS?A*A9?2Anս:A=BA9?JAnսRA=٘i)I9{@YJG J~B=JJJJdE&K YШZ~?yLxUAcE)7ŧ79@B)aBE[[ J@[Z~?[է[[[[BZYY i) g;IzD?i?&< ))c|@N֪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033482.723165 s, next control iter: 1743033483.103175 s, wait time: 0.380010 s"ШZ~?)"L rAdjusting time to match Gazebo time: 1743033483.123165 s.=HI~,v"%AJ"J*J2J:JBJnJvJZJƜ@JJƜ@bJќ@RJќ@A)\uE@A /[E@An\~? A A#&"AAqNA"AZAbAjArAzAAAQ@T*c.@AߚarAJ{@A <AY=A.A@AAk?As*A"9?2AJֽ:AC=BA"9?JAJֽRAC=٘i)I9J{@YG JӬC=JJJJdE&K YZ~?y⨧MUAdE7{7B9?B)eBE[[YK@[͒Z~?['֧[[[[BZYY i) q;I3 E?i?=< ))̝}@٪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033483.143165 s, next control iter: 1743033483.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033483.543165 s.IHI~,"%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067525< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033483.543286F (some fields omitted in printout)A{GE@AL3E@AU\~? A A#&"AAqNA"AZAbAjArAzAAAtP_-@A)&`rAz@AM۔A$o=AGC@AA1?AP*A9?2Aֽ:A9g=BA9?JAֽRA9g=٘i)I9z@YG JҰJJJJdE&K YbrZ~?yw"UA dE{7ש9)iB[[L@[zZ~?[~֧[[[[BZYY i) LZ;Ih#E?iR?< J))J~@d۪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033483.563165 s, next control iter: 1743033483.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6982, header.stamp.nsec: 00 temperature: 13.384622* salinity: 33.391720, density: 1025.000000* values[0]: 0.706858F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033483.963165 s.}HI~,"%AJ"J*J2J:JBJnJvJ@@@@ALF@ACV2F@Ab<\~? A9A#&"AABqNA"AZAbAjArAzAAAb0-@A\(v_rA z@A?5A␟=A_D@A A;?A*Aע9?2A ׽:A2 =BAע9?JA ׽RA2 =Y7K6@ZQD@y`=55ٓHҼ*?@;u 쳿§?)7K6@ I٘i)I9 z@Y<G J=J=JJJdE&K> Y;VZ~?yХTAQD@dE777m9@B)oBE[[rM@[aZ~?[֧[[[[BZYY i) V9;I;=E?iA?4Ù< M))M @۪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033484.003165 s, next control iter: 1743033484.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033484.383165 s.HI~,#%AAQF@A+ YgY~?ysRAKG*dEb77X9)BE[[T@[Y~?[ۧ[[[[BZYY i) . IE?i @<  )) $@ЪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033486.103165 s, next control iter: 1743033486.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033486.483165 s.v_HI~,#%AJ"J*J2J:JBJnJvJAH@A}^ԷH@A_[~? AA$&"AAGpNA"AZAbAjArAzAAA4)@A4 ZrAǔv@AQ<A!=A4 FAd\A`?A]̰*A 9?2ANֽ:A=BA 9?JANֽRA=٘i)I9v@YG J(JJJJdE&K Y.Y~?y?RA hD/dE779CB)BE[[(AU@[Y~?[ݧ[[[[BZYY i) HI.E?i>@<  )) ƒ@̪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033486.503165 s, next control iter: 1743033486.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6985, header.stamp.nsec: 00 temperature: 13.385458* salinity: 33.391724, density: 1025.000000* values[0]: 0.703404F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033486.903165 s.HI~,͹#%AA ףp=I@A߉Y#I@Au[~? AA=$&"AA pNA"AZAbAjArAzAAA (@ATylZrA.v@Al;A=ADAlgA;?Ar*A 9?2Aֽ߭:AS=BA 9?JAֽ߭RAS=٘i)I9v@YG JWJJJJdE&K YY~?yQA4dE9)B/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #35q/#^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) %)ɪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033486.943165 s, next control iter: 1743033487.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033487.323165 s.{HI~,:#%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.067525< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743033487.323328F (some fields omitted in printout)J"J*J2J:JBJnJvJA\I@AiQI@An[~? AoAL$&"AAwpNA"AZAbAjArAzAAAڷ"fP(@AX ZrAyu@AWhAo=AZCAoA@?A@*A9?2A}׽:A<BA9?JA}׽RA<٘i)I9yu@YfG JkB=JJJJdE&K YtY~?y.sQA:dEb779)BE[[%W@[|Y~?[([[[[BZYY i) It F?i@T< ))) )@ŪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033487.343165 s, next control iter: 1743033487.723182 s, wait time: 0.380017 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 6986*, header.stamp.nsec: 0*0 temperature: 13.385732** salinity: 33.391724*, density: 1025.000000** values[0]: 0.702308*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033487.743165 s.%WHI~,#%AAGzJ@A oI@A{T[~? AAQ$&"AATPpNA"AZAbAjArAzAAA^ݞ'@A.YrAt@AlnAk=A^BA(A@A?A˚*Af:?2Aw½:AI<BAf:?JAw½RAI<٘i)I9t@YG JWC=JJJJdE&K Y}XY~?ylQA?dE79)B|E[[X@[SY~?[[[[[BZYY i) =I*F?i}@< 83))@ĪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033487.763165 s, next control iter: 1743033488.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033488.163165 s.y}II~,q $%AJ"J*J2J:J3?BJ3?nJd<5vJAJ@ABeJ@Ah:[~? AAG$&"AA(pNA"AZAbAjArAzAAA(~'@AcRCEYrAtt@AAcqAU=A—AAAd?AЖ*Ax:?2Aý:A<BAx:?JAýRA YpIFIAp= WK@AEAAr6A*A:?2A:ʽ:A=BA:?JA:ʽRA=٘i)I9r@YG JJJJJeE&K YCX~?y}OAUdEb779)BpE[[]@[.Y~?[E[[[[BZYY i) oIF?i(@J< !))!R@y7잽YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033489.443165 s, next control iter: 1743033489.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6988, header.stamp.nsec: 00 temperature: 13.386208* salinity: 33.391712, density: 1025.000000* values[0]: 0.700404F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033489.843165 s.II~,u$%AJ"J*J2J:JBJnJvJZJ @JJ @bJ@RJ@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033489.843296F (some fields omitted in printout)AHz.L@AOL@AZ~? A|Aʰ$&"AAoNA"AZAbAjArAzAAAg$@AnZ"ZrAzr@Aԁ<A_=A=AɆAAe*A:?2AKͽ:AE=BA:?JAKͽRAE=٘i)I9zr@YG JٗJJJJeE&K Y3X~?y8OAZdE77{79EB)BmE[[/^@[Y~?[[[[[BZYY i) ,I YX~?yVNA;_dE77.9)B[[`@[Y~?[0[[[[BZYY i) LIFIZIbIjIrIzII 2A(M@AhM@AjZ~? AiA~$&"AAnNA"AZAbAjArAzAAAlg#%"@Ayq[rAlp@A2XA=A7A!ZAA&W*Ah:?2A3Խ:A=BAh:?JA3ԽRA=٘i)I9p@YcG JJJJJeE&K Y]X~?yְMAodEb779DB)BeE[[Nc@[X~?[s[[[[BZYY i) SjIxG?i<@< d))d@̪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033491.543165 s, next control iter: 1743033491.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6990, header.stamp.nsec: 00 temperature: 13.386710* salinity: 33.391716, density: 1025.000000* values[0]: 0.698543F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033491.943165 s.Vd>II~,:]$%AAzGN@AIG9-N@A6PZ~? AA6j$&"AAnNA"AZAbAjArAzAAAWn!@A \rAp@A<A'=AG6A`JHA\A웼*A^:?2Adս:Au =BA^:?JAdսRAu =٘i)I9p@YG JJJJJ!eE&K YBX~?y\MAudEj7SI79)įBbE[[d@[X~?[i[[[[BZYY i) yILG?i@@< ))݋@ЪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033491.963165 s, next control iter: 1743033492.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033492.363165 s.J "J *J 2J :J 2?BJ 2?nJ d;5vJ EII~ZJU@,>%%AJJU@bJa@RJa@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743033492.363313F (some fields omitted in printout)A3333N@AGp#N@As6Z~? AAR$&"AAnNA"AZAbAjArAzAAA.u8 @A_:g]rAo@AwAٮ=A5A4A@ A>*AU:?2Aս:A}=BAU:?JAսRA}=YbO@15yծ=DxٓH[`;?VMӿq @&Q@N ?)bO@ I٘i)I9o@YG JB=Js<JJJ&eE&K|> Y3'X~?ybLA5zdE7{79)ȯB_E[[f@[X~?[[[[[BZYY i) |ITG?i_C@X< ))"@ԪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033492.403165 s, next control iter: 1743033492.763179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 6991", header.stamp.nsec: 0"0 temperature: 13.386932"* salinity: 33.391708", density: 1025.000000"* values[0]: 0.697585"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033492.783165 s.XKII~,2%%AAQO@AN|O@AZ~? ALA7$&"AAwnNA"AZAbAjArAzAAA]P @A䬊J^rAn@AtU&<A=A 3A AkAƳ*AM:?2Aս:A5=BAM:?JAսRA5=٘i)I9n@YnG JC=JJJJ,eE&K YX X~?yLAdEŧ7b79)ͯB\E[[.g@[X~?[[[[[BZYY i) IG?iF@s!< o[))o[@תYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033492.803165 s, next control iter: 1743033493.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033493.203165 s.SII~,M%%AJ"J*J2J:JBJnJvJ@@@@Aףp=O@AXc'pO@A7Z~? AA&$&"AAPnNA"AZAbAjArAzAAA"Ңk@Aim-G_rA`^n@At<A=As2AAÿA5*AF:?2Aս:A =BAF:?JAսRA =٘i)I9^n@YG JJJJJ1eE&K Y}W~?yκ$LAdE777C9)ѯB[[Xh@[qnX~?[[[[[BZYY iﰽ) Iu"H?iJ@V= S))S←FN@ڪYFF]{:Waiting for Gazebo time sync: latest Gz time: 1743033493.223165 s, next control iter: 1743033493.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033493.623165 s.XYII~,ag%%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033493.623282F (some fields omitted in printout)A)\O@AO@AY~? AA6#&"AA*nNA"AZAbAjArAzAAA>~i6@Ao+v\`rAm@AZ<AJ=A1AAſA?*A9?:?2AKfֽ:Am=BA9?:?JAKfֽRAm=٘i)I9m@YG JB=JJJJ7eE&K YW~?yKAdE779)֯BYE[[Xi@[SZX~?[v[[[[BZYY i) IINH?iN@= ϴ))ϴ쿩@۪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033493.643165 s, next control iter: 1743033494.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 6992 , header.stamp.nsec: 0 0 temperature: 13.387189 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.696555 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033494.043165 s.`II~,Â%%AJ"J*J2J:JBJnJvJA{GaP@A"T3GP@AoY~? AA#&"AAnNA"AZAbAjArAzAAAfB@AQarA/m@A=v;AA=A/A?A`}ǿAb*A64:?2Aֽ:AD=BA64:?JAֽRAD=٘i)I9/m@Y[G JC=JJJJ YW~?yçJAn.dE79)߯BSE[[k@[2X~?[[[[[BZYY i) KIʩH?iT@;= 7))7迩 @y{鰽#YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033494.503165 s, next control iter: 1743033494.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6993, header.stamp.nsec: 00 temperature: 13.387462* salinity: 33.391701, density: 1025.000000* values[0]: 0.695459F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033494.883165 s.J "J *J 2J :J 2?BJ 2?zmII~nJ:5vJ,]%%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033494.883316F (some fields omitted in printout)AQ8Q@Ag?Q@A4Y~? AAs#&"AABmNA"AZAbAjArAzAAAx@AT3drA0l@AxAY=A -A`A>;˿Az%*A :?2Au׽:A+=BA :?JAu׽RA+=٘i)I9l@YG J_JJJJGeE&K Y"W~?yYǧyJAdEE77 9CB)BPE[[l@[TX~?[W[[[[BZYY i) oI2H?iW@ = ))忩@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033494.923165 s, next control iter: 1743033495.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033495.303165 s.TtII~,og%%AII"IG*Il@6I>IFIAq= ףQ@A%rQ@ASY~? AdAU#&"AAmmNA"AZAbAjArAzAAAaQ:ft@AL)NerArk@A 0oA(ɨ=A+A_AͿA{K*Au:?2A׽:A8=BAu:?JA׽RA8=٘i)I9rk@YLG JJJJJLeE&K YSnW~?yʧ JAdE777.9)BME[[ n@[0 X~?[*[[[[BZYY i) ظIHI?i[@2 = Gv))Gv㿩I2@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033495.323165 s, next control iter: 1743033495.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 6994., header.stamp.nsec: 0.0 temperature: 13.387750.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.694371.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033495.723165 s.{II~,H%%AJ"J*J2J:JBJnJvJZJ@JJ@bJ̙@RJ̙@A(\R@A2FQ@AlY~? AAU%#&"AAkmNA"AZAbAjArAzAAAVvH@A]q?grAQj@A,λA۫=Ay*A"7A οA`*Ac :?2A1׽:AJ=BAc :?JA1׽RAJ=٘i)I9j@YG J渼JJJJQeE&K YTW~?yvΧIAdE)7ŧ79)B[[Eo@[aW~?[[[[[BZYY i) CII?i^@ً= 3,))3,ῩĐ@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033495.743165 s, next control iter: 1743033496.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033496.143165 s.\/II~, * &%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033496.143292F (some fields omitted in printout)AGzR@AF`R@ATY~? A A"&"AAFmNA"AZAbAjArAzAAAmm0@A%цhrA3j@AFk;A=A;)A7 AsPпA9ȼ*A:?2Aֽ:AR=BA:?JAֽRAR=٘i)I93j@YG Jw¼JJJJWeE&K Y:W~?yҧ1IAdE7{7Y9)BKE[[hp@[W~?[[[[[BZYY i) >ǼIib@"= ޿))޿`V@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033496.163165 s, next control iter: 1743033496.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033496.563165 s.II~,_ $&%AJ"J*J2J:J1?BJ1?nJ?:5vJ@@@@AffffR@AܼqRR@A;Y~? AA,"&"AAv!mNA"AZAbAjArAzAAA04j@AeWjrAi@A;h<A=A'AA1ѿAм*A9?2Ayֽ:AA=BA9?JAyֽRAA=Y3\@'yt=Ji<ٓH ؠ?ݔ߿@ 4? ?)3\@ I٘i)I9i@Y"G J ̼J:<JJJ\eE&Kx> Y/"W~?y`֧HA'dE7791B)BHE[[q@[W~?[1"[[[[BZYY i) WμIie@y= 7ܿ))7ܿM@'YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033496.603165 s, next control iter: 1743033496.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6995, header.stamp.nsec: 00 temperature: 13.388041* salinity: 33.391670, density: 1025.000000* values[0]: 0.693208F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033496.983165 s.II~,>&%AAQS@A>s7S@A#Y~? AA"&"AAlNA"AZAbAjArAzAAAK@A!ȄlrAKh@A̕<A?Ʋ=Ar&ArA CҿA7ռ*A9?2Aֽ:A  =BA9?JAֽRA  =٘i)I9h@Y G JӼJJJJbeE&K Y W~?yڧCHAdE{7j79)BEE[[?r@[nW~?[h&[[[[BZYY i) $ּIig@D= Pڿ))Pڿ{@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033497.023165 s, next control iter: 1743033497.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033497.403165 s.&II~,Y&%AJ"J*J2J:JO1?BJO1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033497.403279F (some fields omitted in printout)A ףpS@AI[S@A Y~? AAE"&"AA=lNA"AZAbAjArAzAAAJΟ@Av@[/W~?[3[[[[ZZBZYY i) )/Iiq@ = ӿ))ӿ.@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033498.283165 s, next control iter: 1743033498.643184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743033498.663165 s.II~,q&%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033498.663282F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6997, header.stamp.nsec: 00 temperature: 13.388683* salinity: 33.391689, density: 1025.000000* values[0]: 0.690620F (some fields omitted in printout)AU@AT@A,X~? A;A}!&"AAllNA"AZAbAjArAzAAAdfZ@A#trAe@A|Aј=AQG!AAտA.*AF9?2A׽:A]<BAF9?JA׽RA] Y1V~?yxFA[!dE7*9)BIFIARkU@AeoQU@A,X~? A#A5!&"AAIlNA"AZAbAjArAzAAAM*s@A%wrAe@A<Av=ACA`(A`gֿA*AD:?2AQ׽:AH^<BAD:?JAQ׽RAH^<٘i)I9e@Ya G J!JJJJ|eE&K Y8V~?yFAdE77j7n.9)B=E[[\x@[lW~?[<[[[[ZZBZYY i) uݚIi+v@0= ο))οdP@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033499.123165 s, next control iter: 1743033499.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033499.503165 s.II~,@4&%AAp= U@AU@AnX~? A&A &"AA*'lNA"AZAbAjArAzAAAZ^ @A yrA6Cd@AQCA2=AHAfA>׿ACPҼ*A:?2A ׽:A;BA:?JA ׽RA;٘i)I9Cd@Y G JJJJJeE&K Y>{V~?y'EAdE7S729)B:E[[u}y@[:\W~?[rA[[[[ZZBZYY i) 3Iix@J= ̿))̿@8{YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033499.543165 s, next control iter: 1743033499.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 6998, header.stamp.nsec: 00 temperature: 13.389028* salinity: 33.391655, density: 1025.000000* values[0]: 0.689096F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033499.923165 s.;II~,&%AJ"J*J2J:Jh0?BJh0?nJ85vJZJX@JJX@bJd@RJd@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743033499.923335F (some fields omitted in printout)A(\BV@Aw~(V@AX~? A*A &"AAlNA"AZAbAjArAzAAArco= @Ak1<^|rA=c@A<Aq<AqA)A`ؿA*A6:?2A׽:A3CBA6:?JA׽RA3C٘i)I9c@Y G JżJJJJeE&K YDdV~?yEEEAdE7759/B)B7E[[z@[?LW~?[;F[[[[ZZBZYY i)  Ii{@F!= ~ʿ))~ʿVp@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033499.943165 s, next control iter: 1743033500.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033500.343165 s.rASb@AD<A8߻AcA@A@ٿA[<*A9?2Aֽ:AxBA9?JAֽRAxYAi@y!߻D<ٓH@.'?@f&@$@?V{?`?@9?)Ai@ I٘i)I9b@Y G JOoB=JRFJJEJeE&Kw> Y 8V~?y:DAdEj7j7<9)B[[V|@[-W~?[P[[[[ZZBZYY i=) E\Ii@$= ƿ))ƿ@)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033500.803165 s, next control iter: 1743033501.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033501.183165 s.II~,^K'%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.062398< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743033501.183274F (some fields omitted in printout)AQW@A<kW@A$?X~? A 8Al&"AAtkNA"AZAbAjArAzAAA'9x@A~wrA'rb@AD";AA׋AeAt}ڿAZĻ*A9?2A0ֽ:A=BA9?JA0ֽRA=٘i)I9rb@Y G JC=JJJJeE&K Y"V~?y DAdE7{7Y@9)B0E[[ }@[W~?[U[[[[ZZBZYY i=) +JIi@D%= kÿ))kÿ@v)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033501.203165 s, next control iter: 1743033501.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033501.603165 s.94II~,f'%AIIEC"I G*Irb@6I>IFIJ"J*J2J:JBJnJvJZJJJbJRJA= ףW@ALW@A)X~? A<AI&"AAkNA"AZAbAjArAzAAA@$@AR'͆rAx[b@A% A#K A"EA A@DۿA@zN6*A9?2Amֽ:A2ԼBA9?JAmֽRA2Լ٘i)I9[b@Y G JXJJJJeE&K Y V~?yDAdE77C9)B.E[[@[W~?[ elevatorAngleAction: 0.073231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743033502.443286F (some fields omitted in printout)AzX@A`X@AW~? AKFA@&"AA?kNA"AZAbAjArAzAAAA ?AAErAb@AhA\\A]A;AfܿAZ<*A9?2AK\ֽ:AqBA9?JAK\ֽRAq٘i)I9b@Y G J;C=JJJJeE&K YU~?y EAdE77{7K9.B)B+E[[Щ@[wV~?[d[[[[BZYY i) Iiυ@gG+= ?))?˙@ה*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033502.463165 s, next control iter: 1743033502.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7001, header.stamp.nsec: 00 temperature: 13.389512* salinity: 33.391617, density: 1025.000000* values[0]: 0.687320F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033502.863165 s.+II~,u>'%AII"I G*Ib@6I>IFIA33333Y@AX7Y@AW~? AOKA/&"AA kNA"AZAbAjArAzAAA͆-?AWiCrAb@A\鼻AW|zA [AbBAঌݿAw7<*A9?2A`ֽ:A. BA9?JA`ֽRA. YPo@DUyE{zCٓH@ +y?}m? ot@?iJ?"w?)Po@ I٘i)I9b@Y G J<J~JJJeE&Kw> YU~?y%aEAUeE{7j7N9)B(E[[8@[V~?[i[[[[BZYY i k=)  Ii@<(,= Ժ))ԺZ@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033502.883165 s, next control iter: 1743033503.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033503.283165 s.7RII~,'%AJ"J*J2J:J0?BJ0?nJ85vJZJ@JJ@bJ @RJ @AQY@A䠄Y@AW~? AtPA&"AAkNA"AZAbAjArAzAAAm _?ArA+c@Aw;AA)A@ AK޿A^<*A#9?2A׽:A BA#9?JA׽RA ٘i)I9+c@YB G JJ<JJJJeE&K YU~?y+EAeEb77DR9)B[[*ǁ@[V~?[\o[[[[BZYY i) ϵIi^@F-= ך))ך%@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033503.303165 s, next control iter: 1743033503.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7002., header.stamp.nsec: 0.0 temperature: 13.389431.* salinity: 33.391602., density: 1025.000000.* values[0]: 0.687862.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033503.703165 s.պII~, '%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743033503.703282F (some fields omitted in printout)Aףp= Z@A,Y@AW~? AUAf&"AAjNA"AZAbAjArAzAAA $(?A ϩrAc@A-c<AxAAA ߿A+<*A9?2AR׽:A BA9?JAR׽RA ٘i)I9c@Y G Js<JJJJeE&K YxU~?y1 FA eE777U9)B&E[[;U@[V~?[t[[[[BZYY i) ĻIim@.= b))b6w@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033503.723165 s, next control iter: 1743033504.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033504.123165 s.7JI~,](%AJ"J*J2J:JBJnJvJ@@@@A)\uZ@AT[Z@AiW~? A[A&"AADjNA"AZAbAjArAzAAAVFAeEb77]9) B#E[[o@[YV~?[[[[[BZYY i) Ii@x 2= ))@y{bl=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033504.583165 s, next control iter: 1743033504.943181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7003, header.stamp.nsec: 00 temperature: 13.389265* salinity: 33.391582, density: 1025.000000* values[0]: 0.688739F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033504.963165 s.|JI~,=(%AJ"J*J2J:JQ0?BJQ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066964< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033504.963301F (some fields omitted in printout)AL[@AJ2[@AW~? AFfA'&"AAjNA"AZAbAjArAzAAAzO?A*4rAe@A+OAA AALA<#<*A99?2Amֽ:A3BA99?JAmֽRA3YGv@ yƈDOٓHd/H?@?`)~?`u? ?@|i@?)Gv@ I٘i)I9e@Yq G J<B=JJJJeE&Kw> YrU~?yEGA eE77`9)B[[c@[V~?[}[[[[BZYY i)  @MIi@2= ))^@yi=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033504.983165 s, next control iter: 1743033505.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033505.383165 s.JI~II,/X(%A"Iq G*Ie@6I>IFIZIECbIjIrIzIIWB3AQ[@Ai>[@AtxW~? AlA&"AApjNA"AZAbAjArAzAAAoE{?A6crA˴e@AFMAA A`RA%A#<*A9?2ACֽ:AŸBA9?JACֽRAŸ٘i)I9e@Y G J<C=JJJJeE&K YaU~?yLGA eEŧ7b7/d9-B)B E[[@[#V~?[-[[[[BZYY i) \[IiS@3= ))@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033505.423165 s, next control iter: 1743033505.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7004", header.stamp.nsec: 0"0 temperature: 13.389013"* salinity: 33.391586", density: 1025.000000"* values[0]: 0.689854"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033505.803165 s.yAJI~,gs(%AJ"J*J2J:J0?BJ0?nJ.95vJZJ@JJ@bJ@RJ@Aq= #\@AX2 \@AfW~? AqA\G&"AAUjNA"AZAbAjArAzAAA |A#sKrAOf@Ab{AZAI A ߿A6AԸ<*A@9?2A1Nֽ:Aj^ BA@9?JA1NֽRAj^ ٘i)I9Of@Y+ G J<JJJJeE&K Y%PU~?ySGA&eEg9.B)B!E[[@[V~?[ꐨ[[[[BZYY i) ֪Ii8@4=  Y)) Y9@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033505.843165 s, next control iter: 1743033506.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033506.223165 s.g#JI~,H(%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066964< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033506.223296F (some fields omitted in printout)A(\\@AYKu\@AUW~? AwA&"AA::jNA"AZAbAjArAzAAAKfѿAdrACf@A$A`A AU?߿AωA\<*A9?2Aֽ:A\ BA9?JAֽRA\ ٘i)I9f@Y G J<JJJJeE&K Y+?U~?y[YHA iD+eEb77Zk9-B)BE[[#@[PV~?[[[[[BZYY i) `̹IiK@0#6= &))&ƞ@s*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033506.243165 s, next control iter: 1743033506.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033506.643165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ  @ @ @~)JI~@,(*(%AAG\@AB\@ACW~? A}A,^&"AAjNA"AZAbAjArAzAAAYa޿AEorAcg@A{ :A6 AA޿A}A^<*A>9?2A׽:AqBA>9?JA׽RAq٘i)I9g@Y G J<JJJJeE&K Y2.U~?ybHA0eE7n9)BE[["0@[qvV~?[[[[[BZYY i) 2 :Ii@G7= ))R@K*YFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7005, header.stamp.nsec: 00 temperature: 13.388759* salinity: 33.391563, density: 1025.000000* values[0]: 0.691076F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743033506.663165 s, next control iter: 1743033507.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033507.063165 s.0JI~,V (%AAfffff]@A~*OL]@A.3W~? A%AU&"AAHjNA"AZAbAjArAzAAAߏA?vprAmh@A-1<AAz?AݿA`[+Al<*AR9?2AQ׽:AU8BAR9?JAQ׽RAU8Y|@Ly¼>w2<ٓHJ`g??Q`Ƅr?S??? ?)|@ I٘i)I9h@Y= G Jy<J<JJJeE&Knx> YU~?yi'IAL6eE777r9)B[[漆@[kV~?[m[[[[BZYY i) Y:Ii@28= ä))äޟ@!*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033507.083165 s, next control iter: 1743033507.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033507.483165 s.v_7JI~,(%AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066964< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743033507.483291F (some fields omitted in printout)A]@A׷]@A"W~? ArAfl&"AAIFIA ףp=^@A6X#^@AW~? AِAq&"AAiNA"AZAbAjArAzAAAQrA+Ú1rA"i@AD<AđA(ADܿA@yA<*A{9?2Aq"׽:AXpBA{9?JAq"׽RAXp٘i)I9"i@Y G J<JJJJeE&K YhU~?yxIAAeEy9-B)BE[[Շ@[WV~?[a[[[[BZYY i) jX;Ii(@9= `))`@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033507.923165 s, next control iter: 1743033508.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033508.323165 s.qDJI~,)%AJ"J*J2J:J[1?BJ[1?nJ95vJZJ*@JJ*@bJ6@RJ6@A\^@A_"ގ^@AW~? AYAr&"AA iNA"AZAbAjArAzAAA/A}H)rAi@Al;A A aACۿA A<*A9?2AAֽ:ABA9?JAAֽRA٘i)I9i@Y6G J<JJJJeE&K YT~?y3TJAFeE{777D}9)B[[a@[NV~?[j[[[[BZYY i) w;Ii@:= 0))0@5*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033508.363165 s, next control iter: 1743033508.723173 s, wait time: 0.360008 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7007*, header.stamp.nsec: 0*0 temperature: 13.388295** salinity: 33.391533*, density: 1025.000000** values[0]: 0.693333*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033508.743165 s.WKJI~,d/)%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066964< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743033508.743272F (some fields omitted in printout)AGz_@Am^@A~V~? AA&"AAiNA"AZAbAjArAzAAAf&A-z0rA52j@AAAA ݻڿA^QA؜<*A9?2ATvֽ:AcBA9?JATvֽRAc٘i)I92j@YG J<B=JJJJeE&K Y4T~?yJAKeE77ڀ9)ۯBE[[2@[DV~?[{[[[[BZYY i) !;Ii%@)Y<= ))-@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033508.763165 s, next control iter: 1743033509.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033509.163165 s.z}RJI~,qJ)%AJ"J*J2J:J1?BJ1?InJD:5IvJ"IG*I2j@6I@@>I@@FIA_@Ae_@AV~? AAq&"AAdiNA"AZAbAjArAzAAAqhA1@dErAuj@AqjvA%AA`ٿAAO<*A9?2A]ֽ:A{BA9?JA]ֽRA{Y@-y!ivٓHFGۿ`O??@m fۿ]Y?? ͎?)@ I٘i)I9j@YG J<<C=J7<JJJeE&KTx> Y$T~?yKAQeEj7j7o9)ׯB[[BA9?JAֽRA>٘i)I9@k@Y-G J<JJJJfE&K YT~?yuKAVeE77779)ӯBE[[+@[e3V~?[ƨ[[[[BZYY i) ;Ii@i == Ӣ))Ӣ&'@D*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033509.603165 s, next control iter: 1743033509.983178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7008 , header.stamp.nsec: 00 temperature: 13.388073* salinity: 33.391525, density: 1025.000000* values[0]: 0.694449F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033510.003165 s.~ `JI~,e4)%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033510.003286F (some fields omitted in printout)J"J*J2J:JBJnJvJZJh@JJh@bJt@RJt@Ap= W`@AŌ<`@AV~? AIAoh&"AAddiNA"AZAbAjArAzAAA{iArAUk@AƄAڈAbA6TؿAA<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@Y{G J=<JJJJfE&K YT~?yKA[eE9*B)̯B[[@[.+V~?[ͨ[[[[BZYY i) 3IFIA(\`@Ax`@AV~? A=A&"AAOiNA"AZAbAjArAzAAAhxABTȇrA8l@A];A$∽AA{~׿A`XA@<*A9?2A;׽:AsBA9?JA;׽RAs٘i)I98l@YG JX<JJJJfE&K YT~?y1LAaeEŧ7b7/9)ȯB[[l@[S#V~?[CӨ[[[[BZYY i) ^= E))Eg>@yt<=f*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033510.463165 s, next control iter: 1743033510.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7009, header.stamp.nsec: 00 temperature: 13.387861* salinity: 33.391510, density: 1025.000000* values[0]: 0.695493F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033510.843165 s.lJI~,)%AJ"J*J2J:J 2?BJ 2?nJ:5vJZJ™@JJ™@bJΙ@RJΙ@AHz.a@Aa@AV~? AGAX&"AA% elevatorAngleAction: 0.076823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033511.263283F (some fields omitted in printout)Aa@Azlˀa@AV~? AeǩA&"AA)iNA"AZAbAjArAzAAAOA}}rAm@Am<AAfAտAZA<*A9?2A6D׽:ABA9?JA6D׽RAY@'yBn<ٓHDտ@.? @?@)jAտa?{?@L??)@ I٘i)I9m@YPG J<C=JQ49JJJfE&Khx> YvT~?y۷LAkeEj7j7Z9)BE[[ 3@[V~?[ߨ[[[[BZYY i) IFIJ"J*J2J:JBJnJvJZJJJbJRJAQb@A>[a@AV~? AΩA%C&"AAiNA"AZAbAjArAzAAAxlAʠrAԒm@A&;AqAAxԿAEA<*A9?2Alֽ:ABA9?JAlֽRA٘i)I9m@YG J<JJJJfE&K Y T~?y)KMAqeEZ7Z79)B[[@[ V~?[9[[[[BZYY i) _@ elevatorAngleAction: 0.076823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033512.523282F (some fields omitted in printout)A(b@A7ob@ArV~? A0ݩA'&"AA"hNA"AZAbAjArAzAAAU8A銠rAcn@AUAMAA`>ӿA kA <*A9?2AGֽ:A BA9?JAGֽRA ٘i)I9n@Y0G J<JJJJ(fE&K Y;T~?yШNA|eE7{79)BE[[ Ս@[AV~?[ [[[[BZYY i) ._]<*%AAzGc@A,-c@AwV~? AA&"AAhNA"AZAbAjArAzAAA4ap5ASOrAoo@A#zAHA?A`_ҿA `A"<*A9?2A4Qֽ:ABA9?JA4QֽRA٘i)I9o@YG J<JJJJ.fE&K YyT~?y٨eNAeE779)B[[_@[U~?[y[[[[BZYY i) oW*%AA3333c@A۞ c@AmV~? AA&"AAqhNA"AZAbAjArAzAAAp&A rAo@A:AWAؕAX|ѿAAO<*A9?2Aoֽ:A?BA9?JAoֽRA?٘i)I9o@YG J6<JJJJ3fE&K YipT~?yaNAeEŧ7b7E9)B[[o@[U~?[[[[[BZYY iˊ=) ~ elevatorAngleAction: 0.085714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033513.783310F (some fields omitted in printout)AQd@Auid@AcV~? AATt&"AAhNA"AZAbAjArAzAAAnQ Ak8vrA$p@Ac:AXAA;пA`A <*Af9?2A׽:A BAf9?JA׽RA I٘i)I9$p@Y(G J<JJJJ9fE&K YgT~?y!OAeE777۫9'B)B E[[t@[U~?[`[[[[BZYY i) fE&K Y]T~?yOAeEj7j7p9)BE[[@[rU~?[ [[[[BZYY i) n elevatorAngleAction: 0.085714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033515.043274F (some fields omitted in printout)A{Gae@Aޏ/Ge@AGJV~? A A&"AAhNA"AZAbAjArAzAAAWKr AssAȸq@AP9<A0AܿA˿AmA<*A9?2A׽:ABA9?JA׽RA٘i)I9q@YG JТ<JJJJIfE&K YJT~?y;PAeE77{79&B)B E[[W@[=U~?[[[[[BZYY i) ^+9?2Aֽ:A7BA>9?JAֽRA7Ymn@syڿy6:ٓH M`m??xX`k?&?@@5U??)mn@ I٘i)I9Hr@YuG J<J4JJJNfE&K> YFT~?yP PAyڿeE{7j709)B[[똑@[U~?[@ [[[[BZYY i) c elevatorAngleAction: 0.085714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743033516.303325F (some fields omitted in printout)Aq= ףf@Ad‰f@A{5V~? A!A1 &"AAQ}hNA"AZAbAjArAzAAAfL.j ANsAs@Au1zA%A mտA`;ƿAAh<*A 9?2Aֽ:ABA 9?JAֽRA٘i)I9s@Y3G J[<B=JJJJYfE&K YK?T~?yQAeE7777[9)B[[a@[uU~?[\-[[[[BZYY i) 8[ elevatorAngleAction: 0.085714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743033517.563321F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffg@A`Rg@AM%V~? A9A" &"AAchNA"AZAbAjArAzAAAwA#R'!sAPtu@A4;AаA[ͿA'A A<*A9?2A)׽:ABA9?JA)׽RAYܰ@oͿyϰ;ٓH m`.? q@.h?`?}?H?)ܰ@ I٘i)I9tu@YdG JH<JfJJJifE&KMx> Y6T~?y6RAoͿeEj7j79){B E[[I@[U~?[A[[[[BZYY i) 2`4?BJ>4?nJ<5vJA ףph@A Zh@A%V~? AvIA$ &"AALVhNA"AZAbAjArAzAAA+qȸAJ*sAv@AJi<AYAȿA!A <Ah<*A_9?2A׽:AcBA_9?JA׽RAc٘i)I9v@Y1G Jl<JJJJtfE&K Y4T~?yHSAeEb7b7F9)pB[[n\@[@U~?[TN[[[[BZYY i)  elevatorAngleAction: 0.085714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743033518.823297F (some fields omitted in printout)A\(i@A֤i@AV~? AwQAP &"AAPhNA"AZAbAjArAzAAA/j5HAH\/sAtw@A|a;A4CAſAǵA`(KA\<*Ar9?2Aֽ:ABAr9?JAֽRA٘i)I9tw@YG J;<JJJJyfE&K Y3T~?yXQ?TAeE7779'B)kBE[[8@[zU~?[T[[[[BZYY i) I!DFIDZI DCbI ICjI CrIzI =I 6AGzi@AMfzi@AV~? A}YA &"AA?LhNA"AZAbAjArAzAAA0Cc%A%򻂪4sAd*x@A4AAkÿA@ ATWAV<*A֊9?2Aa8ֽ:A BA֊9?JAa8ֽRA ٘i)I9*x@Y G J<JJJJ~fE&K Y2T~?y"ZTAeE{7{7p9)eB[[p@[U~?[[[[[[ZZZZ¸>BZYY i¸>e穽)   Y4T~?yb1UAkeEj7j79)_B[[mYȿ[U~?[1b[[[[ZZZZBZYY i) sAZy@AvAk[AAA`fAM=*A9?2Aֽ:ABA9?JAֽRA٘i)I9y@YG J?<JJJJfE&K Y6T~?ykUAeE7779)YB[[g2ƿ[LU~?[h[[[[ZZZZBZYY i) @*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033520.523165 s, next control iter: 1743033520.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7019, header.stamp.nsec: 00 temperature: 13.568345* salinity: 33.374985, density: 1025.000000* values[0]: 0.579103F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033520.923165 s.5KI~,;,%AJ"J*J2J:J@?BJ@?nJs5vJ@@@@A(\Bk@Aw(k@A9V~? AyA]?&"AAAhNA"AZAbAjArAzAAAF>{lAQHsA(t{@A%;A=6vAVAӆAnAϭ<*A%9?2AƆֽ:AddBA%9?JAƆֽRAdd٘i)I9t{@Y G J=JJJJfE&K Yn:T~?y9}VAeE9)KB[[/[U~?[v[[[[ZZZZBZYY i) JJJfE&Kkw> YAT~?yDWAmeE9)@B[[}[U~?[Z[[[[ZZZZBZYY ih) R`<JJJJfE&K YJT~?yWAeEj79):B[[:[U~?[[[[[ZZZZBZYY i) Pq,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077876< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743033523.863275F (some fields omitted in printout)A33333n@AÖn@AXV~? AA&"AAMhNA"AZAbAjArAzAAA"*AMjsAH~@AOAX1=AYA ?A@DA*A9?2Aֽ:A<BA9?JAֽRAJJJfE&Kw>  9Y[T~? 9yWAk fE)7ŧ79)[[[3U~?[u[[[[BZYY iLsi) !7<AHy=A"LA~V?A?!AG:*A9?2A1ս:A% =BA9?JA1սRA% =٘i)I9}@YoG JB=JJJJfE&K YjT~?yʩ#WAfE777 9)>B[[\[aU~?[[[[[BZYY i) t= 3L))3L3LyD!YFF]:Waiting for Gazebo time sync: latest Gz time: 1743033525.163165 s, next control iter: 1743033525.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033525.543165 s.IXKI~,b-%AA{Go@AǞ=o@A,V~? AѪA&"AArfhNA"AZAbAjArAzAAAW$@AsC"~sA |@AHn<A{͐=A&Ad?A!At*A 9?2Awս:A=BA 9?JAwսRA=٘i)I9|@YG JB=JJJJfE&K YyT~?y۩VA"fEZ7SI719)FB[[-[ U~?[[[[[BZYY i) I;IiL@+==  ))  ƪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033525.583165 s, next control iter: 1743033525.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7024, header.stamp.nsec: 00 temperature: 13.567593* salinity: 33.375000, density: 1025.000000* values[0]: 0.580863F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033525.963165 s.x^KI~,}-%AJ"J*J2J:J?BJ?nJ5vJALp@AND2p@AG2V~? A٪A%"AAnhNA"AZAbAjArAzAAAnϷ A{RsA||@A;A鼖=A#xA &F?AA;*A9?2Aiֽ:A=BA9?JAiֽRA=Y|@3iy,=L%;ٓHH7?@?@y? 6X@?+Ӳ`Sy? ?)|@ I٘i)I9||@YG JC=J*=JJJfE&Kw> Y8T~?y/GVAi jD'fE)7b79)JB[[ҧ[\U~?[1ũ[[[[BZYY i) >;Ii@*<= s))ssCϪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033526.003165 s, next control iter: 1743033526.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033526.383165 s.eKI~,/-%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743033526.383311F (some fields omitted in printout)AQp@A&:p@Ak8V~? AA;P%"AAkwhNA"AZAbAjArAzAAAq " Al8sA{@AOyA=AA'?AA*AZ9?2Aֽ:A\=BAZ9?JAֽRA\=٘i)I9{@Y\G JJJJJfE&K Y}T~?ybUA,fEb77\9)NB[[פ[V~?[˩[[[[BZYY i) ;Ii@:= 9))99ԪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743033526.423165 s, next control iter: 1743033526.783176 s, wait time: 0.360011 s}T~?)b"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7025", header.stamp.nsec: 0"0 temperature: 13.567797"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.580317"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033526.803165 s.xAlKI~,g-%AJ"J*J2J:J]"xFailed to acquire real or simulated CTD data within timeout.BJ1-"(Communications FaultnJvJ! ! ! ! ! Aq= #q@A / q@A?V~? A`Ao%"AAhNA"AZAbAjArAzAAAS; A\j~sACr{@AeA-=AA?AA*A9?2A׽:A =BA9?JA׽RA =٘i)I9r{@Y G JJJJJfE&K Y˜T~?y|UA2fE9/B)TBE[[#u[#V~?[ҩ[[[[BZYY i) L;Ii@{9= ִ))ִִ7تYF-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]:Waiting for Gazebo time sync: latest Gz time: 1743033526.843165 s, next control iter: 1743033527.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033527.223165 s.gsKI~,H-%A!U@!M@!I@!Q@!E@!A@!Y@A(\q@ADmFuq@ABFV~? A"Aw%"AAhNA"AZAbAjArAzAAAt# A];~:sA1z@A{AAo=AqA?A{A&*A9?2A׽:Aԋ =BA9?JA׽RAԋ =٘i)I9z@YG JJJJJfE&K YT~?yUA7fE7779)XB[[C[ V~?[ة[[[[BZYY i) n\;Ii5@8= ))٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033527.263165 s, next control iter: 1743033527.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033527.643165 s.wyKI~, *-%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033527.643295F (some fields omitted in printout)J"J*J2J:JBJnJvJAGq@Aq@AMV~? AA_%"AAǖhNA"AZAbAjArAzAAA`s A 'sAUz@A AO=A莿A?AJWAQ*A9?2Aֽ:Ax =BA9?JAֽRAx =٘i)I9Uz@Y\G JJJJJfE&K YMT~?yTA=fEb7b7"9)\B[[[eV~?[ީ[[[[BZYY i)  ;Ii@7= &))&꾩&EڪYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7026, header.stamp.nsec: 00 temperature: 13.568017* salinity: 33.375008, density: 1025.000000* values[0]: 0.579698F (some fields omitted in printout)]Waiting for Gazebo time sync: latest Gz time: 1743033527.663165 s, next control iter: 1743033528.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033528.063165 s.KI~,_ .%A "2Initializing CTD_Seabird.Afffffr@AkzPLr@A VV~? AA6%"AAĢhNA"AZAbAjArAzAAA[>R AWsAy@A1;A=AjA@:y?Au1A*Ak9?2APֽ:A  =BAk9?JAPֽRA  =Y@cyq=v2;ٓHP ?y? g?;cd3? ֱ =f??)@ I٘i)I9y@YG JJr<JJJfE&Kx> Y0T~?y HTAcBfEj7j7%90B)bB E[[✿[V~?[S[[[[BZYY i) :Ii-@e5= l))lᾩl٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033528.103165 s, next control iter: 1743033528.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033528.483165 s.w_KI~,.%AJ"J*J2J:JBJnJvJAr@AmUٷr@A^V~? AA ]%"AAhNA"AZAbAjArAzAAA.T@ A9BsAY$y@ARM<AD؛=A;艿A ( ?At AM*Aر9?2Aֽ:A^ =BAر9?JAֽRA^ =٘i)I9$y@YG JǷJJJJfE&K YT~?ySAGfEb77G)91B)hB!E[[["V~?[[[[[BZYY i) h2 :Ii@V4= .ؾ)).ؾ.ؾ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033528.523165 s, next control iter: 1743033528.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7027, header.stamp.nsec: 00 temperature: 13.568276* salinity: 33.375019, density: 1025.000000* values[0]: 0.579033F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033528.903165 s.ȍKI~,9.%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033528.903305F (some fields omitted in printout)A ףp=s@A7h#s@AgV~? AA%"AAhNA"AZAbAjArAzAAA ]YALiޣsAx@A<A;=ATA`?AA_*A69?2Atֽ:AYl =BA69?JAtֽRAYl =٘i)I9x@YDG J帼B=JJJJfE&K YT~?y|tSAMfE77,92B)mB$E[[E~[)V~?[[[[[BZYY i) T"Iiȋ@2= ^Ͼ))^Ͼ^ϾӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033528.923165 s, next control iter: 1743033529.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033529.323165 s.uKI~,!T.%AJ"J*J2J:JBJnJvJA\s@Aɬs@AqV~? A+A5%"AA:hNA"AZAbAjArAzAAAa" ArsAw@A i.<A.=ABA?AAy*AV9?2A iֽ:A =BAV9?JA iֽRA =٘i)I9w@YG JtC=JJJJgE&K YT~?yP$ SARfEZ7Z7q09)rB[[uI["2V~?[C[[[[BZYY i) bIi݊@j1= Ǿ))ǾǾΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033529.343165 s, next control iter: 1743033529.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7028*, header.stamp.nsec: 0*0 temperature: 13.568524** salinity: 33.375023*, density: 1025.000000** values[0]: 0.578354*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033529.743165 s.WKI~,o.%AAGzt@A2ds@A{V~? AA%"AA7hNA"AZAbAjArAzAAAo֌AvsA^w@A&A=A2A?AAX*A9?2A8ֽ:AS=BA9?JA8ֽRAS=I٘i)I9^w@YG JŭJJJJgE&K YT~?y$,RAWfEb7749)wB[[[:V~?[[[[[BZYY i)  Ii!@`0= +))++ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033529.763165 s, next control iter: 1743033530.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033530.163165 s.z}KI~,q.%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743033530.163278F (some fields omitted in printout)J"J*J2J:JBJnJvJAt@Apet@AoV~? A%A}%"AAhNA"AZAbAjArAzAAAa]A@QzsAvv@Az0ArW=A~A-?A OA*AM9?2A׽:A4K<BAM9?JA׽RA4K YT~?y3@RA~]fE777793B)}B(E[[ߑ[CV~?[[[[[BZYY i)  IIi}@.= 6`))6`6`ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033530.183165 s, next control iter: 1743033530.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033530.583165 s.KI~,S.%AARt@A/ot@AV~? AE-A;%"AAohNA"AZAbAjArAzAAANCAWnsAPv@AAz =Ae:yA@t?A#A1*A9?2A-׽:Ad<BA9?JA-׽RAd<٘i)I9Pv@YG JC=JJJJgE&K Y| U~?y:QAbfEb771;9)B[[[LV~?[ [[[[BZYY i) {.Ii @G,= >))>>êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033530.623165 s, next control iter: 1743033530.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7029, header.stamp.nsec: 00 temperature: 13.568752* salinity: 33.375023, density: 1025.000000* values[0]: 0.577703F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033531.003165 s.x KI~,L4.%AJ"J*J2J:JBJnJvJAp= Wu@A 94B)B+E[[r[VV~?[[[[[BZYY i) YءIią@9+= )) YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743033531.023165 s, next control iter: 1743033531.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033531.423165 s.uKI~,.%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743033531.423287F (some fields omitted in printout)A(\u@AT8u@AEV~? A;Ai%"AAiNA"AZAbAjArAzAAAElqANsARu@A!3A=A oA2??A~AƗ*A}9?2Aֽ:A0<BA}9?JAֽRA0<٘i)I9Ru@YOG JB=JJJJgE&K Y@+U~?yIQAmfE\B9)B[[_8[`V~?[[[[[BZYY i) Ii@4)= ))߾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033531.463165 s, next control iter: 1743033531.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7030, header.stamp.nsec: 00 temperature: 13.568948* salinity: 33.375034, density: 1025.000000* values[0]: 0.577147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033531.843165 s.ݼKI~,.%AJ"J*J2J:J?BJ?nJ5vJAHz.v@Ad6v@AеV~? ABA%"AA30iNA"AZAbAjArAzAAAKe'AA sACt@A< <A=AjA?AcrAޘ*Aj9?2AnOֽ:AL)<BAj9?JAnOֽRAL)<٘i)I9t@YG J5C=JJJJ gE&K Y:U~?yQPArfEb77E96B)B/E[[w[kV~?[%[[[[BZYY i) 4߻Iiȃ@(= &ґ))&ґ&ґYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033531.863165 s, next control iter: 1743033532.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033532.263165 s.KI~,/%AAv@A#v@AV~? AIAfU%"AACiNA"AZAbAjArAzAAAA)MsASt@Az<Ae=A`dA?A@5A-ѕ*A9?2Al4ֽ:A5=BA9?JAl4ֽRA5=YMw@ܫdyT={<ٓH+??@G?x ]?;UP?`?)Mw@ I٘i)I9St@YG JjJ#JJJ%gE&K x> YULU~?yWaPAdxfEZ7Z7I9)B[[7ņ[uV~?[#[[[[BZYY i) QUIi@a&= &))&&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033532.283165 s, next control iter: 1743033532.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 70312, header.stamp.nsec: 020 temperature: 13.5691302* salinity: 33.3750312, density: 1025.0000002* values[0]: 0.5765982F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033532.683165 s.J "J *J 2J :J ?BJ ?nJ 5vJ lKI~,+/%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743033532.683308F (some fields omitted in printout)AQw@A v@AEV~? APA%"AAWiNA"AZAbAjArAzAAAf~AndsAs@Aee<Al=A?_A`k?AA֑*A9?2A^ֽ:A2=BA9?JA^ֽRA2=٘i)I9s@YhG JJJJEJ+gE&K Y ^U~?y^PA}fE77M97B)B2E[[[πV~?[)[[[[BZYY i) pIi_@Q$=  ))  yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033532.683165 s, next control iter: 1743033533.083186 s, wait time: 0.400021 s rAdjusting time to match Gazebo time: 1743033533.103165 s.KI~,F/%AA= ףpw@AxWVw@A-V~? AuWAIG%"AA>liNA"AZAbAjArAzAAAG CAsA[^s@AJ;AӇ=ATZA৅?A AD~*AS9?2Aֽ:AP=BAS9?JAֽRAP=٘i)I9^s@YG J_JJJJ0gE&K YoU~?yeOAfEŧ7b7P9)B[[1M[BV~?[.[[[[BZYY i) MIi}@7}"= *n))*n*n YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033533.123165 s, next control iter: 1743033533.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033533.523165 s.KI~,{a/%AJ"J*J2J:JBJnJvJA(w@Aw@AV~? A2^A%"AAiNA"AZAbAjArAzAAAC#AJZsACr@AǻA=ATA/%AJ"J*J2J:JBJnJvJA3333x@Afx@A W~? AbkA@%"AAniNA"AZAbAjArAzAAAIhrAsAr@ANuAN=AbXJA4?A\Aꈼ*Ar9?2A&׽:AF=BAr9?JA&׽RAF=Y@@?JyJ=.vٓHo?@?E?`܂? K`@?)@@ I٘i)I9r@YNG J膼J;JJJ@gE&K&x> Y U~?yyNAJfE{7{7r[9)B[[w[V~?[P@[[[[BZYY i) ]LIigu@= 48))4848iªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033534.383165 s, next control iter: 1743033534.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7033&, header.stamp.nsec: 0&0 temperature: 13.569439&* salinity: 33.375046&, density: 1025.000000&* values[0]: 0.575557&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033534.783165 s.VKI~,/%AAQy@AN|y@A9W~? AqAH@%"AAiNA"AZAbAjArAzAAAADsAq@AA=ADEAƧ?A`A̔*A 9?2Abֽ:A=BA 9?JAbֽRA=٘i)I9q@YG JJJJJEgE&K YU~?y7NAfEb7b7_9:B)B Y: V~?yPLA0fE{7j7]m9)B[[ss`[bV~?[\[[[[BZYY i) ьIiae@ = ))yҽDҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033536.483165 s, next control iter: 1743033536.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7035, header.stamp.nsec: 00 temperature: 13.569777* salinity: 33.375057, density: 1025.000000* values[0]: 0.574506F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033536.883165 s.y LI~,D80%AJ"J*J2J:JBJnJvJAQ8{@A5;{@AnW~? AA9%"AADjNA"AZAbAjArAzAAAvR;J?A2 sA4n@A NAI=A{S+A !?A Ap>*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9n@YuG JC=JJJJ`gE&K Y"V~?yꝪMLAfE77p9=B)ůBFE[[[[W~?[la[[[[BZYY i) !_Iia@s_= )) ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033536.923165 s, next control iter: 1743033537.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033537.303165 s.VLI~,wgS0%AAq= ף{@AxE{@AW~? AVAp%"AA_jNA"AZAbAjArAzAAA90vv?AVvsAvn@A,7AH=A:%AL}?AfA+*A9?2A0ֽ:A=BA9?JA0ֽRA=٘i)I9vn@Y"G JJJJJfgE&K Y7V~?yKAfE7t9>B)ʯBIE[[3SW[W~?[f[[[[BZYY i) x훼Ii(^@d.= 5d))5d5dڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033537.343165 s, next control iter: 1743033537.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7036., header.stamp.nsec: 0.0 temperature: 13.569953.* salinity: 33.375069., density: 1025.000000.* values[0]: 0.573925.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033537.723165 s.LI~,Hn0%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033537.723275F (some fields omitted in printout)A(\|@AJC{@AW~? AAC%"AAzjNA"AZAbAjArAzAAAAa%?AnsAm@AAl=A A?A@c]A<*AA9?2ANֽ:A=BAA9?JANֽRA=٘i)I9m@YG JJJJJkgE&K YMV~?yKAfE77j7x9)ίB[[R[!W~?[k[[[[BZYY i) DzIi[@; = @))@@.ߪY-1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033537.763165 s, next control iter: 1743033538.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033538.143165 s.W/"LI~, *0%AAGz|@AF`|@AW~? AA(%"AAjNA"AZAbAjArAzAAA?A=sA^m@A)CA"=AβA $?AA#*A9?2A)ֽ:A$=BA9?JA)ֽRA$=٘i)I9^m@YxG JqJJJJpgE&K YXcV~?yKAfE77{9)ԯBLE[[N[0W~?["q[[[[BZYY i) IisX@ = !))!!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033538.163165 s, next control iter: 1743033538.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033538.563165 s.(LI~,J 0%AJ"J*J2J:JBJnJvJAffff|@AN|@AW~? AAV&%"AAjNA"AZAbAjArAzAAA„@?AaGSFtAl@AyAG,=AA t?AZ߿A6*Au9?2Aս:Ar=BAu9?JAսRAr=Y:4@ty4,=IٓH@?m?ұ?@@?,_@:] ?):4@ I٘i)I9l@YG JJ<JJJvgE&Ku> YzV~?yJAfE{7j7G9@B)گBPE[[cI[@W~?[*v[[[[BZYY i) ]Ii T@5= ))D{yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033538.603165 s, next control iter: 1743033538.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7037, header.stamp.nsec: 00 temperature: 13.570122* salinity: 33.375080, density: 1025.000000* values[0]: 0.573327F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033538.983165 s./LI~,0%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245908@ elevatorAngleAction: -0.084405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743033538.983291F (some fields omitted in printout)AQ}@At%7}@AW~? AeAռ%"AAjNA"AZAbAjArAzAAA.cR?AQS#tA)l@A<A=AA`t?A}޿A¼*A9?2A?ս:A.%=BA9?JA?սRA.%=٘i)I9)l@YG J)JJJJ{gE&K YFV~?y~6JAfEb77݂9AB)BSE[[_D[PW~?[${[[[[BZYY i) IiP@ = <)) <<>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033539.023165 s, next control iter: 1743033539.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033539.403165 s.&6LI~,0%AJ"J*J2J:JBJnJvJA ףp}@A3Y}@AvW~? AAU%"AAjNA"AZAbAjArAzAAAyB?A tAk@Aoe}<A=A A`?A`ݿA;ʼ*A#9?2A!Խ:Ab$=BA#9?JA!ԽRAb$=٘i)I9k@YVG JiƼJJJJgE&K YV~?yaIAfEj7Z7r9)B[[H@[_aW~?[[[[[BZYY i) Ii[L@&= @u =))@u =@u =VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033539.443165 s, next control iter: 1743033539.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7038", header.stamp.nsec: 0"0 temperature: 13.570334"* salinity: 33.375088", density: 1025.000000"* values[0]: 0.572672"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033539.823165 s. YV~?yG˪jHAfEj7Z729CB)B]E[[L2[W~?[P[[[[BZYY i) ּIiA@< =))w==YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033540.683165 s, next control iter: 1743033541.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033541.083165 s.DQLI~,SE1%AJ"J*J2J:JBJnJvJARk@AݰmQ@A"3X~? A1ūA%"AAkkNA"AZAbAjArAzAAA|- @A#2ɆtAh@AnA=A A9?A@ڿA˼*A9?2AUֽ:A=BA9?JAUֽRA=٘i)I9h@Y G J˼JJJJgE&K Y{ W~?yhϪGAfE777Ȕ9)B[[C-[W~?[ߒ[[[[BZYY i) #޼Ii]=@ c< t=))Ѕt=t=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033541.103165 s, next control iter: 1743033541.483175 s, wait time: 0.380010 s.{ W~?).hϪ rAdjusting time to match Gazebo time: 1743033541.503165 s.WLI~,r4`1%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261353@ elevatorAngleAction: -0.084405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743033541.503320F (some fields omitted in printout)Ap= @A;@AHX~? AɫALw%"AAFkNA"AZAbAjArAzAAA z@AsL\stA"'h@ApA =AA?AڿA5ϼ*Au9?2AԽ:A=BAu9?JAԽRA=٘i)I9'h@YJ G J/ͼJJJJgE&K Yd#W~?yӪ{GAfE{7j7]9DB)BaE[[(["W~?[][[[[BZYY i) [Ii9@7v< `>)) `>`>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033541.523165 s, next control iter: 1743033541.903181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7040, header.stamp.nsec: 00 temperature: 13.570765* salinity: 33.375099, density: 1025.000000* values[0]: 0.571198F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033541.923165 s.9^LI~,{1%AJ"J*J2J:JBJnJvJA(\B@A*5{(@AW^X~? A.ΫAa%"AAkNA"AZAbAjArAzAAAk+ @AJ?'tAwg@Aa>A3 =A$۾A ?A`VٿAԼ*A;9?2AԽ:Am=BA;9?JAԽRAm=٘i)I9wg@Y G JѼJJJJgE&K YM))w>w>Y텾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033541.943165 s, next control iter: 1743033542.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033542.343165 s.))&>&>JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033542.363165 s, next control iter: 1743033542.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7041*, header.stamp.nsec: 0*0 temperature: 13.571016** salinity: 33.375107*, density: 1025.000000** values[0]: 0.570452*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033542.763165 s.5kLI~,ذ1%AJ"J*J2J:J ?BJ ?nJ!5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082435< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743033542.763304F (some fields omitted in printout)A@A6T@AX~? A֫AOw%"AAkNA"AZAbAjArAzAAA>Ė* @ArPtAe@AMZ<A#b=AxǾA+9?A׿A4*A*9?2A<Խ:A<BA*9?JA<ԽRA YUoW~?yߪFAƾfEj7Z79)B[[[W~?[G[[[[ZZBZYY i) 0gIi5.@B< T9>))WtT9>T9>yY[=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033542.803165 s, next control iter: 1743033543.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033543.183165 s.rLI~,Z1%AAQ@AQk@A-X~? AګAL'%"AAlNA"AZAbAjArAzAAAU#M @A ZtAe@A {<Aї=A^$Ait?AsֿAe*A79?2AԽ:A<BA79?JAԽRA<٘i)I9e@Yk G JJJJJgE&K YnW~?ytEAgEb7b79FB)BjE[[;[X~?[^[[[[ZZBZYY i) tIi)@[< JL>))AJL>JL>y=tҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033543.203165 s, next control iter: 1743033543.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033543.603165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 44yLI~,1%AA= ף@A^ց@AX~? AޫA%"AA2lNA"AZAbAjArAzAAAg0v@ApF""tAX:d@Aj<Ar=AӲAܳ?A`ֿA*Ay9?2AgPӽ:A8l<BAy9?JAgPӽRA8l<٘i)I9:d@Y G JMJJJJgE&K YW~?y-EAgE7777H9)$BmE[[o6[X~?[`[[[[ZZBZYY i) &Ii%@=;< e_>)) e_>e_>UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033543.623165 s, next control iter: 1743033544.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7042 , header.stamp.nsec: 0 0 temperature: 13.571302 * salinity: 33.375130 , density: 1025.000000 * values[0]: 0.569553 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033544.023165 s.ZLI~,{2%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082435< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743033544.023302F (some fields omitted in printout)A(\@A7oB@A X~? AEA%"AAUlNA"AZAbAjArAzAAAn@Ai$tAhzc@A&"A-=A–A ?A`IտAd̼*A:?2Aӽ:A[;BA:?JAӽRA[;٘i)I9zc@Yr G JyJJJJgE&K YW~?yDAgE{7ݭ9)+BpE[[f [,X~?[L[[[[ZZBZYY i) 7Ii1"@{< r>))r>r>dtYWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033544.043165 s, next control iter: 1743033544.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033544.443165 s.7ÆLI~,>]2%AJ"J*J2J:J?BJ?nJ5vJAzǂ@A@ATX~? AAG%"AAxlNA"AZAbAjArAzAAAح- <@A+*&tAGb@A\ESA{<ArQA!?AxԿAuۢ*Az:?2Aӽ:A8BAz:?JAӽRA8٘i)I9b@Y G JCJJJJgE&K YW~?yrCDAgEŧ7b7s9GB)0BsE[[ [AX~?[[[[[ZZBZYY i) sIi@~< >))>>AY"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033544.463165 s, next control iter: 1743033544.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7043, header.stamp.nsec: 00 temperature: 13.571582* salinity: 33.375141, density: 1025.000000* values[0]: 0.568693F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033544.863165 s.+LI~,>72%AA33333@A}@AX~? AQA%"AAAlNA"AZAbAjArAzAAA(S[ @AsK(tAab@AA<AA T?AӿAs*A9?2AeԽ:A'BA9?JAeԽRA'Yʸ@"y<1ٓH`7?@k??@C?@9Bҿ`? 8? m %>?)ʸ@ I٘i)I9ab@Y G JJ+:JJJgE&Kq> YW~?y7DA"gE779)4BvE[[_[VX~?[˷[[[[ZZBZYY i=) EIi@O2< >))Ĝr>>/]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033544.883165 s, next control iter: 1743033545.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033545.283165 s.2RLI~,R2%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236926> elevatorAngleAction: 0.063800< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033545.283272F (some fields omitted in printout)AQ@A"@AY~? AA%"AAlNA"AZAbAjArAzAAA}Pv*@A4*tAb@A5HA(pۻA{A@?A}ҿAs(*A9?2AԽ:A4~BA9?JAԽRA4~٘i)I9b@Y G JTB=JJJJgE&K Y X~?y|+DAgEŧ779IB)8BwE[[[kX~?[`[[[[ZZBZYY i5=) ^{Ii@ g< !H>))X;!H>!H>C(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033545.303165 s, next control iter: 1743033545.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 70442, header.stamp.nsec: 020 temperature: 13.5716652* salinity: 33.3751532, density: 1025.0000002* values[0]: 0.5681912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033545.703165 s.պLI~, m2%AAףp= @ARB@A-Y~? AAm%"AA5lNA"AZAbAjArAzAAA1&M@Aa=F,tAEa@ApA맼AAH?AѿAP*A:?2A)Iӽ:A0BA:?JA)IӽRA0I٘i)I9a@Yn G JJJJJgE&K Y1)X~?yDA kD#gE7749):BzE[[5[`X~?[ܾ[[[[ZZBZYY i) hIig@e<  >))  > >)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033545.723165 s, next control iter: 1743033546.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033546.123165 s.5LI~,T2%AJ"J*J2J:JBJnJvJA)\u@A[@AEY~? AA E%"AAmNA"AZAbAjArAzAAAWgr@A*~.tAa@A0!<Ab`AjA(?AѿAԺ*AQ:?2Aӽ:AƼBAQ:?JAӽRAƼ٘i)I9a@Y^ G JyC=JJJJgE&K YLDX~?yDA(gE{7{7ȿ9);B}E[[EC[X~?[=ª[[[[BZYY i) RhTIi @k\< qܩ>))qܩ>qܩ>yj=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033546.143165 s, next control iter: 1743033546.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033546.543165 s.ILI~,â2%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743033546.543315F (some fields omitted in printout)A{Gᄻ@A*D/DŽ@A^Y~? AA %"AAw-mNA"AZAbAjArAzAAAq@A?W=0tAa@A <Av}1A=VA@?A`m(пA;*A. :?2A6?Խ:A}FBA. :?JA6?ԽRA}FἙ٘i)I9Y_ G J9JJJJgE&K Yo_X~?y DA.gE77^9))) > >Yn*YEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033546.563165 s, next control iter: 1743033546.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7045, header.stamp.nsec: 00 temperature: 13.571657* salinity: 33.375153, density: 1025.000000* values[0]: 0.568063F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033546.963165 s.zLI~,2%AJ"J*J2J:JBJnJvJAL@A2@AvY~? AZA)%"AARmNA"AZAbAjArAzAAA ᅠ@A!1tAa@A|iV<AWAxAA:?AFοAZ;*A@:?2AԽ:ABA@:?JAԽRAY@xuByUWӵV<ٓH a?@? ȿm? gw?`̊??)@ I٘i)I9a@Yp G J;JJJJgE&KYr> Y5{X~?yODAuB3gEj7Z79JB);BE[[MԾ[X~?[Ȫ[[[[BZYY i_de=) e0Ii`@޸< i>)) qi>i>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033546.983165 s, next control iter: 1743033547.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033547.383165 s.صLI~,42%AAQ@A.:@A`Y~? AA%"AAwmNA"AZAbAjArAzAAA,p3U@A.t3tA b@A_;A xxA-A`_?A I̿A8,<*A9?2A$Խ:A32BA9?JA$ԽRA32٘i)I9 b@Y G Jw<JJJJgE&K YX~?y^DA9gE7779)9BE[[ʾ[aX~?[˪[[[[BZYY i)  Ii@֤< Y>))uY>Y>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033547.403165 s, next control iter: 1743033547.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7046", header.stamp.nsec: 0"0 temperature: 13.571503"* salinity: 33.375164", density: 1025.000000"* values[0]: 0.568250"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033547.803165 s.ALI~,g2%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254917> elevatorAngleAction: 0.056004< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033547.803299F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@Avi @AAY~? APAq%"AAfmNA"AZAbAjArAzAAA-A@A sl4tA}bb@AvAA0A?AʿATq<*AL:?2A|ҽ:A BAL:?JA|ҽRA ٘i)I9bb@Y G JL<JJJJgE&K YX~?yDA>gE{79)7BE[[ [X~?[xΪ[[[[BZYY iÅ=) Ii,?x< F>)) F>F>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033547.823165 s, next control iter: 1743033548.203183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033548.223165 s.gLI~,H3%AA(\@AUEu@AKY~? AAiC%"AA8mNA"AZAbAjArAzAAA2L@ATyJ6tAb@A}AASA?A`;ɿA <*A':?2A[Iҽ:AmBA':?JA[IҽRAm٘i)I9b@Y G Jׄ<JJJJgE&K YX~?y)EACgE779)3B[[Aڶ[Y~?[;Ѫ[[[[BZYY i) +Ii?< uE>))uE>uE>yMe=t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033548.243165 s, next control iter: 1743033548.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033548.643165 s.zLI~,*)3%AJ"J*J2J:JBJnJvJAG@ACT@AwY~? AA%"AAAmNA"AZAbAjArAzAAA!U~@A7>Ԓ7tAQc@AzqAgA ?A?A`{ǿA<*A(:?2Aӽ:AR!BA(:?JAӽRAR!٘i)I9Qc@YY G J˗<JJJJgE&K YFX~?y\qEAIgEj7j7I9)/BE[[ɬ[yY~?[Ӫ[[[[BZYY i) sD޻Ii?R< U>))U>U>y2=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033548.663165 s, next control iter: 1743033549.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7047, header.stamp.nsec: 00 temperature: 13.571194* salinity: 33.375198, density: 1025.000000* values[0]: 0.568745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033549.063165 s.LI~,[ D3%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743033549.063316F (some fields omitted in printout)Afffff@ArCQL@AY~? AA%"AA~nNA"AZAbAjArAzAAAD"۰@A8tABc@APлAAA`?A۫ſA#+<*A1(:?2A(Խ:ABA1(:?JA(ԽRAY%@ȹy4лٓH@?O?ղ` ?|̊?@?z?)%@ I٘i)I9c@Y G J<JTJJJgE&Kq> YdY~?y(EAȹNgE779)+BE[[ۢ[4Y~?[T֪[[[[BZYY i)  Ii?P< C>))hDpC>C>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033549.103165 s, next control iter: 1743033549.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033549.483165 s.t_LI~,^3%AJ"J*J2J:JBJnJvJAч@AUDݷ@A1 Z~? AeAe%"AA5nNA"AZAbAjArAzAAA"-@AQk9tAtdd@AƯ;An:ATA?A vÿA+4<*A(:?2A,ս:A BA(:?JA,սRA ٘i)I9dd@Y G J<JJJJhE&K Y"Y~?y>FASgEZ7Z7t9)'BE[[֘[@LY~?[ت[[[[BZYY i) ΡIi?< H>))2H>H> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033549.503165 s, next control iter: 1743033549.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7048, header.stamp.nsec: 00 temperature: 13.570842* salinity: 33.375198, density: 1025.000000* values[0]: 0.569486F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033549.903165 s.LI~,y3%AA ףp=@A_#@A&Z~? AA%"AA\nNA"AZAbAjArAzAAABGO} @A\]:tAd@Ali<AEΚA&KA?AA}<*AL:?2AJwӽ:A̱BAL:?JAJwӽRA̱٘i)I9d@YV G J <JJJJhE&K Y>Y~?yFAYgE777 9)"BE[[q[)dY~?[ڪ[[[[BZYY i) Ii?< ?)) ??*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033549.943165 s, next control iter: 1743033550.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033550.323165 s.uLI~,!3%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743033550.323285F (some fields omitted in printout)A\@Axߎ@Ae@Z~? A{A%"AAYnNA"AZAbAjArAzAAAw)!@Aäh;tAd~e@A<AuAA`1?A0A;<*AX:?2AzRӽ:AdBAX:?JAzRӽRAd٘i)I9~e@Y G J<JJJJ hE&K YZY~?y GA^gE79RB)&BE[[ݏ[`|Y~?[ܪ[[[[BZYY i) .JIi?`< ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033550.343165 s, next control iter: 1743033550.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7049*, header.stamp.nsec: 0*0 temperature: 13.570441** salinity: 33.375229*, density: 1025.000000** values[0]: 0.570208*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033550.743165 s.WLI~,q3%AAGz@A h@A$ZZ~? A Anq%"AAJnNA"AZAbAjArAzAAAw1-!@ASIi?v<  ?)) ? ?*YF YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033550.783165 s, next control iter: 1743033551.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033551.163165 s.r}LI~,q3%AJ"J*J2J:JBJnJvJA@Ae@AsZ~? A A)Y%"AA\nNA"AZAbAjArAzAAAeX)a"@AeyN==tAf@A/.A.A <AkU?A︿AAͰ<*AX:?2Aӽ:AqBAX:?JAӽRAqY4R@ YY~?yEGA <igEb779)BE[[_`[>Y~?[[[[[BZYY i) Ii?4i< ?))9p??~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033551.183165 s, next control iter: 1743033551.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033551.583165 s.LI~,S3%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.234595> elevatorAngleAction: 0.065314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033551.583295F (some fields omitted in printout)AR뉻@Anщ@AڍZ~? A AC%"AAnNA"AZAbAjArAzAAAN"@AO"u3=tA]6g@ARQA-Ar"<A`c?AEATe<*AW:?2AWԽ:AqBAW:?JAWԽRAq٘i)I96g@Y G Jұ<JJJJhE&K YUY~?y2>HAngEj7j7^9)B[[K[Y~?[N[[[[BZYY i) V1Iih?]< ?))A??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033551.623165 s, next control iter: 1743033551.983182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7050, header.stamp.nsec: 00 temperature: 13.570065* salinity: 33.375248, density: 1025.000000* values[0]: 0.570986F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033552.003165 s. MI~,j44%AJ"J*J2J:J,?BJ,?nJE5vJAp= W@AH<@AϧZ~? A A1%"AAoNA"AZAbAjArAzAAA##@ALi9y[>tAg@AAHAA=A 1t?A@\A?!<*A9{:?2A|ҽ:AOrBA9{:?JA|ҽRAOr٘i)I9g@Y G J̱<JJJJ"hE&K YY~?yHAtgE7779QB)BE[[Q7[Y~?[[[[[BZYY i) :Ii?.S< d;?)) d;?d;?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033552.043165 s, next control iter: 1743033552.403185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743033552.423165 s.uMI~,{4%AA(\Š@A x@AZ~? As A #%"AA7GoNA"AZAbAjArAzAAAtvx9$@A2su>tA]h@AE 3A[A׃=A`#?A@|kA<*A߄:?2Aҽ:A XBA߄:?JAҽRA X٘i)I9]h@Yl G J<JJJJ'hE&K YY~?y  IAygE779)BE[[ˍ"[/Y~?[$[[[[BZYY i) pr:Iik?I< hl ?))hl ?hl ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033552.463165 s, next control iter: 1743033552.823176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7051", header.stamp.nsec: 0"0 temperature: 13.569665"* salinity: 33.375259", density: 1025.000000"* values[0]: 0.571768"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033552.843165 s. MI~,54%AJ"J*J2J:J_?BJ_?nJ{5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743033552.843328F (some fields omitted in printout)AHz.@A @AZ~? A A;%"AAnoNA"AZAbAjArAzAAA-E9$@A?tAh@A85AA=A?A/A`<*A:?2Aӽ:A+gBA:?JAӽRA+g٘i)I9h@Y G J<B=JJJJ-hE&K Y Z~?yqIA~gEŧ7b79) BE[[ [Z~?[U[[[[BZYY i) @ ;Ii?u@< t%?))t%?t%? *Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033552.883165 s, next control iter: 1743033553.243183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743033553.263165 s.MI~,P4%AA@A@AZ~? ARA%"AA/oNA"AZAbAjArAzAAAQHv%@AmL?tAli@A2<AB'Ale=AL?A B!AΘ<*A1:?2A*Խ:ABA1:?JA*ԽRAYF@=y!%_3<ٓH ?F }?B?Ǡ`7a?`^? ?)F@ I٘i)I9li@YG Jp<C=J_x<JJJ2hE&KXr> Y Z~?yIA=gEj7j79PB)BE[[6[ +Z~?[Z[[[[BZYY im=) j!^;Ii?4< *?))p*?*?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033553.303165 s, next control iter: 1743033553.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7052., header.stamp.nsec: 0.0 temperature: 13.569268.* salinity: 33.375263., density: 1025.000000.* values[0]: 0.572504.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033553.683165 s.lMI~,Zk4%AJ"J*J2J:JBJnJvJAQ@A 닻@A[~? AA %"AAoNA"AZAbAjArAzAAAqY&@Asj?tAi@A<AEJA`\>A?A,A/ˑ<*A}:?2Aս:ABA}:?JAսRA𼙘٘i)I9i@Y\G J<JJJJ7hE&K  9Y4 elevatorAngleAction: 0.074428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033554.103288F (some fields omitted in printout)A= ףp@AV@A0*[~? AA%"AANoNA"AZAbAjArAzAAAΫ&@A*n?tAaj@AAR<AMAW>A?AЋw?A&<*AI:?2Azӽ:A!BAI:?JAzӽRA!٘i)I9aj@YG J<JJJJ=hE&K YKXZ~?y!JAgE779OB)BE[[ [^Z~?[[[[[BZYY i) H;IiSv?< >N5?)) >N5?>N5?c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033554.123165 s, next control iter: 1743033554.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033554.523165 s.J "J 'MI~*J2J,{4%A:J?BJ?nJ5vJA(܌@AXŒ@AND[~? AgA%"AA pNA"AZAbAjArAzAAA Q'@AVY?tAj@A6=;A=gA+>Aa?A@_?Akw<*A:?2AH)ӽ:ABA:?JAH)ӽRA٘i)I9j@YG J'<JJJJBhE&K Y`tZ~?y.JAgEt9)BE[[,?g[xZ~?[x[[[[BZYY i) ;Iijg?< :?)):?:?ya=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033554.543165 s, next control iter: 1743033554.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7053, header.stamp.nsec: 00 temperature: 13.568917* salinity: 33.375290, density: 1025.000000* values[0]: 0.573191F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033554.943165 s.^d.MI~,[]4%AAzG@AEИ-@Ai^[~? AA %"AAy4pNA"AZAbAjArAzAAA*c'@AW+?tAiRk@Al AEA?>A?A_?A8<*A2:?2AFӽ:AHBA2:?JAFӽRAH٘i)I9Rk@Y8G J<JJJJGhE&K YvZ~?y;DKAgE77{7 9)BE[[[Z~?[[[[[BZYY i) ;IiBZ? < `??))`??`??*Y"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033554.963165 s, next control iter: 1743033555.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033555.363165 s.5MI~,p>4%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743033555.363262F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@Aod@A~x[~? A A%"AA\pNA"AZAbAjArAzAAA*[?(@ATO>tA~k@AA4A,2S>A@?A˳?A <*A:?2AԽ:AjBA:?JAԽRAjY@FT>y fٓHg>?5ʿEI? gQ?Q4X?=?`U e?)@ I٘i)I9k@YG J<J:JJJMhE&Kyr> YZ~?ykKAFT>gEj7j79)B[[/#u[Z~?[ [[[[BZYY i) !tAKl@A"lA'A9&h>A{?A?A2<*A:?2A Խ:A,BA:?JA ԽRA,٘i)I9Kl@YG J4<JJJJRhE&K YZ~?yKAgE77749NB)BE[[;[gZ~?[[[[[BZYY i) RrtAA 4q?A<?AÒ<*Ay:?2Aˆӽ:ABAy:?JAˆӽRA٘i)I9l@YG J<JJJJXhE&K YeZ~?yZLAgE79MB)BE[[ <[Z~?[[[[[BZYY i) # elevatorAngleAction: 0.074428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033556.623275F (some fields omitted in printout)A)\@A;ocێ@A~[~? AW A:%"AAXpNA"AZAbAjArAzAAA-uf*@A p*z=tA{Bm@A>;AA>Ac?A 9ŷ?AE<*A :?2AԽ:ABA :?JAԽRA٘i)I9Bm@YfG J{<B=JJJJ]hE&K Y Z~?yLAgEb7b7_9)BE[[tD=[Z~?[[[[[BZYY i) v3AR?At?A<*AQ:?2AԽ:A.BAQ:?JAԽRA.٘i)I9m@YG J<C=JJJJbhE&K Y[~?y+MAgE77779LB)ޯB¹E[[:=[[~?[&[[[[BZYY i) BA??At'?AYْ<*AH:?2Aeս:AiBAH:?JAeսRAiY"Z=G>yM|<ٓHl?jӿ8M?|?ړE? ? "?)"Z= I٘i)I94n@YG J<B=JcJJJhhE&Kqs> Y5[~?yvMAG>gE7 9)گBŹE[[j'=[2[~?[}[[[[BZYY i) -@R(; 4`?))t4`?4`?8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033557.483165 s, next control iter: 1743033557.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7056, header.stamp.nsec: 00 temperature: 13.567834* salinity: 33.375347, density: 1025.000000* values[0]: 0.575176F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033557.883165 s.y]MI~,8x5%AJ"J*J2J:J>?BJ>?nJe5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238993> elevatorAngleAction: 0.074428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198982 time: 1743033557.883315F (some fields omitted in printout)AQ8@A3<@A\~? AA%"AAGqNA"AZAbAjArAzAAA}<;,@A#-;tAHn@A@f<AqAl>A)?Aj?A<*A:?2Ayս:AWBA:?JAyսRAW٘i)I9n@YFG J<C=JJJJmhE&K YP[~?yMAgE{7j7$9KB)կBȹE[[ =[L[~?[[[[[BZYY iHV=) a; A@F?A#V?A<*A:?2Aӽ:A] BA:?JAӽRA] ٘i)I96o@YG JP<JJJJrhE&K Yqk[~?y.:NAgE'9IB)ϯBǹE[[]O>[g[~?[[[[[BZYY i) p W; #k?)) #k?#k?*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743033558.323165 s, next control iter: 1743033558.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7057*, header.stamp.nsec: 0*0 temperature: 13.567470** salinity: 33.375351*, density: 1025.000000** values[0]: 0.575874*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033558.723165 s.kMI~,H5%AJ"J*J2J:JBJnJvJA(\@A'G@AG\~? ACA\%"AAqNA"AZAbAjArAzAAA?wr-@AN(9tA3o@AEXACA,k>A?A 2?A߰<*A:?2Aӽ:AdBA:?JAӽRAd٘i)I9o@YG J<JJJJxhE&K Y^[~?yNAgE77J+9HB)ʯBʹE[[q>[͂[~?[c[[[[BZYY i)  U3; Dp?))Dp?Dp?`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033558.743165 s, next control iter: 1743033559.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033559.143165 s.Y/rMI~,*5%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083172< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743033559.143291F (some fields omitted in printout)AGz@AF`@Aw`\~? A`A%"AA'qNA"AZAbAjArAzAAA .@A5.8tAMp@A<AeAÑ>A ?A?Ac<*A:?2A=Խ:AhBA:?JA=ԽRAh٘i)I9Mp@YAG JJ<JJJJ}hE&K YI[~?yNAgE{7{7.9GB)ůB͹E[[4>[[~?[[[[[BZYY i) ; >v?))>v?>v?yZ9=J*Y-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033559.163165 s, next control iter: 1743033559.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033559.563165 s.xMI~,_ 5%AJ"J*J2J:JBJnJvJAffff摻@A P̑@Ay\~? AUA%"AAqNA"AZAbAjArAzAAA?u6+e.@A(6tAp@A*A𡜽AI->A]?A A?A8ê<*A9~:?2Aս:A4yBA9~:?JAսRA4yY_@>>yŸ0+ٓHK?DOٿXH? c?T,?`U ?)_@> I٘i)I9p@YG J<JDJJJhE&KRt> Y5[~?y^hOA>gE777t29FB)BйE[[UJ>[[~?[e[[[[BZYY i) 2: p{?))~wp{?p{?W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033559.603165 s, next control iter: 1743033559.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7058, header.stamp.nsec: 00 temperature: 13.567096* salinity: 33.375378, density: 1025.000000* values[0]: 0.576612F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033559.983165 s.MI~,5%AAQ@AB7@A\~? A"A.%"AArNA"AZAbAjArAzAAA=/@AOcj5tAlq@AR":AA>A`?AD?AU <*Ar:?2A ֽ:A֠BAr:?JA ֽRA֠٘i)I9lq@YG J<JJJJhE&K Y [~?yOAgE77{7 69)BӹE[[ma>[[~?[[[[[BZYY i)  elevatorAngleAction: 0.083172< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743033560.403263F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AE$]@Aܫ\~? AA`[%"AA.rNA"AZAbAjArAzAAA i8L/@A?gA3tAq@Az9<AȡA>A w?A v?A<*Aǂ:?2AԽ:AQBAǂ:?JAԽRAQ٘i)I9q@YFG J)<JJJJhE&K Y [~?yeߪ:PAgEj7j799)B[[ nw>[v[~?[ު[[[[BZYY i) 3AR?A`8?Aح<*Ay:?2Asս:A#bBAy:?JAsսRA#b٘i)I9r@YG J<B=JJJJhE&K Y\~?y۪PAgE775=9EB)BֹE[[g>[z \~?[yܪ[[[[BZYY i) ^A)?A ?A<*Ao:?2Aս:ABAo:?JAսRA٘i)I9s@YG Jǰ<C=JJJJhE&K Y"\~?ykت QAgE777@9DB)BٹE[[a>[y$\~?[ڪ[[[[BZYY i) 4 elevatorAngleAction: 0.083172< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033561.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7060, header.stamp.nsec: 00 temperature: 13.566289* salinity: 33.375389, density: 1025.000000* values[0]: 0.578164F (some fields omitted in printout)A@Ax[哻@A\~? AA%"AADrNA"AZAbAjArAzAAAØ0@A+/tAs@A;AhVAh?A?A`?A)t<*Ae:?2Aս:A0BAe:?JAսRA0Y:>> ?yQV\;ٓH?#߿S??aD?`? ?):> I٘i)I9s@YWG J<JJJJhE&K Y;\~?y$ԪQA ?gEb7b7_D9CB)BܹE[[>[ ?\~?[ת[[[[BZYY i) \|1@AjD-tA^t@A{AhA?A?A?A<*A[:?2Aս:A BA[:?JAսRA ~I٘i)I9^t@YG J<JJJJhE&K Y1T\~?yϪQAgE77{7G9?B)B޹E[[>[Y\~?[Ԫ[[[[BZYY i)  ػ[Ht\~?[Ѫ[[[[BZYY i)  * elevatorAngleAction: 0.083172< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743033562.923300F (some fields omitted in printout)A(\B@A|(@A>]~? AeAܤ%"AAB sNA"AZAbAjArAzAAA61@Aߊ])tAu@AmdA)A3?A@kr?A@v?A<*Aa:?2AԽ:ABAa:?JAԽRA٘i)I9u@YG J<JJJJhE&K Y\~?yMǪRAgEb7b7O9>B)BE[[>[\~?[Ϊ[[[[BZYY i) {?AR?A<*A\Y:?2Ahս:AԒBA\Y:?JAhսRAԒ٘i)I9gv@YG J<JJJJhE&K Y(\~?yêHSAhEZ7Z7R9=B)BE[[>[d\~?[\˪[[[[BZYY i=) ]a D?))D?D?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033563.363165 s, next control iter: 1743033563.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7062*, header.stamp.nsec: 0*0 temperature: 13.565431** salinity: 33.375416*, density: 1025.000000** values[0]: 0.579904*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033563.763165 s.>MI~,<6%AJ"J*J2J:Jt?BJt?nJ5vJA@AȰ@A)m]~? AjA*%"AAUsNA"AZAbAjArAzAAAL-42@A2l{%tAw@AH;A7At ?A?A@Y.?A<<*A3Q:?2Auֽ:ABA3Q:?JAuֽRAY>?y+;ٓHd&?Q2 I٘i)I9w@YaG J<J JJJhE&K1v> YM\~?ySA? hE7)7JV98B)BE[[g >[k\~?[Ǫ[[[[BZYY i)  elevatorAngleAction: 0.092084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743033564.183288F (some fields omitted in printout)AQ@AVk@AY]~? A߫Aq%"AAWxsNA"AZAbAjArAzAAAk<z2@Ay]8"tA w@As<AرAs!?A`?A@?A5@<*AD:?2Aֽ:A#BAD:?JAֽRA#٘i)I9w@YG J<JJJJhE&K Yn\~?y5TAhEb77Y9)zB[[>[d\~?[Ī[[[[BZYY i) EBAK:?JAaսRA>٘i)I9jx@Y1G J<B=JJJEJhE&K Y\~?yTAhE7b7u]97B)sBE[[_M>[N\~?[-[[[[ZZZZ¸>BZYY i¸>˩) J:?2Aս:ABA>:?JAսRA٘i)I9y@YG J<C=JJJJhE&K Y\~?y殪"UAhE77 a93B)jBE[[ >[]~?[[[[[ZZZZBZYY i) P;?))>;?>;?y=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033565.063165 s, next control iter: 1743033565.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033565.443165 s.3MI~,-]\7%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033565.443290F (some fields omitted in printout)J"J*J2J:JBJnJvJAzǗ@A @A]]~? AӫAV%"AAsNA"AZAbAjArAzAAA@3I3@A ;tAy@AHAAu0?A@s?Ax?AI=*AD:?2A6ս:A,BAD:?JA6սRA,٘i)I9y@YG J<JJJJhE&K Y]~?yީUA lDhE777d92B)cBE[[?[*]~?[[[[[ZZZZBZYY i) Sw7%AA33333@A8G@A~]~? AlϫAѨ%"AAtNA"AZAbAjArAzAAA\ZK3@A \tAz@A\\A7_A {5?A?AB?A=*AL:?2Aгս:AļBAL:?JAгսRAļYJ> 5?y[\ٓH@3?@ ?I? @f? i?)J> I٘i)I9z@YG J~=J8<JJJhE&K/v> YB']~?y!VA5?$hE77j75h9)\B[[/?[C]~?['[[[[ZZZZBZYY i) 袰V ?))??Gn)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033567.563165 s, next control iter: 1743033567.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7066, header.stamp.nsec: 00 temperature: 13.563570* salinity: 33.375469, density: 1025.000000* values[0]: 0.583787F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033567.963165 s.wMI~,7%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743033567.963320F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A52@AH^~? AAj%"AAtNA"AZAbAjArAzAAAkp4@AӲ tA}@A <A;AO?AQy?A\$?A3+<*AZJ:?2Aj ֽ:A'̅<BAZJ:?JAj ֽRA'̅JJJhE&Ku> Yi]~?yȆWAO??hEb77 z9+B)JJJ iE&Kx> Y]~?y7f)WAi?ZhE7 9)6B[[&E?[ 0^~?[z[[[[BZYY i;h) C_VA`hE779$B)7BE[[qHK?[E^~?[=t[[[[BZYY i) Y_ rAdjusting time to match Gazebo time: 1743033570.903165 s.-NI~,͹8%AA ףp=@AcZ#@A^~? A瑫AI%"AAvruNA"AZAbAjArAzAAAyM)g6@AXsA^4}@A2U<A=ABs?A`u6?A ?A*Aa:?2A~ֽ:A=BAa:?JA~ֽRA=٘i)I94}@YG JQxJJJJiE&K YG^~?yEXVAehEb7759#B)9BE[[sQ?[Z^~?[cm[[[[BZYY i) ;I3H?i@ lR?))lR?lR?2ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033570.943165 s, next control iter: 1743033571.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033571.323165 s.w4NI~,)8%AJ"J*J2J:J?BJ?nJ5vJA\@A1A ߎ@AZ^~? AA.%"AAuNA"AZAbAjArAzAAA)F6@AnIsA|@A<AT=A y?A @?Aq\?A0l*A:?2Ae[ֽ:A1=BA:?JAe[ֽRA1=٘i)I9|@YG J`JJJJiE&K Y#^~?yLQ1VAjhE)7ŧ7˖9)=B[[W?[>o^~?[Yf[[[[BZYY iS) e ;I7#H?i1E (Z?))(Z?(Z?yhЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033571.363165 s, next control iter: 1743033571.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7070*, header.stamp.nsec: 0*0 temperature: 13.563231** salinity: 33.375500*, density: 1025.000000** values[0]: 0.583983*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033571.743165 s.W;NI~,8%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033571.743296F (some fields omitted in printout)AGz@A'e@A^~? AA0%"AAluNA"AZAbAjArAzAAAWD6@AsA)|@AFt<A͙=AJ~?A?A??AY*AC:?2A~ֽ:A_=BAC:?JA~ֽRA_=٘i)I9)|@YyG JæJJJJiE&K Y4^~?ySJUAphE'8#8`9B)E[[l]?[f^~?[!_[[[[BZYY i) !6;IbH?ifH g?))g?g?y?hӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033571.763165 s, next control iter: 1743033572.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033572.163165 s.x}BNI~,q 9%AJ"J*J2J:Jl?BJl?nJ5vJA@Ae@A_~? AAL%"AAuNA"AZAbAjArAzAAAWhZ7@AaamPsA˘{@A;AO=Aׁ?A)I?A?A9K*AE:?2Auֽ:A =BAE:?JAuֽRA =YK?K?yO=G;ٓH?0,@? ? c?@?@7Ey? ?)K? I٘i)I9{@Y!G J٬J=JJJ$iE&Kx> YC^~?yBwUA?uhE779)BB[[ d?[ݖ^~?[W[[[[BZYY i) f;IH?ibO Df?))Df?Df?y覈aԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033572.183165 s, next control iter: 1743033572.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033572.583165 s.HNI~,S%9%AAR랻@Aqў@AU_~? AyA %"AAuNA"AZAbAjArAzAAA.77@ATlsAx{@AA =A ?A?AM?AA*A:?2Amj׽:A=BA:?JAmj׽RA=٘i)I9{@YG JɫJJJJ)iE&K YR^~?y^;UAzhEŧ7b79B)EB E[[Bj?[^~?[JP[[[[BZYY i) 0];IG?i-*U l?))l?l?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033572.623165 s, next control iter: 1743033572.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7071, header.stamp.nsec: 00 temperature: 13.563383* salinity: 33.375519, density: 1025.000000* values[0]: 0.583371F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033573.003165 s.z PNI~,U4@9%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743033573.003289F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A+<@A$_~? A=sA%"AAuNA"AZAbAjArAzAAA:h7@ALsArzz@APnAk.=AD?A?A?A|o*A:?2A׽:A8=BA:?JA׽RA8=٘i)I9zz@YsG JJJJJ/iE&K Ya^~?y3TAhEb77 9)JB[[p?[a^~?[H[[[[BZYY i) !;IG?iZ y?))y?y?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033573.043165 s, next control iter: 1743033573.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033573.423165 s.uVNI~,[9%AA(\Ÿ@AH2w@A=4_~? AlA%"AA vNA"AZAbAjArAzAAA'7^7@AHϚsAy@AA=A?A?AA?AӦ*Ai:?2A׽:A=BAi:?JA׽RA=٘i)I9y@YG J$JJJJ4iE&K Ypp^~?yj,@TAhE77779B)IB E[[Tv?[V^~?[@[[[[BZYY i) T:IG?iR@^ ?))??JѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033573.443165 s, next control iter: 1743033573.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7072, header.stamp.nsec: 00 temperature: 13.563571* salinity: 33.375523, density: 1025.000000* values[0]: 0.582780F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033573.843165 s.\NI~,u9%AJ"J*J2J:JBJnJvJAHz.@A2@AC_~? A>fA%"AA$vNA"AZAbAjArAzAAAe7@AK2sA]ay@AA{=Afn?A@:?A ,?AN*A:?2A\=׽:Ag=BA:?JA\=׽RAg=٘i)I9ay@YG J~JJJJ9iE&K YV^~?y$SAhE77K9)NB[[g}?[^~?[8[[[[BZYY i) 6$:I G?iJ0_` |?))|?|?KϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033573.883165 s, next control iter: 1743033574.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033574.263165 s.dNI~,'ؐ9%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033574.263291F (some fields omitted in printout)A@AH0@ApR_~? A_A>%"AA;vNA"AZAbAjArAzAAAvr7@AǤsAx@Aj7;A=Ai?As?A@q?As*A:?2Aֽ:A=BA:?JAֽRA=Ye??yv= 8;ٓH`?@??? `_?@`f?c?)e? I٘i)I9x@YqG JJֻJJJ?iE&Kx> Y^~?yuSA?hE{7j79)RB[[?[g^~?[0[[[[BZYY i) 6IG?iBf _?))_?_?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033574.303165 s, next control iter: 1743033574.663180 s, wait time: 0.360015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7073., header.stamp.nsec: 0.0 temperature: 13.563760.* salinity: 33.375549., density: 1025.000000.* values[0]: 0.582169.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033574.683165 s.ljNI~,V9%AJ"J*J2J:JBJnJvJAQ@A*1 렻@A`_~? AXA%"AAQvNA"AZAbAjArAzAAA8@Aچ:sABx@A^T<An=Ar?A?A ۴?A+﫼*AJ:?2Aֽ:A=BAJ:?JAֽRA=٘i)I9Bx@YG JJJJJDiE&K Y^~?ySAhEŧ7b7v9B)UBE[[~΄?[_~?[U([[[[BZYY i) 0gIޏG?i/Pk ?))??ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033574.683165 s, next control iter: 1743033575.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743033575.103165 s.qNI~,9%AA= ףp@A}V@An_~? A RA%"AA[gvNA"AZAbAjArAzAAAK\Y4J8@As4^sAw@Ad<A+ݏ=A?A T?A`_?AY*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9w@YG JJJJJIiE&K Y}^~?y3 RAhE77 9B)WBE[[;?[ _~?[[[[[BZYY i) m I{G?i no @?))@?@?:ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033575.143165 s, next control iter: 1743033575.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033575.523165 s.wNI~,|9%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743033575.523287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܡ@Am3¡@Au|_~? A$KA%"AAH|vNA"AZAbAjArAzAAAZQs8@An'sA''w@A#~4<A2=A2?A1 ?Av6?AIU*A:?2A^ֽ:A4=BA:?JA^ֽRA4=٘i)I9'w@YlG JkJJJJOiE&K Y߰^~?yIIRAhE7{79B)ZBE[["?[_~?[R[[[[BZYY i) &yJIrgG?iݼտq H?))H?H?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033575.543165 s, next control iter: 1743033575.923181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7074, header.stamp.nsec: 00 temperature: 13.563959* salinity: 33.375538, density: 1025.000000* values[0]: 0.581537F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033575.943165 s.Wd~NI~,>]9%AAzG@AR(-@A_~? A%DA+%"AAvNA"AZAbAjArAzAAAM 8@AB2sAv@AMA=Af?A`3?A@t?AT*A}:?2A-I׽:AX<BA}:?JA-I׽RAX<٘i)I9v@YG JJJJJTiE&K YA^~?y`QAhEb7769)^B[[N?[*-_~?[[[[[BZYY i) ISG?ir ?))??:%AJ"J*J2J:J?BJ?nJ5vJA3333@A@A1_~? A=A%"AA vNA"AZAbAjArAzAAA9`V8@AWdsAr$v@ApF6Ar͈=AF?AZ?A%?A*A:?2A׽:Atw<BA:?JA׽RAtw Y^~?yQA?hE9)bB[[w?[:_~?[[[[[BZYY i-) =I<>G?iw F'?))F'?F'?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033576.403165 s, next control iter: 1743033576.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7075&, header.stamp.nsec: 0&0 temperature: 13.564143&* salinity: 33.375538&, density: 1025.000000&* values[0]: 0.580942&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033576.783165 s.UNI~,2:%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076226< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743033576.783276F (some fields omitted in printout)AQ@A)U@A[_~? A5A?%"AAڶvNA"AZAbAjArAzAAAF448@A/2sAu@A慼Aj=AEž?A~?A@?ABы*A :?2A׽:A.<BA :?JA׽RA.<٘i)I9u@YG JVJJJJ_iE&K Y^~?y.QAhE77a9B)aBE[[9?[G_~?[[[[[BZYY i) JI)G?iĿ{ GB?))GB?GB?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033576.803165 s, next control iter: 1743033577.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033577.203165 s.NI~,`M:%AJ"J*J2J:JBJnJvJAףp=@A&p@A _~? A.AS%"AAvNA"AZAbAjArAzAAAV[Q 9@A,ѩ-ȶsA_9u@A˜TA =AOV?A@?A>!?Af*As:?2Avc׽:AB<BAs:?JAvc׽RAB<٘i)I99u@Y@G JJJJJdiE&K Yx^~?yPAhE{7j79)eB[[ԗ?[S_~?[[[[[BZYY i) RIG?iƿ8~ (b?))(b?(b?﹪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033577.243165 s, next control iter: 1743033577.603188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743033577.623165 s.XNI~,ag:%AA)\@Aۣ@A@_~? Aa'A+Z%"AAUvNA"AZAbAjArAzAAAr|+9@A%SsAmt@AN6Aˇ=A|ۣ?A 4?AT?A\Ί*A! :?2AU׽:Ax<BA! :?JAU׽RAx<٘i)I9t@YG J؈JJJJjiE&K Y6^~?yMܩvPAhE779)iB[[?[!__~?[[[[[BZYY i) IGF?izǿT $?))$?$?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033577.663165 s, next control iter: 1743033578.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7076 , header.stamp.nsec: 0 0 temperature: 13.564283 * salinity: 33.375565 , density: 1025.000000 * values[0]: 0.580439 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033578.043165 s.NI~,Â:%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076226< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033578.043286F (some fields omitted in printout)A{Ga@Av2G@A_~? A A]%"AAvNA"AZAbAjArAzAAAW%L9@A7hCӭsA~Pt@A<A"=A]?AF?A'?Ak4*A:?2A<ֽ:A==BA:?JA<ֽRA==}I٘i)I9Pt@YG JbJJJJoiE&K Y^~?yԩPAhE7777!9)lB[[6?[i_~?[y[[[[BZYY i)  IF?iFǿ 8?))8?8?¼YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033578.063165 s, next control iter: 1743033578.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033578.463165 s.XNI~,:%AA̤@AW#@A<_~? AAy%"AAvNA"AZAbAjArAzAAA{:k9@A|_IsAs@A<AԺ=A?A ?Ab?A*A:?2Aֽ:AU1=BA:?JAֽRAU1=Y?F ?yX=i<ٓHך? `x??@?e?`fS sC?.?)? I٘i)I9s@YhG JB=J;JJJtiE&KQx> Y^~?y˩OA ?hE779 B)E[[f?[s_~?[*ة[[[[BZYY i) HIF?i^ʿk 4e@))4e@4e@뾪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033578.503165 s, next control iter: 1743033578.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7077, header.stamp.nsec: 00 temperature: 13.564442* salinity: 33.375576, density: 1025.000000* values[0]: 0.579938F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033578.883165 s.J "J *J 2J :J v?BJ v?nJ 5vJ yNI~,8:%AAQ8@Aۋh;@A_~? AA %"AA" wNA"AZAbAjArAzAAAԈ9@AHEsA8[s@AUn<Al=AO?A b'?A?A0*A9?2Aֽ:A$=BA9?JAֽRA$=٘i)I9[s@YG JNC=JJJJziE&K Y^~?y©`OAhEŧ7b7K9)pB[[꘤?[}_~?[Ω[[[[BZYY i) .IF?if̿Ђ @))@@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033578.923165 s, next control iter: 1743033579.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033579.303165 s.SNI~,jg:%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076226< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743033579.303275F (some fields omitted in printout)Aq= ף@AH¾@AD_~? A A%"AAwNA"AZAbAjArAzAAA9@Ae,sAr@Aڶ;A7C=A!:?A`??Ak?A$*A9?2A׽:A.=BA9?JA׽RA.=٘i)I9r@YG JJJJJiE&K Y_~?yoOAhE79)tB[[ļ?[_~?[Dũ[[[[BZYY i) /=I F?iZͿbm @))@@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033579.343165 s, next control iter: 1743033579.703174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7078*, header.stamp.nsec: 0*0 temperature: 13.564636** salinity: 33.375576*, density: 1025.000000** values[0]: 0.579389*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033579.723165 s.NI~,H:%AJ"J*J2J:JBJnJvJA(\@A]E@A_~? AA2%"AAG&wNA"AZAbAjArAzAAA=jz9@AyrsAer@A)5λA]=A?A?A`7?ArR*AV9?2Ah׽:A=BAV9?JAh׽RA=٘i)I9er@YG JGJJJJiE&K Y _~?y汩NAhE)7ŧ7v9)xB[[?[S_~?[[[[[BZYY i) |MIF?i=Ϳ>Z @))@@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033579.763165 s, next control iter: 1743033580.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033580.143165 s.X/NI~,* ;%AAGz@Ay`@AI_~? A<A%"AA33wNA"AZAbAjArAzAAAtPt9@Aʒ#|ĖsAlq@ArAÒ=A?A?A`^?A*A9?2A׽:A=BA9?JA׽RA=٘i)I9q@Y=G JJJJJJiE&K Y_~?y^INAhE777 9B)wBE[[3?[J_~?[[[[[BZYY i) \I {F?i ̿H @))@@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033580.163165 s, next control iter: 1743033580.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033580.563165 s.J "J *J 2J :J A?NI~BJA?nJt5, $;%AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076226< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743033580.563335F (some fields omitted in printout)Affff榻@A4HȘ@A_~? AA ^%"AAZ?wNA"AZAbAjArAzAAAT%9@A <sAqq@A~A`Q=A>?A ?A@?Aϔ*A9?2Au׽:A=BA9?JAu׽RA=Y ?o?yL=Q@ٓH ?s࿐?R?`4? ]ҏ@?) ? I٘i)I9qq@YG J$B=JI<JJJiE&Kox> Y_~?yMA?hE{7Z79){B[[f?[|_~?[o[[[[BZYY i) ,lIdF?i(ο D @))D @D @YͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033580.583165 s, next control iter: 1743033580.963184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7079, header.stamp.nsec: 00 temperature: 13.564826* salinity: 33.375572, density: 1025.000000* values[0]: 0.578843F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033580.983165 s.NI~,>;%AAQ@Ac#7@AD`~? AA4%"AAJwNA"AZAbAjArAzAAAd:@A9PsAp@AhAƗ=AǸ?A'?A@ܣ?A`[*A'9?2AR׽:AK =BA'9?JAR׽RAK =٘i)I9p@YG J헼C=JJJJiE&K Y>_~?yMAhE{769)B[[?[_~?[[[[[BZYY i) _{INF?i2Ͽ  @)) @ @ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033581.023165 s, next control iter: 1743033581.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033581.403165 s.'NI~,pY;%AJ"J*J2J:J?BJ?nJO5vJA ףp@AmY@A`~? AA:%"AA[UwNA"AZAbAjArAzAAA6g0T:@APrxsAmkp@Apq;A=AE?A FT?Ay?A;*A9?2A#ֽ:A&=BA9?JA#ֽRA&=٘i)I9kp@YSG JAJJJJiE&K Yi_~?y>MAhEj7Z79B)BE[[@Ϸ?[_~?[[[[[BZYY i) IIT8F?i(Ͽ l @))l @l @ӪYFFF]V:Waiting for Gazebo time sync: latest Gz time: 1743033581.423165 s, next control iter: 1743033581.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7080", header.stamp.nsec: 0"0 temperature: 13.565013"* salinity: 33.375572", density: 1025.000000"* values[0]: 0.578274"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033581.823165 s.NI~,:t;%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198962 time: 1743033581.823319F (some fields omitted in printout)A\(@AJ@A7`~? A۪A&%"AA5_wNA"AZAbAjArAzAAA8<'1-:@AGƒsAo@A)]<A~u=AȽ?A ~?A?A*A9?2AgYֽ:As=BA9?JAgYֽRAs=٘i)I9o@YG JB=JJJJiE&K Y!_~?yLAhE7ŧ7a9)B[[?[j_~?[)[[[[BZYY i) 䌼I("F?i ο ߃ @))@@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033581.843165 s, next control iter: 1743033582.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033582.243165 s.J "J *J 2J :J ?BJ ?nJ &5vJ NI~,i;%AAGz@Acz@A`~? A5ӪA%"AAJhwNA"AZAbAjArAzAAA"Ɓ>:@AWM~sALo@AU<A=A]?Ae?A?A *A9?2A^ֽ:A0=BA9?JA^ֽRA0=٘i)I9Lo@YG JuC=JJJJiE&K Y%_~?y}SLAhE779)B[[5?[z_~?[^[[[[BZYY i) }I@ F?i˿y @))@@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033582.263165 s, next control iter: 1743033582.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033582.663165 s.NI~,q;%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7081, header.stamp.nsec: 00 temperature: 13.565248* salinity: 33.375580, density: 1025.000000* values[0]: 0.577623F (some fields omitted in printout)A@Aq娻@A`~? AI˪AY&"AApwNA"AZAbAjArAzAAA4t@N:@AYL~zsAn@A@.+<AÞ=A?A ?A?A *AW9?2A=ֽ:ART=BAW9?JA=ֽRART=Y?c#?y=@+<ٓH~?x ƌ????`!ӳe??)? I٘i)I9n@YKG JJ4<JJJiE&KWx> Y '_~?yuKA#?hEb779)B[[h?[­_~?[w[[[[BZYY i) >I5E?i̿0 +@))+@+@yКIڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033582.683165 s, next control iter: 1743033583.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033583.083165 s.DNI~,R;%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743033583.083274F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@ACrQ@A`~? AVêA&"AAxwNA"AZAbAjArAzAAA "g\:@A*OBusA(n@ASPA=A?Aï?A@T&?A)*A9?2Ay ׽:Az=BA9?JAy ׽RAz=٘i)I9(n@YG J JJJJiE&K Y[(_~?y=l~KAiE)7ŧ7!9B)BE[[?[A_~?[m[[[[BZYY i) #qI(E?iͿ7 @))@@OݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033583.123165 s, next control iter: 1743033583.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033583.503165 s.NI~,H4;%AAp= ש@A`񼩻@A!`~? A\AK&"AA~wNA"AZAbAjArAzAAAi^h:@Aq>cpsAm@A=AL=Ay?A]ػ?Ab9?Ad*A9?2Ap׽:A8=BA9?JAp׽RA8=٘i)I9m@YG JJJJJiE&K Y)_~?yscKAiE7779)B[[?[_~?[c[[[[BZYY i) 骼I;E?i˿$ T@))T@T@YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743033583.523165 s, next control iter: 1743033583.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7082, header.stamp.nsec: 00 temperature: 13.565476* salinity: 33.375591, density: 1025.000000* values[0]: 0.576968F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033583.923165 s.9NI~,;%AJ"J*J2J:JBJnJvJA(\B@A/w(@A%`~? A\AE,&"AAwNA"AZAbAjArAzAAA&\Gs:@AksAm@A)A=A!?A:?A`I?A^&*A9?2A#u׽:A!n=BA9?JA#u׽RA!n=٘i)I9m@YBG J JJJJiE&K  9Y*_~? 9yZJA iE7)7L9)B[[ ?[_~?[Z[[[[BZYY i) wcIE?iɿY7 @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033583.943165 s, next control iter: 1743033584.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033584.343165 s.<OI~,<%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743033584.343325F (some fields omitted in printout)AHz@A@A(`~? AWA&"AAȉwNA"AZAbAjArAzAAAtf2}:@AWKGfsA1ql@AknJA=Aӱ?A(9?A >W?A?Z*Aڻ9?2A{'׽:A=BAڻ9?JA{'׽RA=٘i)I9ql@YG JJJJJiE&K YF,_~?yQ>JAiEŧ7b79)B[[.?[_~?[ Y*_~?yIIA*?iE{7Z7w 9B)BE[[2_?[[_~?[nF[[[[BZYY i) 'I‰E?iƿB~ }@))}@}@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033584.783165 s, next control iter: 1743033585.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033585.183165 s.OI~,oK<%AAQ@Amɪk@A3-`~? A@A&"AAwNA"AZAbAjArAzAAAl:@AnX\sAX/k@A7<AH=A?Avm?Aj?A[ɼ*A9?2A=ֽ:AW6=BA9?JA=ֽRAW6=٘i)I9/k@Y#G JļC=JJJJiE&K Y%)_~?yM@WIA mDiE77 9)B[[a?[_~?[<[[[[BZYY i) qȼI|tE?iſ`Y} @))@@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033585.223165 s, next control iter: 1743033585.583177 s, wait time: 0.360012 s%)_~?)M@ rAdjusting time to match Gazebo time: 1743033585.603165 s.34OI~,f<%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033585.603289F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AxW֫@A.`~? A1Aʟ&"AAUwNA"AZAbAjArAzAAA7:@A8tWsAނj@A<Anʰ=A3?A`7?Aq?Aм*A9?2Aֽ:A'=BA9?JAֽRA'=٘i)I9j@YG JLͼJJJJiE&K Y'_~?y7HA!iEj7j79)B[[?[_~?[2[[[[BZYY i) PϼIj_E?iÿ`z Y;@))Y;@Y;@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033585.643165 s, next control iter: 1743033586.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7084 , header.stamp.nsec: 0 0 temperature: 13.566022 * salinity: 33.375603 , density: 1025.000000 * values[0]: 0.575569 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033586.023165 s.Z OI~,|<%AA(\@Al6B@A/`~? AAA=&"AADwNA"AZAbAjArAzAAA3Ӯ:@AcRsA i@A֭f<A$=A?A?A0u?A:Ӽ*A9?2A4Mֽ:A=BA9?JA4MֽRA=٘i)I9i@YNG JtҼJJJJiE&K Y&_~?y.oHA&iE{779B)BE[[?[_~?[;)[[[[BZYY i) ׼IJE?iOv @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033586.063165 s, next control iter: 1743033586.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033586.443165 s.8&OI~,B]<%AJ"J*J2J:JBJnJvJAzǬ@Aj򔭬@A(0`~? A A&"AAdwNA"AZAbAjArAzAAA:@AxNsAO i@A;A=Aw?A`f9t?Av?AҼ*A^9?2Asֽ:A=BA^9?JAsֽRA=٘i)I9 i@Y G JӼJJJJiE&K Ys$_~?y%GA+iE779)B[[s?[ _~?[[[[[BZYY i) O޼Ic6E?iJq :d@)):d@:d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033586.483165 s, next control iter: 1743033586.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7085, header.stamp.nsec: 00 temperature: 13.566339* salinity: 33.375591, density: 1025.000000* values[0]: 0.574743F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033586.863165 s.+-OI~,><%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033586.863282F (some fields omitted in printout)A33333@A%@A0`~? AzAux&"AAwNA"AZAbAjArAzAAA=/ғ:@AUłdIsAoh@AAAc=AI?AwA`v?Aм*A9?2A+׽:A=BA9?JA+׽RA=Y(?4?yA=h%ٓHÿÙ@0{?#Ŀ|? x/|,?)(? I٘i)I9oh@Yw G JѼB=J<JJJiE&KGx> Y _~?yCGA4?1iE77b9)B[[l;?[_~?[[[[[BZYY i) I-"E?iap  @)) @ @fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033586.883165 s, next control iter: 1743033587.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033587.283165 s.6R4OI~,<%AJ"J*J2J:J?BJ?nJ)5vJAQ@A5磄@Av/`~? ArA&"AA5wNA"AZAbAjArAzAAA:@Ak*DsAg@ACwA=A?A Ar?Akм*A9?2AY׽:A9=BA9?JAY׽RA9=٘i)I9g@Y G JмC=JJJJiE&K Y_~?y GA6iE{7j79)¯B[[d?[P_~?[} [[[[ZZ¸BZYY i¸Z=) yټI-E?i %n "@))"@"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033587.303165 s, next control iter: 1743033587.683180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 70862, header.stamp.nsec: 020 temperature: 13.5666732* salinity: 33.3755802, density: 1025.0000002* values[0]: 0.5738922F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033587.703165 s.׺:OI~,<%AAףp= @AVj-@AO.`~? AjA&"AAwNA"AZAbAjArAzAAA&Er:@A#p>?sAg@A/yAd.=A̖?A=A`l?AoMӼ*Aל9?2A0׽:A5=BAל9?JA0׽RA5=٘i)I9g@Y G JxѼJJJJiE&K Y0_~?y FA;iE77"9B)ǯBE[[?[W_~?[[[[[ZZBZYY i) rͼI|D?iuej $@))$@$@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033587.723165 s, next control iter: 1743033588.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033588.123165 s.4AOI~,P=%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082693< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033588.123273F (some fields omitted in printout)A)\u@AĬ[@A,`~? AbAP&"AAʓwNA"AZAbAjArAzAAA:\:@A.DT:sAxIf@A=A=A?A&A@:a?A-C*Ad9?2A ֽ:Ax<BAd9?JA ֽRAx<٘i)I9If@Y( G J3JJJJiE&K Y_~?y6FAAiE)7ŧ7"&9)ͯB[[s?[_~?[[[[[ZZBZYY i) kI:D?i$;Me ;%@));%@;%@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033588.163165 s, next control iter: 1743033588.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033588.543165 s.IHOI~,"=%AA{Gᮻ@AM 4Ǯ@Ao*`~? AZA&"AAwNA"AZAbAjArAzAAA1:@Aïl5sA]le@As;A᪗=A?A`ֱAV?AS*AV9?2Ai{ֽ:A<BAV9?JAi{ֽRA<٘i)I9le@Y G JJJJJiE&K YY_~?yEAFiE77)9B)կBE[[&?[I|_~?[h[[[[ZZBZYY i) dID?iW^ ='@))='@='@y?=FҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033588.563165 s, next control iter: 1743033588.943183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7087, header.stamp.nsec: 00 temperature: 13.567008* salinity: 33.375591, density: 1025.000000* values[0]: 0.573009F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033588.963165 s.|NOI~,==%AJ"J*J2J:JBJnJvJAL@A%2@A'`~? ARAĊ &"AA4wNA"AZAbAjArAzAAA0sz:@A80sAȓd@AY<Ar=A ?ACAiI?Ap*AX9?2A `ֽ:A"m<BAX9?JA `ֽRA"m?@?)*.? I٘i)I9d@Y G JJ싽JJJiE&K x> Y_~?yNEA:?KiE7b7L-9)ܯB[[?[!s_~?[([[[[ZZBZYY i) 'ID?id)\ (@))(@(@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033589.003165 s, next control iter: 1743033589.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033589.383165 s.UOI~,#X=%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082693< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033589.383287F (some fields omitted in printout)AQ@A^c@@Ay$`~? AJA>' &"AAwNA"AZAbAjArAzAAAȀ*$p:@A(½+sAc@ALw<ApZ-=A"?AcA/;?A:Լ*A9?2A"nֽ:A];BA9?JA"nֽRA];٘i)I9c@Y G JrJJJJjE&K Y^~?y}DAQiEb7709B)BE[[?[Fi_~?[ި[[[[ZZBZYY i) ꞼID?iGY &^*@))&^*@&^*@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033589.403165 s, next control iter: 1743033589.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7088", header.stamp.nsec: 0"0 temperature: 13.567428"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.571998"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033589.803165 s.zA\OI~,gs=%AJ"J*J2J:Jn?BJn?nJ5vJAq= #@A @A `~? ABAZ &"AAswNA"AZAbAjArAzAAAM"3e:@A?Rs&sA+c@A <A<A[?A(A*?Ad *Ad9?2AMxֽ:AfBAd9?JAMxֽRAf뺙٘i)I9+c@YB G JüJJJJjE&K Y^~?yDAViE7{7w49)B[[C6?[^_~?[Ԩ[[[[ZZBZYY i) 譓ID?iɥ4T g+@))g+@g+@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033589.823165 s, next control iter: 1743033590.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033590.223165 s.gcOI~,H=%AA(\@AŬCu@Al`~? A:A _ &"AAb}wNA"AZAbAjArAzAAA)3X:@A(!sAҫb@Ax3Aϫ<A*?A+tA ?Ax*Az9?2A_ֽ:A,BAz9?JA_ֽRA,٘i)I9b@Y G JJJJJ jE&K Ya^~?ytبZDA\iE77 89)B[[Q?[S_~?[̨[[[[ZZBZYY i) >qID?i렿gM ~-@))~-@~-@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033590.243165 s, next control iter: 1743033590.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033590.643165 s.uiOI~,*=%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082693< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033590.643292F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@At_఻@A`~? A2A: &"AAvwNA"AZAbAjArAzAAAÄ~I:@A" wsASb@ATA.A?AQ¿A@T?A"b*A09?2A 3ֽ:ABA09?JA 3ֽRA٘i)I9Sb@Y G J?SJJJJjE&K Y#^~?yϨDAaiE{7j7;9B)B E[[h?[G_~?[Hè[[[[ZZBZYY i) hzI{D?imF  /@)) /@ /@/)YFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7089, header.stamp.nsec: 0F0 temperature: 13.388213F* salinity: 33.391666, density: 1025.000000* values[0]: 0.689152F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743033590.663165 s, next control iter: 1743033591.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033591.063165 s.pOI~,_ =%AAfffff@A1"QL@AL`~? A*Aڔ &"AAnwNA"AZAbAjArAzAAA״9:@A4G?sAb@A<AŴA"?A.ĿA`?A*A9?2A ֽ:A{BA9?JA ֽRA{Yj"?.?yٓH@ֿ``?ֿ@*Y??)j"? I٘i)I9b@Y G JJ!FJJJjE&Kv> Y(^~?yǨ'DA.?fiE777?9)B[[B@[9;_~?[[[[[ZZBZYY i0 m=) dhIkD?ihrC W0@))W0@W0@w)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033591.103165 s, next control iter: 1743033591.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033591.483165 s.}_wOI~,=%AJ"J*J2J:JBJnJvJAѱ@Af ޷@Av `~? A#A. &"AAzfwNA"AZAbAjArAzAAAns':@AȹrsA+ b@AMBAyA?Aq ƿA?AS*Aب9?2AhHֽ:A{ܼBAب9?JAhHֽRA{ܼ٘i)I9 b@Y G J;JJJJjE&K Y,^~?yjEDAliE7777B9)[[S@[ ._~?[[[[[BZYY i=) 'fVI[D?i!h> '2@))'2@'2@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033591.523165 s, next control iter: 1743033591.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7090, header.stamp.nsec: 00 temperature: 13.388341* salinity: 33.391651, density: 1025.000000* values[0]: 0.688532F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033591.903165 s.}OI~,=%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743033591.903300F (some fields omitted in printout)A ףp=@A[#@A`~? AEA &"AAE]wNA"AZAbAjArAzAAA:@AOsA{b@A:AC:Aog?AǿA@?A;*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J:JJJJ!jE&K Y2^~?y(cDAqiE)7ŧ7bF9B)BE[[Z@[A _~?[v[[[[BZYY i) fDILD?ih8 3@))3@3@5z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033591.943165 s, next control iter: 1743033592.303181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033592.323165 s.wOI~,)>%AJ"J*J2J:JBJnJvJA\@AO㎲@A<_~? A{A`&"AAFSwNA"AZAbAjArAzAAA[ B9@AV" sA%AAGz@A~4b@A_~? A A6&"AAHwNA"AZAbAjArAzAAAOf|K9@AM-؆1sA(yb@A<AzA@A˿Al?A+<*A 9?2A ׽:A-BA 9?JA ׽RA-٘i)I9yb@Y G J<JJJJ+jE&K Y=^~?yDA|iEb77M9)B[[]h@[ _~?[[[[[BZYY i) f I /D?ix|( 6@))6@6@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033592.763165 s, next control iter: 1743033593.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033593.163165 s.y}OI~,qJ>%AJ"J*J2J:JK0?BJK0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743033593.163289F (some fields omitted in printout)A@Ae@A_~? A A&"AA Y^~?yDA@iE7777#Q9B)BE[[@[w^~?[쐨[[[[BZYY if=) I?!D?i;"$ >T8@))>T8@>T8@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033593.183165 s, next control iter: 1743033593.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033593.583165 s.OI~,Re>%AAR볻@APlѳ@A_~? AiA$&"AA0wNA"AZAbAjArAzAAA9@ArAO2c@AW;AAvj@A:ϿA`~ ?A<*A~9?2AIsֽ:AsBA~9?JAIsֽRAs٘i)I92c@YF G Ju<C=JJJJ6jE&K Y ^~?yߖYEAiE{7j7T9)B[[u @[^^~?[[[[[BZYY i) +[ID?iw| @9@))@9@@9@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033593.603165 s, next control iter: 1743033593.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7092, header.stamp.nsec: 00 temperature: 13.388292* salinity: 33.391689, density: 1025.000000* values[0]: 0.688894F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033594.003165 s.x OI~,L4>%AJ"J*J2J:JBJnJvJAp= W@Aa<@A_~? AAh&"AA#wNA"AZAbAjArAzAAAK9@AC4rA>c@A(A옽A@A@пAo?A ۟<*Ah9?2Aֽ:ABAh9?JAֽRA|I٘i)I9c@Y G J|<B=JJJJ;jE&K Ys^~?yEAiEŧ77MX9B)BE[[ @[^~?[@[[[[BZYY i) I4D?il c;@))c;@c;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033594.023165 s, next control iter: 1743033594.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033594.423165 s.uOI~,>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033594.423295F (some fields omitted in printout)A(\´@ArOWw@AL_~? AKAM&"AAwNA"AZAbAjArAzAAA뵊9@AͦLrA+;d@A}AsA@A;aѿA%AAHz.@AyT@Ao_~? AA&"AA?wNA"AZAbAjArAzAAArg.b9@AȅH rAsd@AoA/A<@AnCҿA?A$<*A9?2Aֽ:A@ BA9?JAֽRA@ ٘i)I9d@YC G J<JJJJFjE&K YEy^~?y8mFAiE77{7x_9)B[[ @[)^~?[Fr[[[[BZYY i?=) IC?iQ n>@))n>@n>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033594.883165 s, next control iter: 1743033595.243185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743033595.263165 s.OI~,>%AA@A0a@A_~? AjީAp&"AAvNA"AZAbAjArAzAAAZX?C9@AцrAie@APŻAȱA@A &ӿA`n?Aó<*A;9?2A܊ֽ:ABA;9?JA܊ֽRAY,?f@y$:ƻٓH& @5 ?@?@ 1?@`x@?),? I٘i)I9ie@Y G J<JTJJJLjE&Kw> Y.j^~?ywFA@iE{7 c9 B)BE[[y@[^~?[j[[[[BZYY i) fI!C?iHL o?@))o?@o?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033595.283165 s, next control iter: 1743033595.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7094., header.stamp.nsec: 0.0 temperature: 13.387898.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.690703.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033595.683165 s.lOI~,R>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065444< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743033595.683274F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Atx뵻@A=_~? AשA&"AAvNA"AZAbAjArAzAAAPR_"9@AY rAOe@Asb;AꖽA @A ԿA:?A<*A59?2Aֽ:AmBA59?JAֽRAm٘i)I9e@Y G J<JJJJQjE&K Y[^~?yVp 5uA@))5uA@5uA@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033595.683165 s, next control iter: 1743033596.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743033596.103165 s.OI~,?%AA= ףp@A$V@A_~? AϩA&"AA&vNA"AZAbAjArAzAAA D9@A4˛rAf@AFm<AwNAH @AԿAI?ATʤ<*A 9?2A-׽:A3BA 9?JA-׽RA3٘i)I9f@YP G J<JJJJVjE&K YL^~?yhGAiE8j9B)گBE[[9u@[Ix^~?[\[[[[BZYY i) IGC?i2T DB@))DB@DB@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033596.123165 s, next control iter: 1743033596.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033596.523165 s.OI~,{!?%AJ"J*J2J:J0?BJ0?nJ95vJA(ܶ@A¶@A_~? AȩA&"AAvNA"AZAbAjArAzAAA88@AOl@7rAg@A;<AAu @AFտA?AO<*AQ9?2A׽:A BAQ9?JA׽RA ٘i)I9g@Y G JǢ<JJJEJ\jE&K Y<^~?yua HAiE77m9)կB[[@[d^~?[V[[[[BZYY i) 0IpC?ip$^{һ wD@))wD@wD@yx=*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743033596.543165 s, next control iter: 1743033596.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7095, header.stamp.nsec: 00 temperature: 13.387696* salinity: 33.391712, density: 1025.000000* values[0]: 0.691660F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033596.943165 s.YdOI~,F] elevatorAngleAction: 0.065444< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743033596.943312F (some fields omitted in printout)AzG@A\o-@AӒ_~? A}Aި&"AAkvNA"AZAbAjArAzAAAZ(Z8@AjʍrA!g@A+ <AuA @AֿA o?A<*A?9?2Aֽ:AqBA?9?JAֽRAq٘i)I9g@Y G J<JJJJajE&K Y-^~?yZqHAiE7)7cq9B)ӯBE[[e@[Q^~?[|O[[[[BZYY i) uIuC?i_3뽻 E@))E@E@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033596.963165 s, next control iter: 1743033597.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033597.363165 s.OI~,d>W?%AJ"J*J2J:JBJnJvJA3333@A@A_~? ArA=3&"AA~vNA"AZAbAjArAzAAA]8@ArA!h@A?AgVA@Ak׿AfY?AԆ<*A9?2A8sֽ:ABA9?JA8sֽRAY@ @y?VQ@ٓHZ,r?a? `򲬿1?gw?)@ I٘i)I9!h@YG G J <J[k<JJJfjE&K2x> Yd^~?ySHA @iE{7{7t9)ϯB[[@[<^~?[H[[[[BZYY i) :IC?i 3鱻 0uG@))0uG@0uG@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033597.383165 s, next control iter: 1743033597.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7096&, header.stamp.nsec: 0&0 temperature: 13.387463&* salinity: 33.391708&, density: 1025.000000&* values[0]: 0.692582&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033597.783165 s.WOI~,r?%AAQ@A@Ax_~? A{A&"AAvNA"AZAbAjArAzAAAtKa\h8@Aa}'RrAQh@AbtSAA8_@A`k<ؿA U?A#<*Ah9?2A8ֽ:A=BAh9?JA8ֽRA=٘i)I9h@Y G Js<JJJJljE&K Y ^~?y)L/IAiEb77x9B)ίBE[[W@['^~?[B[[[[BZYY i) :I C?iMd H@))H@H@q*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033597.803165 s, next control iter: 1743033598.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033598.203165 s.OI~,?%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065444< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033598.203283F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@AS'p@A@k_~? AAJC&"AAxvNA"AZAbAjArAzAAA*Z>8@A^}MrA-i@AsASA@A ٿA?Ap<*A9?2AIAiEZ7Z79B)ǯBE[[@@[{]~?[6[[[[BZYY i) :Y;IC?iPƾX} s5F))s5FBK@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033598.643165 s, next control iter: 1743033599.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7097 , header.stamp.nsec: 0 0 temperature: 13.387310 * salinity: 33.391720 , density: 1025.000000 * values[0]: 0.693478 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033599.043165 s.OI~,?%AJ"J*J2J:J1?BJ1?nJ':5vJA{Ga@AR1G@AN_~? AAL&"AAMvNA"AZAbAjArAzAAA% 27@ArA)j@A#j9A[RAW@AڿAU?A'<*Au9?2Aֽ:ABAu9?JAֽRA󼙘٘i)I9)j@YG J<JJJJ|jE&K Y]~?ya7LJAiE77M9)ïB[[{@[]~?[0[[[[BZYY iZ=) r;I elevatorAngleAction: 0.074269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033599.463313F (some fields omitted in printout)A̹@AC׼@A?_~? AA&"AA7vNA"AZAbAjArAzAAAǺ7@AʋھrA5j@A[5<A삽A@ArۿA?Ao<*A9?2Au8׽:A1gBA9?JAu8׽RA1gYR@w@yꂽD6<ٓH +`ͪ??`;{Z?? ?)R@ I٘i)I9j@YG J<B=JnF<JJJjE&K8x> Y]~?y 1JA@iEZ7Z79B)BE[["@[]~?[F+[[[[BZYY i) ٪;IbC?iPp7 lCC))lCCIN@Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033599.503165 s, next control iter: 1743033599.863175 s, wait time: 0.360010 s]~?) 1tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7098, header.stamp.nsec: 00 temperature: 13.387126* salinity: 33.391735, density: 1025.000000* values[0]: 0.694335F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033599.883165 s.yOI~,8?%AJ"J*J2J:JBJnJvJAQ8@A^E@A:0_~? AAN&"AA vNA"AZAbAjArAzAAA 7@A YQrAc k@AMA<A+A@A`9ܿAj?A~<*A9?2AC׽:A]gBA9?JAC׽RA]g٘i)I9 k@Y G J<C=JJJJjE&K Yb]~?y*JAiEŧ7ŧ7x9B)E[[Z@[-]~?[%[[[[BZYY i) @;I1C?i\m= A))A,TP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033599.923165 s, next control iter: 1743033600.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033600.303165 s.aPI~,g@%AAq= ף@A@Ac _~? AA&"AAvNA"AZAbAjArAzAAACN4\7@A9rA}tk@AgO<A}tAbL@ALܿA z?A~<*AB9?2A ׽:ABAB9?JA ׽RA󼙘٘i)I9tk@YMG J|<JJJJjE&K YǛ]~?y[$SKAiEb77 9)B[[Z!@[{]~?[ [[[[BZYY i) ;IĘC?i4E  U@)) U@Q@y =*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743033600.323165 s, next control iter: 1743033600.703187 s, wait time: 0.380022 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7099*, header.stamp.nsec: 0*0 temperature: 13.386990** salinity: 33.391716*, density: 1025.000000** values[0]: 0.695056*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033600.723165 s. PI~,H.@%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743033600.723335F (some fields omitted in printout)A(\@AnE@A"_~? AFAWI&"AAuNA"AZAbAjArAzAAA2&*7@A䞘rAak@A!';A5A؎@A@ݿA@.?Ak<*AJ9?2A`ֽ:AbBAJ9?JA`ֽRAb٘i)I9k@YG Ji<JJJJjE&K Y(]~?yKAiEŧ79B)BE[[l"@[]~?[[[[[BZYY i) ))>?S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033600.743165 s, next control iter: 1743033601.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033601.143165 s.U/PI~,*I@%AAGz@A`@Ay^~? AA&"AAuNA"AZAbAjArAzAAAxE96@ABSrAPl@AAZA@Aq޿AR?Ae<*A9?2AUֽ:A*.BA9?JAUֽRA*.٘i)I9Pl@YG Jυ<JJJJjE&K Yt]~?yLAiEb789)B[[#@[v]~?[[[[[BZYY i) 6 Y^]~?y_LA'@iEj7Z7Θ9B)BE[[i@%@[^]~?[[[[[BZYY i) # elevatorAngleAction: 0.074269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033601.983300F (some fields omitted in printout)AQ@AQ7@A^~? ArA&"AAuNA"AZAbAjArAzAAAW6@AzDrA=m@A jAeASe@A߿A??A<*A9?2A aֽ:ABA9?JA aֽRA٘i)I9=m@YdG J<C=JJJJjE&K YbI]~?yM LAiE77c9 B)BݹE[[&@['G]~?[x [[[[BZYY i) pI3^Y: -7))-7wZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033602.863165 s, next control iter: 1743033603.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033603.243165 s.3PI~,u@%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033603.243296F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@ASulz@AM^~? AaAj&"AA)RuNA"AZAbAjArAzAAA%k5@AC}%drAn@Aqq<ArAo!@AA4;?A<*A9?2AoQ׽:ABA9?JAoQ׽RA٘i)I9n@Y=G J<B=JJJJjE&K Y]~?y>MAjEj7Z7#9$B)B׹E[[*@[ \~?[[[[[BZYY i) a"; :6)):6[@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033603.263165 s, next control iter: 1743033603.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033603.663165 s.:PI~,q@%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7102, header.stamp.nsec: 00 temperature: 13.386499* salinity: 33.391735, density: 1025.000000* values[0]: 0.697369F (some fields omitted in printout)A@A>x彻@AS^~? A(\At&"AA5uNA"AZAbAjArAzAAA#v.S5@ArrA:o@Az<ADA"@AjJAZ?AǶ<*An9?2A2׽:ABAn9?JA2׽RAYQ@v"@y@V{<ٓH>X` e?@?@n鎜@c?U??)Q@ I٘i)I9o@YG J6<C=JEJJJjE&KHx> YX\~?yF2NA"@jEŧ7b79)B[[8,@[\~?[>[[[[BZYY i) B(qA; &4))&4Q]@h*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033603.683165 s, next control iter: 1743033604.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033604.083165 s.J "J *J 2J :J 2?BJ 2?nJ 2;5vJ DAPI~,SA%AARk@ApvkQ@A^~? AVAq&"AAuNA"AZAbAjArAzAAA_u5@ArtYrAeo@A'Q;A䪖A$@A#A ?Ay<*Aӵ9?2Aֽ:Anl BAӵ9?JAֽRAnl ٘i)I9o@YG Jy<JJJJjE&K Y \~?yNNA jEb77N9)BԹE[[J-@[\~?[[[[[BZYY i) 4{d; b3))b33^@yϪ= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033604.123165 s, next control iter: 1743033604.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033604.503165 s.GPI~,4 A%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743033604.503297F (some fields omitted in printout)Ap= ׾@AU@ASl^~? AwQAG&"AA.tNA"AZAbAjArAzAAA9Bg:5@A[۸q~rAp@A{Az3A@%@AfA@U?A羟<*Ac9?2Aaֽ:ABAc9?JAaֽRA٘i)I9p@YG J<B=JJJJjE&K Y\~?yUNAjE7b79'B)BйE[[.@[\~?[0[[[[BZYY i) eׇ; 1))1'`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033604.543165 s, next control iter: 1743033604.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7103, header.stamp.nsec: 00 temperature: 13.386314* salinity: 33.391750, density: 1025.000000* values[0]: 0.698184F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033604.923165 s.DNPI~,;A%AJ"J*J2J:JBJnJvJA(\B@A`R|(@AQX^~? AOLA&"AA$tNA"AZAbAjArAzAAAMh4@AxmSXrAvp@Ab\AAAՁ&@A5A`?A-<*As9?2Aֽ:AdBAs9?JAֽRAd٘i)I9p@YsG J<C=JJJJjE&K Yj\~?y\ZOA nDjEb77y9)B)B͹E[[U0@[L\~?[[[[[BZYY i) w; 0))0ːa@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033604.963165 s, next control iter: 1743033605.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033605.343165 s.[PI~, elevatorAngleAction: 0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033605.763333F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A@AQ/^~? A_BAr&"AAtNA"AZAbAjArAzAAAөdc4@A:GrA[q@Aܬ'AAp!)@A[A @?AHʱ<*A9?2Avsֽ:AV6BA9?JAvsֽRAV6Y(@.)@yNF5(ٓH޿9?z?]G\??)(@ I٘i)I9q@Y%G J<JJJJjE&Kx> YO{\~?y0ާ+PA.)@"jEb779*B)BʹE[[ 3@[Mj\~?[[[[[BZYY i) A@P?A:<*A?9?2A#ֽ:ABA?9?JA#ֽRA٘i)I9Zr@YG J=<JJJJjE&K Yb\~?y٧PA'jE7799,B)BǹE[[f4@[ Q\~?[C[[[[BZYY i) P elevatorAngleAction: 0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743033607.023290F (some fields omitted in printout)A(\@AB@Au]~? Ay4Am&"AA?tNA"AZAbAjArAzAAAN+}3@A7ˁrAs@AD<AdAf--@AiAK?A{<*A9?2A>׽:ABA9?JA>׽RA٘i)I9s@Y8G Jd<JJJJjE&K Y0\~?yѧsQA2jE77{7d9)B[[7@[\~?[][[[[BZYY i) ´]A%AAz@A@A]~? A0A&"AAtNA"AZAbAjArAzAAAc%}3@A9n"rAK#t@A64G<AAu.@AA\?A@<*Aƕ9?2Aֽ:AFBAƕ9?JAֽRAF٘i)I9#t@YG JT<JJJJjE&K Y#\~?y_ͧQA7jE7790B)BE[[d8@[}\~?[1[[[[BZYY i) ,A%AA33333»@AÖ»@Ak]~? A+A0 &"AA@sNA"AZAbAjArAzAAA=93@As|rAt@Aٖ:AA/@AAA ?A)<*AA9?2Ayֽ:AƨBAA9?JAyֽRAƨY!@2/@yq:ٓHKiؿ`K?`? ;W ε?R]? 6?)!@ I٘i)I9t@YG J<B=J]JJJjE&Kw> Y[~?yɧVRA/@=jE7791B)BE[[9@[[~?[([[[[BZYY i) )p elevatorAngleAction: 0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033608.283282F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ»@AE»@A]~? A'A &"AA}sNA"AZAbAjArAzAAAa2@Al!AzrA4ou@A$AA0@A[A %K?AĄ<*A9?2Aֽ:AhdBA9?JAֽRAhd٘i)I9ou@YaG J<C=JJJJjE&K Y[~?yƧRABjE{7{7$92B)BE[[ ;@[s[~?[Mߧ[[[[BZYY i) s elevatorAngleAction: 0.092461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743033609.543289F (some fields omitted in printout)A{Gû@AU0û@A3h]~? AmAd!&"AAssNA"AZAbAjArAzAAA::g%2@ATx?srA1w@AgNAaA4@A@A?A5<*Ar9?2AXֽ:A BAr9?JAXֽRA {I٘i)I9w@YG Ja<JJJJkE&K Y[~?yd+TARjEj7j795B)yBE[[>@[[~?[ڧ[[[[BZYY i) Yz Y{[~?yֹTA56@XjEb77y96B)uBE[[G@@[l[~?[٧[[[[ZZZZ¸>BZYY i¸> |) ya[< K))Kt@yͯG*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033610.823165 s, next control iter: 1743033611.203253 s, wait time: 0.380088 s rAdjusting time to match Gazebo time: 1743033611.223165 s.gPI~,HB%AA(\Ż@A:9CuŻ@AA ]~? AUAk"&"AArNA"AZAbAjArAzAAAk1@A krAqz@A\;A#9AR(:@AVA??AS<*Ak9?2Aaֽ:Ac涼BAk9?JAaֽRAc涼٘i)I9qz@YmG J<JJJJkE&K Y *[~?y-VAhjE799:B)gBE[[%D@[ [~?[ק[[[[ZZZZBZYY i) [z|D?i:?f<  )) +v@yШ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033611.243165 s, next control iter: 1743033611.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033611.643165 s.sйPI~,)B%AJ"J*J2J:JBJnJvJAGŻ@ApŻ@A\~? Ap A+"&"AArNA"AZAbAjArAzAAA$0@ATj\irAD{@AXAuAi;@AA`P\?A' <*A9?2A|ֽ:AoBA9?JA|ֽRAo٘i)I9D{@YG J<JJJJkE&K Y[~?yVAmjE77{79 YJZ~?yﭧVA<@rjE777d9)\B[[{F@[Z~?[+֧[[[[ZZZZBZYY i) :VAxjE7)79=B)XBE[[ G@[FZ~?[է[[[[ZZZZBZYY i) ݎL?@AmA`V?A\P<*Aɬ9?2Akֽ:A><BAɬ9?JAkֽRA><٘i)I9/}@YG J<B=JJJJ-kE&K Y»Z~?y3WA}jE7779>B)UBE[[^AI@[.Z~?[է[[[[ZZZZBZYY i) 5,qC%AvJAȻ@AGgeȻ@A\\~? APA#&"AAqNA"AZAbAjArAzAAA;-@Aeuѽ`rA}@A;`<AQL=A*C@A@{A ?A?9*A9?2A]ֽ:A!#<BA9?JA]ֽRA!#JJJ=kE&Kv> YhZ~?y^~WA3C@jEŧ77O9BB)E[[M@[qZ~?[֧[[[[BZYY i2l) -}KC uJ!쉿?)ޯ;@ I٘i)I9|@YG JCmB=J޺=JJJXkE&Kw> YY~?y;iVAiHjE7)7:9EB)`BE[[>S@[Y~?[ڧ[[[[BZYY iIl) ;IPE?iK @-<  )) Z@iǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033616.303165 s, next control iter: 1743033616.663185 s, wait time: 0.360020 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 71152, header.stamp.nsec: 020 temperature: 13.3844182* salinity: 33.3917242, density: 1025.0000002* values[0]: 0.7080322F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033616.683165 s.l QI~,g+D%AJ"J*J2J:JBJnJvJAQ˻@ATʻ@A[~? AAq$&"AApNA"AZAbAjArAzAAAM*@Au[rA=|@AXPAm=A<GA NA/?A*A9?2Afֽ:Ad=BA9?JAfֽRAd=٘i)I9=|@YG JwC=JJJJ^kE&K Y۾Y~?yQVAjE{7j79FB)dBE[[[zT@[Y~?['ܧ[[[[BZYY i) Q;IE?i @< ca ))ca )_@}ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033616.683165 s, next control iter: 1743033617.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743033617.103165 s.QI~,ȚFD%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057754< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200612 time: 1743033617.103344F (some fields omitted in printout)A= ףp˻@AfyV˻@A[~? AA$&"AApNA"AZAbAjArAzAAA)@A9 [rA}{@A?<Aݜ=A!EAa[A]?A*Ay9?2Aֽ:AF=BAy9?JAֽRAF=٘i)I9{@Y3G JeJJJJckE&K YY~?yhUAjEb7ŧ7e9GB)iBE[[U@[Y~?[ݧ[[[[BZYY i) ;IE?iy@< ' ))' @תYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033617.123165 s, next control iter: 1743033617.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033617.523165 s.QI~,{aD%AJ"J*J2J:J$5?BJ$5?nJ=5vJA(˻@AFx{˻@A[~? AlAؑ$&"AApNA"AZAbAjArAzAAAZ1)@Ad2sZrA{@ATv<AF=ADAeA5?A*A9?2A<ս:Ae=BA9?JA<սRAe=٘i)I9{@YG J JJJJhkE&K Y_Y~?yEUAjEŧ7b7 9DB)kBE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #36q/$^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) ;)yl٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033617.563165 s, next control iter: 1743033617.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7116, header.stamp.nsec: 00 temperature: 13.384648* salinity: 33.391701, density: 1025.000000* values[0]: 0.707092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033617.943165 s.[dQI~,O]|D%AAzG̻@ABwI-̻@At[~? AA$&"AA=pNA"AZAbAjArAzAAA񓆁v(@Ab)eZrA_z@Ag<AV=AFCA!nA` ?Aj`*A9?2A@ֽ:A =BA9?JA@ֽRA =٘i)I9z@YxG JUJJJJnkE&K Y jY~?yTAjE77{7$9)pB|E[[ X@[1Y~?[[[[[BZYY i) d;IF?iC@-< #)) #I2@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033617.983165 s, next control iter: 1743033618.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033618.363165 s.%QI~,>D%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057754< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743033618.363285F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333̻@A̻@AZ[~? AA%$&"AAYpNA"AZAbAjArAzAAA*'@A5ZrAy@A,%;Aؚ=A[HBA`A}?Ah*A|:?2AK$½:A*=BA|:?JAK$½RA*=YA@AByJؚ=;ٓHu`?@_ :eQV`$v?y?)A@ I٘i)I9y@YG JiJx8<JJJskE&Kj> YNY~?y|TAABjE77%(9)uByE[[XY@[ՁY~?[[[[[BZYY i) ~(;I*'F?i9@B< L))S΅@BתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033618.403165 s, next control iter: 1743033618.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7117&, header.stamp.nsec: 0&0 temperature: 13.384936&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.705925&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033618.783165 s.V+QI~,D%AAQͻ@AsHjͻ@A@[~? AxA$&"AAV2pNA"AZAbAjArAzAAAb.Į:'@ANZrACLy@AǰϻA q=ArAAAhM?AA*A:?2Aký:A?=BA:?JAkýRA?=٘i)I9Ly@YG JJJJJykE&K Y1Y~?ytTAjE7777+9)zB[[ Z@[jY~?[[[[[BZYY i5) :IzIF?i@F< L))Li@ЪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033618.803165 s, next control iter: 1743033619.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033619.203165 s.3QI~,D%AJ"J*J2J:JBJnJvJAףp=ͻ@A4*pͻ@A&[~? AnA=$&"AA pNA"AZAbAjArAzAAA"}&@A?ZrAʸx@A"JnA=AGf@AAmbAK*AU:?2Aƽ:A<BAU:?JAƽRA<٘i)I9x@YaG JJJJJ~kE&K YY~?ycSAjEb77O/9)BvE[[{[@[SY~?[[[[[BZYY i)  @:IlF?i[#@< C))C@B˪YxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033619.243165 s, next control iter: 1743033619.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033619.623165 s.W9QI~,]D%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033619.623287F (some fields omitted in printout)A)\ͻ@Aͻ@A [~? AAN$&"AAAoNA"AZAbAjArAzAAA;?%@A#&ZrA,x@AeuAR=Ap>?A@nA9A*Ax:?2AȽ:A<BAx:?JAȽRA<٘i)I9,x@Y G JzJJJJkE&K YX~?ySDSAjEŧ7ŧ729EB)BsE[[\@[O=Y~?[[[[[BZYY i) @IF?i'@k<  )) ՜@hƪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033619.663165 s, next control iter: 1743033620.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7118, header.stamp.nsec: 00 temperature: 13.385217* salinity: 33.391708, density: 1025.000000* values[0]: 0.704790F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033620.043165 s.@QI~,E%AJ"J*J2J:JBJnJvJA{Gaλ@Aޏ/Gλ@AlZ~? AA$&"AAoNA"AZAbAjArAzAAA`%@AOIZrA6w@AAW=A >AA8A℠*AS:?2AiM˽:A<BAS:?JAiM˽RA<٘i)I9w@YG JΡJJJJkE&K YX~?yBRAjE)7z69)BpE[[%^@['Y~?[[[[[BZYY i) #uIF?i,@>< /))/4@yªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033620.083165 s, next control iter: 1743033620.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033620.463165 s.QGQI~,ӤE%AAλ@AX歺λ@AWZ~? AAI$&"AA'oNA"AZAbAjArAzAAA=$@A<ZrAw@A;AQ=AI<AnAA*A:?2AYͽ:AE<BA:?JAYͽRAE YX~?y~RA<jEb77:9)BmE[[]X_@[Y~?[[[[[BZYY i) _&IPF?i5/@D< a))a*Έ@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033620.503165 s, next control iter: 1743033620.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7119, header.stamp.nsec: 00 temperature: 13.385474* salinity: 33.391705, density: 1025.000000* values[0]: 0.703773F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033620.883165 s.zMQI~,Y8E%AJ"J*J2J:J*4?BJ*4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033620.883319F (some fields omitted in printout)AQ8ϻ@A˂?ϻ@AHZ~? AA$&"AAloNA"AZAbAjArAzAAAJ{lx#$@AtZrAv@AZ<AЈ=Aʅ;A AҫA $*Aכ:?2A{~Ͻ:A.<BAכ:?JA{~ϽRA.<٘i)I9v@YG JូC=JJJJkE&K YLX~?y!RAjE7=9)BjE[[H`@[X~?[[[[[BZYY i) 6DIG?i2@< ))f@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033620.923165 s, next control iter: 1743033621.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033621.303165 s.STQI~,jgSE%AAq= ףϻ@AƉϻ@ABZ~? AKA$&"AA)EoNA"AZAbAjArAzAAA# l #@AN<[rAv@A s<A^Ά=Ae4:A5vA ގAG*A:?2A]Vѽ:A <BA:?JA]VѽRA <٘i)I9v@YG JJJJJkE&K YX~?yLQAjE777:A9)BgE[[Ba@[X~?[[[[[BZYY i) TI)G?i6@[< F))F@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033621.323165 s, next control iter: 1743033621.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7120., header.stamp.nsec: 0.0 temperature: 13.385719.* salinity: 33.391708., density: 1025.000000.* values[0]: 0.702762.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033621.723165 s.[QI~,HnE%AJ"J*J2J:JBJnJvJA(\л@A;4,Fϻ@AHZ~? A A$&"AAoNA"AZAbAjArAzAAAE"@A}*[rAʕu@A<A=A&8A@jA IAH*A5:?2Aӽ:A<BA5:?JAӽRA<٘i)I9u@YxG J}JJJJkE&K YnX~?yfQAjEb77D9)BdE[[b@[X~?[[[[[BZYY i) I:QG?i:@rX< ))w@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033621.743165 s, next control iter: 1743033622.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033622.143165 s.X/bQI~,*E%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033622.143291F (some fields omitted in printout)AGzл@A_`л@A\pZ~? AAsp$&"AAlnNA"AZAbAjArAzAAA^K"@AWY\rAu@ABATŃ=Ax7A[AA*A:?2A(Խ:A|<BA:?JA(ԽRA|<٘i)I9u@Y.G JJJJJkE&K YSX~?y QAjE77eH9DB)BeE[[]d@[tX~?[s[[[[BZYY i雽) [辻IrzG?i?@s\< Ø))Ø)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033622.163165 s, next control iter: 1743033622.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033622.563165 s.hQI~,J E%AJ"J*J2J:J3?BJ3?nJ<5vJAffffл@ARл@AVZ~? AEA[$&"AA0nNA"AZAbAjArAzAAAi!@A 7u]rAt@A?A=A6A@2IA ⼿A!*AC:?2AAս:A7%<BAC:?JAAսRA7% Y8X~?y9PA&6jEŧ7b7K9)BbE[[=e@[FX~?[|[[[[BZYY i) L޻IMG?iB@< w<))w<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033622.583165 s, next control iter: 1743033622.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7121, header.stamp.nsec: 00 temperature: 13.385964* salinity: 33.391701, density: 1025.000000* values[0]: 0.701847F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033622.983165 s.oQI~,E%AAQѻ@A|7ѻ@A]rA<ٓHl]?`! ؿ`ր{@?@?)T@ I٘i)I9vr@YG JZJ3<JJJkE&Kz> YW~?yNA/ oDkE7]9)B[[ k@[?X~?[1 [[[[BZYY i) 0[=IQH?iT@!= ))鿩ݨ@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033624.683165 s, next control iter: 1743033625.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033625.083165 s.DQI~,SEF%AJ"J*J2J:JBJnJvJARkӻ@AfJoQӻ@AY~? AAL#&"AAmNA"AZAbAjArAzAAAH]V@AT[crAEq@A'R]<A*=AJO.AARɿA*AJ:?2A!ֽ:A =BAJ:?JA!ֽRA =٘i)I9q@YEG JJJJJkE&K YW~?yQħNAkE777{a9)BSE[[6l@[*,X~?[[[[[BZYY i) LIH?iW@M = WK))WK翩=@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033625.103165 s, next control iter: 1743033625.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033625.503165 s.QI~,]4`F%AAp= ӻ@AՕӻ@AY~? AAq#&"AAmNA"AZAbAjArAzAAAY,@A[ ƿdrAz{q@A ;A(=A,AބA@u˿Ap*A~C:?2A<׽:A0~ =BA~C:?JA<׽RA0~ =٘i)I9{q@YG JJJJJkE&K Y}W~?yǧ6NAkEj7j7e9CB)BPE[[\m@[X~?[[[[[BZYY i) ;\IH?i&[@A = ))俩aЏ@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033625.543165 s, next control iter: 1743033625.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7124, header.stamp.nsec: 00 temperature: 13.386607* salinity: 33.391674, density: 1025.000000* values[0]: 0.699354F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033625.923165 s.:QI~,{F%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743033625.923326F (some fields omitted in printout)A(\BԻ@AN}(Ի@AY~? AOAC#&"AAmNA"AZAbAjArAzAAA&`@Aд Y1W~?yҧMA).kEo9)ïBKE[[p@[W~?[n[[[[BZYY i) 8Ii}e@= ;"޿));"޿L@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033626.803165 s, next control iter: 1743033627.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033627.183165 s.˲QI~,ZF%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743033627.183277F (some fields omitted in printout)AQջ@AwJkջ@ABY~? AAF"&"AA+mNA"AZAbAjArAzAAAc%D@A )$GkrAg}o@A`ۻA2=An'AAs]ѿAu*A %:?2AR׽:A=BA %:?JAR׽RA=٘i)I9}o@YG J霼JJJJkE&K Y=W~?yקLA4kE77fs9BB)ƯBHE[[ q@[W~?[#[[[[BZYY i) Ii?h@M= ?ۿ))?ۿ@QժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033627.223165 s, next control iter: 1743033627.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033627.603165 s.44QI~,F%AJ"J*J2J:J2?BJ2?nJ<;5vJA= ףջ@A9Վջ@A)Y~? AA,m"&"AADmNA"AZAbAjArAzAAAQ @Ak_%mrAn@A;AY=Am&A1A@<ҿAN*Ai:?2Aֽ:AU=BAi:?JAֽRAU=٘i)I9n@YnG JJJJJkE&K YyV~?y?ۧFLA9kE7777v9)ʯBEE[[Fs@[W~?['[[[[BZYY i) ;Iibk@,= ٿ))ٿ@y٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033627.623165 s, next control iter: 1743033628.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7126 , header.stamp.nsec: 0 0 temperature: 13.387065 * salinity: 33.391663 , density: 1025.000000 * values[0]: 0.697505 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033628.023165 s.ZQI~,{G%AA(\ֻ@ABֻ@AY~? AA%0"&"AAlNA"AZAbAjArAzAAA4X @AP|dorABbn@Ab<An=A)+%A@~A ӿA胱*A#:?2A^ֽ:A7=BA#:?JA^ֽRA7=٘i)I9bn@YG JJJJJkE&K YV~?yyߧKA>kE7z9)ίBBE[[3t@[ W~?[,[[[[BZYY i) ˛Iin@{= O׿))O׿;@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033628.063165 s, next control iter: 1743033628.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033628.443165 s.9QI~,F]G%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419977J"J2 time: 1743033628.443285F (some fields omitted in printout)*J2J:JBJnJvJAzֻ@A7G%AA33333׻@A/h!׻@AX~? AAU!&"AAlNA"AZAbAjArAzAAAf0l@A9JsrA&0m@A<AT=A"A%AԿA#*A]:?2Aֽ:A/=BA]:?JAֽRA/=Yٝa@{"yަ=&<ٓH`E#?mi_մ Ԃ?y?)ٝa@ I٘i)I90m@Y[G J-B=J<JJEJkE&Kx> YV~?y KA{"IkE79)دB[[uv@[W~?[4[[[[BZYY i) Iit@w= ҿ))ҿ\@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033628.883165 s, next control iter: 1743033629.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033629.283165 s.:RQI~,RG%AJ"J*J2J:JBJnJvJAQ׻@Aʦ׻@AX~? AY Ag!&"AAvlNA"AZAbAjArAzAAADX#@A4!urAPl@AؘAn=Al*!AAFտAY*A9?2Aml׽:A=BA9?JAml׽RA=٘i)I9l@YG JC=JJJJkE&K YoV~?yJANkE777Q9)ܯB[[[[BZYY i) tIi.z@ = /Iο))/Iο}@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033629.723165 s, next control iter: 1743033630.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033630.123165 s.6QI~,XG%AJ"J*J2J:JBJnJvJA)\uػ@A_ѭ[ػ@A՝X~? A(AG &"AA0lNA"AZAbAjArAzAAApi @A@zrAYk@AMA}=A{ATbA?d׿AB̾*Ar9?2A׽:An=BAr9?JA׽RAn=٘i)I9Yk@Y=G JrJJJJ lE&K YpV~?yIAYkEb77{9)B[[y@[LWW~?[B[[[[BZYY i) Iid}@,"= k ̿))k ̿ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033630.163165 s, next control iter: 1743033630.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033630.543165 s.IQI~,âG%AA{Gػ@AX0ػ@A_X~? A1,A &"AAlNA"AZAbAjArAzAAAU @A|rAj@A87A;=A3A`#A5ؿA(Ƽ*A9?2AW׽:A=BA9?JAW׽RA=٘i)I9j@YG JJJJJlE&K YYV~?yIIA^kE77779)B7E[[nz@[GW~?[G[[[[BZYY i) .ȼIi}@w$= ɿ))ɿ2@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033630.583165 s, next control iter: 1743033630.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7129, header.stamp.nsec: 00 temperature: 13.387893* salinity: 33.391636, density: 1025.000000* values[0]: 0.694264F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033630.963165 s.{QI~,G%AJ"J*J2J:J1?BJ1?nJ]:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033630.963298F (some fields omitted in printout)ALٻ@Atys2ٻ@A/qX~? Al0A3 &"AAkNA"AZAbAjArAzAAA]~5@A.6UrA j@A0Ae=A\AQA@ٿA qϼ*A9?2A]ֽ:A=BA9?JA]ֽRA=Y?#h@Uye=71ٓHH?@ ]`}`Gge F?)?#h@ I٘i)I9 j@YrG J0ʼJn<JJJlE&K`x> Y6DV~?yVHAdkEb779/B)߯B4E[[|@[7W~?[L[[[[BZYY i) aϼIia@%= +ǿ))+ǿ*@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033631.003165 s, next control iter: 1743033631.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033631.383165 s.QI~,ڻ@AXX~? ABA&"AAikNA"AZAbAjArAzAAAƭA@A5}rA.g@ARc;Aj=AAAp$ܿAܼ*A9?2ATֽ:A==BA9?JATֽRA==٘i)I9.g@Y G J'޼JJJJ*lE&K YCU~?y FAykE77779.B)B+E[[A@[V~?[`[[[[ZZBZYY i) -żIiІ@,= ))c@YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7131, header.stamp.nsec: 00 temperature: 13.388498* salinity: 33.391617, density: 1025.000000* values[0]: 0.691750F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033632.663165 s, next control iter: 1743033633.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033633.063165 s.RI~,_ DH%AAfffffۻ@A iTLۻ@AX~? AGAXv&"AA JkNA"AZAbAjArAzAAAOB_-O?AT{rAcf@AA=AhdA~A@ܿAG1*AW9?2AX׽:Ab <BAW9?JAX׽RAb YU~?yzzFAokEb779)B[[ Ѐ@[V~?[f[[[[ZZBZYY i) SŹIi@-= Sw))Sw@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033633.103165 s, next control iter: 1743033633.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033633.483165 s.w_RI~,^H%AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743033633.483290F (some fields omitted in printout)Aۻ@A6׷ۻ@AUW~? ALAv&"AA*kNA"AZAbAjArAzAAA u?ArAe@A{A̦=A A21A@ۤݿA*A9?2Af׽:A;<BA9?JAf׽RA;<٘i)I9e@Y G J,JJJJ5lE&K Y9U~?y%FAkEj7Z7&9)B(E[[]@[V~?[_k[[[[ZZBZYY i) ѭIiv@~.= ?))?@y,y=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033633.523165 s, next control iter: 1743033633.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7132, header.stamp.nsec: 00 temperature: 13.388850* salinity: 33.391602, density: 1025.000000* values[0]: 0.690334F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033633.903165 s.RI~,yH%AA ףp=ܻ@A}b#ܻ@AUW~? AQA&"AA\ kNA"AZAbAjArAzAAAFe?AWسrAd@A_tAu=AA@Aa޿AS*A9?2A>:׽:A V<BA9?JA>:׽RA V<٘i)I9d@Y3 G JJJJJ:lE&K YU~?y-,EAkEŧ7b79)B[[{@[V~?[p[[[[ZZBZYY i) ١Ii@0=  )) v @ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033633.943165 s, next control iter: 1743033634.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033634.323165 s.u$RI~,!H%AJ"J*J2J:JBJnJvJA\ܻ@A:ܻ@AW~? AWA-L&"AAIjNA"AZAbAjArAzAAA#We?A+rAc@AA@2=AL{A`A`߿A5м*A9?2A ׽:Adׯ;BA9?JA ׽RAdׯ;٘i)I9c@Y G JJJJJ@lE&K Y/U~?y2EAkE7777Q9)B&E[[bx@[V~?[+v[[[[ZZBZYY i) 啼Iiڊ@B1= յ))յ]@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033634.343165 s, next control iter: 1743033634.723178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7133., header.stamp.nsec: 0.0 temperature: 13.389223.* salinity: 33.391605., density: 1025.000000.* values[0]: 0.688839.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033634.743165 s.W+RI~,H%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743033634.743308F (some fields omitted in printout)AGzݻ@AwDfܻ@A^W~? A|\A&"AAjNA"AZAbAjArAzAAA+ T?A$;rATc@A;A<A3A@A߿A^*A9?2Aֽ:AlBA9?JAֽRAl٘i)I9Tc@YZ G JüJJJJElE&K YU~?y8DAkEŧ779)B#E[[@[ӹV~?[{[[[[ZZBZYY i) BIiR@p3= ä))ä&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033634.783165 s, next control iter: 1743033635.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033635.163165 s.v}2RI~,qH%AJ"J*J2J:J/0?BJ/0?nJ85vJAݻ@Aeݻ@AkW~? AbAy&"AAjNA"AZAbAjArAzAAAfk:c?Az=rA#b@AU<A<AAXA`RCA*A9?2Aֽ:A~ BA9?JAֽRA~ Y3u@y<U<ٓH2 YC{U~?y?DAkE7ŧ7|9)B[[h@[OV~?[9[[[[ZZBZYY iz=) DIi@U4= m))mc@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033635.183165 s, next control iter: 1743033635.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033635.583165 s.8RI~,SH%AARݻ@ACrݻ@AՑW~? AgA &"AAAjNA"AZAbAjArAzAAA ؈?A1rAagb@AQfm<A5ٻAp AA%AM_A*AQ9?2A]ֽ:ASwBAQ9?JA]ֽRASw٘i)I9gb@Y G J9rJJJJPlE&K YiU~?yFDAkESI7SI79-B)B E[[@[ V~?[߆[[[[ZZBZYY i=) flIi@sK5= 8))8A@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033635.603165 s, next control iter: 1743033635.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7134, header.stamp.nsec: 00 temperature: 13.389500* salinity: 33.391586, density: 1025.000000* values[0]: 0.687747F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033636.003165 s. @RI~,4I%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J< rudderAngleAction: -0.261799"J*J> elevatorAngleAction: 0.0752032J< massPositionAction: 0.000000:JBJ4 buoyancyAction: 0.000500nJ dt: 0.419946vJ2 time: 1743033636.003289F (some fields omitted in printout)Ap= W޻@AX<޻@AW~? ApmA&"AAW{jNA"AZAbAjArAzAAA'?A3rA'b@A<AuAM AAA A *A9?2Aֽ:A3BA9?JAֽRA3٘i)I9'b@Y G JJJJJUlE&K YuXU~?yM}DAkEb779)B[[䬄@[KV~?[[[[[ZZBZYY i) ٪XIi@}6= ))Ν@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033636.023165 s, next control iter: 1743033636.403191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743033636.423165 s.uFRI~,I%AA(\޻@A5w޻@AmW~? AQsA*&"AA_jNA"AZAbAjArAzAAANxڕ?ARG/+rAb@An>A}! A= A߿ADA_O*A9?2Ayֽ:AмBA9?JAyֽRAм٘i)I9b@Y G JoJJJJZlE&K YGU~?yTpDAkE77{7<9)BE[[p9@[щV~?[M[[[[BZYY i) DIi@s7= Ѫ))Ѫk[@ya=6*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743033636.443165 s, next control iter: 1743033636.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7135, header.stamp.nsec: 00 temperature: 13.389607* salinity: 33.391594, density: 1025.000000* values[0]: 0.687257F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033636.843165 s.LRI~,5I%AJ"J*J2J:JBJnJvJAHz.߻@A)߻@AU\W~? AOyA&"AA9EjNA"AZAbAjArAzAAAdǿA>ӫrAb@ANhMAK5A A ߿A<Ajс;*A9?2A4ֽ:ABA9?JA4ֽRA񼙘٘i)I9b@Y G J:JJJJ`lE&K Y5U~?y[cDAkEŧ779)[[xŅ@[~V~?[[[[[BZYY i) 21Ii@9= ))s@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033636.863165 s, next control iter: 1743033637.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033637.263165 s.TRI~,8PI%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743033637.263324F (some fields omitted in printout)A߻@A,j߻@AEKW~? AiA$A&"AA +jNA"AZAbAjArAzAAA&ؿAh͌rAy?b@A1AZAvA@h޿A@A)<*A9?2A*ֽ:A BA9?JA*ֽRA Y_{@5iy+ZFDٓH v?T[?` Ң?`M?@z"S?)_{@ I٘i)I9?b@Y G J;JJJJelE&K w> Y&U~?y(cDAikE7g9)BE[[R@[sV~?[[[[[BZYY ig=) M Iid@:= #o))#ot@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033637.283165 s, next control iter: 1743033637.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 71362, header.stamp.nsec: 020 temperature: 13.3895962* salinity: 33.3915712, density: 1025.0000002* values[0]: 0.6873962F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033637.683165 s.lZRI~,kkI%AJ"J*J2J:JBJnJvJAQ@A߻@A:W~? AA&"AAwjNA"AZAbAjArAzAAAkhAk%*VrA[b@Ax1AyAv%AݿAB3A5<*AC9?2Ajֽ:AT BAC9?JAjֽRAT ٘i)I9b@Y G J<JJJJklE&K YU~?yjDAkE779)B[[kކ@[ZiV~?[ף[[[[BZYY i) Ii@:= =))=f@Ш*YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743033637.683165 s, next control iter: 1743033638.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033638.103165 s.aRI~,I%AA= ףp@AUV@A_*W~? A틩AN&"AAiNA"AZAbAjArAzAAAGn0Ay0rAb@AŹA]AAܿA@bAg<*A:9?2Awֽ:A* BA:9?JAwֽRA* ٘i)I9b@Y G J1N<JJJJplE&K YU~?yr?EAkE{7{79)BE[[j@[1_V~?[ʩ[[[[BZYY i\=) [Ii@ ;= s ))s ~@Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033638.123165 s, next control iter: 1743033638.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033638.523165 s.gRI~,|I%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743033638.523274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A<@AW~? AWA&"AA1iNA"AZAbAjArAzAAAϛA rA?c@A0&<AOAsA$ܿA A3<*A9?2A*׽:AR@ BA9?JA*׽RAR@ ٘i)I9?c@YN G Jx<JJJJulE&K YT~?yyEAkEb7b7'9)B[[<@[cUV~?[ǯ[[[[BZYY i) %Ii@' == ޟ))ޟ7@yXh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033638.563165 s, next control iter: 1743033638.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7137, header.stamp.nsec: 00 temperature: 13.389480* salinity: 33.391563, density: 1025.000000* values[0]: 0.688024F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033638.943165 s.`dnRI~,d]I%AAzG@A-@A) W~? AۘAT&"AAiNA"AZAbAjArAzAAAϠXACrA7c@A{<AaMAA@]ۿAA<*A9?2A?׽:A4 BA9?JA?׽RA4 ٘i)I9c@Y G J<JJJJ{lE&K Y|T~?yEAkEZ7Z79)BE[[j@[KV~?[ʵ[[[[BZYY i) kIiҔ@}>= ױ))ױe@y ݈=Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033638.963165 s, next control iter: 1743033639.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033639.363165 s.uRI~,y>I%AJ"J*J2J:JBJnJvJA3333@A%@A4V~? AwA&"AA~iNA"AZAbAjArAzAAAD0!.AirA2d@AkJ<AGA3AiڿAZA<*A9?2A׽:AX BA9?JA׽RAX Y@zyDJ<ٓH@Cܿ?`?bIܿ*?C?LM?$?)@ I٘i)I92d@Y G J<JWVJJJlE&KRx> YT~?y鈨:FAkE77{7Q9) B[[ @[BV~?[߻[[[[BZYY i) EvIi @m>= W))W/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033639.383165 s, next control iter: 1743033639.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7138&, header.stamp.nsec: 0&0 temperature: 13.389297&* salinity: 33.391533&, density: 1025.000000&* values[0]: 0.688952&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033639.783165 s.W{RI~,I%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033639.783284F (some fields omitted in printout)AQ@A @AV~? A*AR&"AAiNA"AZAbAjArAzAAA;dw؞Aeg 5rAd@A;;AAAUٿAJA<*At9?2AEֽ:As{ BAt9?JAEֽRAs{ ٘i)I9d@Y6 G J=<JJJJlE&K YzT~?yΐFAkEb779.B)BE[[@[:V~?[[[[[BZYY i) QIir@J?= cU))cU@9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033639.803165 s, next control iter: 1743033640.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033640.203165 s.RI~, J%AJ"J*J2J:JBJnJvJAףp=@A&p@AV~? AA&"AAhiNA"AZAbAjArAzAAA= \*A3WMZrAxNe@AXAueAA`pٿAA<*Ax9?2AJֽ:AΞBAx9?JAJֽRAΞ٘i)I9Ne@Y G JC<JJJJlE&K YT~?y GAkE77|9-B)BE[[#@[1V~?[(Ȩ[[[[BZYY i) ZJIi@D @= [())[(E@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033640.243165 s, next control iter: 1743033640.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033640.623165 s.fRI~,'J%AA)\@Ak@AV~? AֳAI&"AA[piNA"AZAbAjArAzAAA9/A<rA2e@AzsA͜AbA]3ؿA A_޷<*A9?2AE,ֽ:A8BA9?JAE,ֽRA8٘i)I9e@Y G Jҵ<JJJJlE&K YyT~?ypGAkE{7{79)B[[@[z)V~?[YΨ[[[[BZYY i) 1Ii͖@A= ))У@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033640.643165 s, next control iter: 1743033641.023183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7139 , header.stamp.nsec: 0 0 temperature: 13.389053 * salinity: 33.391506 , density: 1025.000000 * values[0]: 0.690090 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033641.043165 s.RI~,BJ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.420039"J*J2J2 time: 1743033641.043334F (some fields omitted in printout):JBJnJvJA{Ga@Ai2G@AV~? A̺A&"AA[iNA"AZAbAjArAzAAAݯA\ rAf@AaAA~A`a׿AI]AI<*AK9?2A [ֽ:A BAK9?JA [ֽRA ٘i)I9f@YJ G J0<JJJJlE&K YT~?y{GAkE9,B)BE[[Y9@[!V~?[Ԩ[[[[BZYY i) Ii@@>B= Ғ))ҒT[@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033641.083165 s, next control iter: 1743033641.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033641.463165 s.WRI~,]J%AA@A+N@AV~? AA9&"AAOHiNA"AZAbAjArAzAAAJ ~ A殕rA0g@A8iAʘAAFֿA@A<*A9?2Ayֽ:ArBA9?JAyֽRArY\@yXʘ类ٓHMֿ`V??B cֿ@rd?@? -v?)\@ I٘i)I9g@Y G JC<J(:JJJlE&K?x> YT~?y?HAkE7ŧ7<9.B)BE[[_ċ@[RV~?[ڨ[[[[BZYY i) ܪIi˗@KB= ))Z@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033641.503165 s, next control iter: 1743033641.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7140, header.stamp.nsec: 00 temperature: 13.388800* salinity: 33.391502, density: 1025.000000* values[0]: 0.691287F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033641.883165 s.yRI~,8xJ%AJ"J*J2J:J0?BJ0?nJ95vJAQ8@As9>@AV~? AȩA&"AAU5iNA"AZAbAjArAzAAA6QL6A[srAg@A$;A_DAA̯տA A<<*A9?2A׽:ACBA9?JA׽RACyI٘i)I9g@Y G J<JJJJlE&K Y elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743033642.303284F (some fields omitted in printout)Aq= ף@A)@AV~? A,ЩA#&"AA#iNA"AZAbAjArAzAAACTArAh9h@AB e<A=ܓArhAԿA` AY<*AY9?2AM׽:AzBAY9?JAM׽RAz٘i)I99h@YV G JM<JJJJlE&K Y_T~?y: IAkE7777g9-B)BE[[)ڌ@[ V~?[~[[[[BZYY i) `:Iik@C= N))N$@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743033642.323165 s, next control iter: 1743033642.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7141*, header.stamp.nsec: 0*0 temperature: 13.388533** salinity: 33.391479*, density: 1025.000000** values[0]: 0.692507*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033642.723165 s.RI~,HJ%AJ"J*J2J:JBJnJvJA(\@AO@AV~? AsשA^&"AAiNA"AZAbAjArAzAAAU2fAգIrARh@Ajs<AlAAӿABAX<*A9?2A7׽:ABA9?JA7׽RA٘i)I9h@Y G J<B=JJJJlE&K YT~?yzɨrIAkE{7j79)B[[d@['V~?[[[[[BZYY i) ;Ii@.C= #$))#$҆@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033642.743165 s, next control iter: 1743033643.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033643.143165 s.V/RI~,*J%AAGz@A`@AЉV~? AީA&"AAiNA"AZAbAjArAzAAAMFo-TmA1rAJGi@A<AA&AABӿA@SuAj<*A9?2Aֽ:A,BA9?JAֽRA,٘i)I9Gi@Y G J<C=JJJJlE&K YzT~?yѨIAkEŧ7b79.B)BE[[@[&V~?[>[[[[BZYY i) b\;Iiř@UD=  )) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033643.163165 s, next control iter: 1743033643.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033643.563165 s.RI~,k J%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033643.563315F (some fields omitted in printout)J"J*J2J:JBJnJvJzT~?)ѨAffff@AYvQ@AvV~? A5Aw&"AAhNA"AZAbAjArAzAAAі;ihA LrAgi@AOAnAuA`D:ҿA@AJ><*Am9?2Aֽ:Am BAm9?JAֽRAm Y@Iy@͓OٓH пP??@u*п`,?+?ia?)@ I٘i)I9i@YLG J<JT<JJJlE&K8x> YsT~?y?ڨ8JAlES77'9)B[[y@[yU~?[[[[[BZYY iu=) ;Ii@nD= gЅ))gЅ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033643.603165 s, next control iter: 1743033643.963184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7142, header.stamp.nsec: 00 temperature: 13.388319* salinity: 33.391472, density: 1025.000000* values[0]: 0.693619F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033643.983165 s.RI~,J%AAQ@A 7@AuV~? AA?&"AAHhNA"AZAbAjArAzAAAnWA4rASj@AvMA%A9A@yZѿA}A<*A9?2AVֽ:ABA9?JAVֽRA٘i)I9Sj@YG J+<B=JJJJlE&K  9Y`lT~? 9yJA lE7779)ۯB E[[~@[%U~?[#[[[[BZYY i) ֫;Ii@D= ))y&@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033644.003165 s, next control iter: 1743033644.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033644.403165 s.&RI~,K%AJ"J*J2J:J1?BJ1?nJV:5vJA ףp@AW@A5lV~? A9AS&"AAhNA"AZAbAjArAzAAAKG_;A˭ vrAXj@AzAۉA2A }wпA:AƸ<*Am9?2A_ֽ:A#BAm9?JA_ֽRA#٘i)I9j@YG J<C=JJJJlE&K Y@eT~?yIJA pDlER9-B)֯B[[ @[-U~?[[[[[BZYY i) ;Ii@D= W{))W{@Ի*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033644.423165 s, next control iter: 1743033644.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7143", header.stamp.nsec: 0"0 temperature: 13.388062"* salinity: 33.391460", density: 1025.000000"* values[0]: 0.694712"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033644.823165 s.RI~,-4K%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074932< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033644.823285F (some fields omitted in printout)A\(@A@4@ARcV~? AA&"AAhNA"AZAbAjArAzAAAh= AꫫqrAWk@A $AAcA`>!ϿA)AD<*A9?2Anֽ:A*BA9?JAnֽRA*٘i)I9Wk@Y<G J<B=JJJJlE&K Y^T~?yUKAlE{7{7 9,B)үBE[[@[U~?[ [[[[BZYY i) |;IiJ@}E= u~))u~;@yl=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033644.863165 s, next control iter: 1743033645.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033645.243165 s.RI~,OK%AJ"J*J2J:J1?BJ1?nJ:5vJAGz@Acz@AZV~? AwA5+&"AAhNA"AZAbAjArAzAAA[nJ A\EsA$k@A9:A*AFH߿A@kLͿA PA7<*A89?2A׽:ABA89?JA׽RA٘i)I9k@YG J{<C=JJJJlE&K YVT~?yTKAlE77} 9)ίB[[̣@[MU~?[[[[[BZYY i) $s˿AvAbT<*AO9?2A1K׽:Ad>BAO9?JA1K׽RAd>YF@ܿy7"z1<ٓH7ÿh?"<rÿ s?@p;?`F"??)F@ I٘i)I9Gl@YG J<JC;JJJlE&KTx> YRT~?y LAܿlEj79)ʯB[[:.@[eU~?[1[[[[BZYY i) ^ elevatorAngleAction: 0.074932< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743033646.083299F (some fields omitted in printout)ARk@AD.lQ@AKV~? AA&"AAhNA"AZAbAjArAzAAA O A1H3 sAl@A"{<AԓAٿA`QɿAAV<*AW9?2A4R׽:A"BAW9?JA4R׽RA"٘i)I9l@YG J<JJJJlE&K Y^NT~?y nLA%lE779+B)ƯB E[[@[U~?[![[[[BZYY i) )#V~? A#A7 &"AAhNA"AZAbAjArAzAAA돗 A~tsAJm@A;AΏA"ԿA ſA Ak<*A9?2Aֽ:APBA9?JAֽRAP٘i)I9m@YG JG<C=JJJJlE&K YET~?y&'MA0lEb79)B[[͒@[U~?[.[[[[BZYY i) !-B elevatorAngleAction: 0.074932< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743033647.343285F (some fields omitted in printout)AHz@A`[?@A8V~? Al+A4 &"AAhNA"AZAbAjArAzAAAnt AǞsA$n@AJA ͑AXҿA@ ĿA`7AϚ<*Ao9?2AYֽ:A, BAo9?JAYֽRA, ٘i)I9$n@YG J<JJJJlE&K YnAT~?y'MA5lE{7{7g9)B[[X@[UU~?[5[[[[BZYY i) ۭQRI~2J:J2?, Y?T~?y0MAϿ:lE)7ŧ7"9)B E[[G@[6U~?[.<[[[[BZYY i) `T~?yp9INA@lEj7Z7&9)B[[l@[sU~?[B[[[[BZYY i=) /p elevatorAngleAction: 0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743033648.603283F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A<͌@AF*V~? ASA, &"AA_hNA"AZAbAjArAzAAAcJ#Ag@0sAp@ARh<AJʙAOſA\5AVSAg<*Aع9?2ACQ׽:A BAع9?JACQ׽RA ٘i)I9p@YG J?<C=JJJJmE&K Y(:T~?ySrOAPlE7777R19)BE[[N @[SU~?[V[[[[BZYY i) wL%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743033649.863317F (some fields omitted in printout)A33333@A@A V~? AG[A &"AAZhNA"AZAbAjArAzAAAB.EndA{5sABq@Avl<Av؜A{¿A#dAN_Al<*AR9?2A.׽:A BAR9?JA.׽RA Yd@;¿yFԜ(m<ٓHi?@U?s`K?_???#?)d@ I٘i)I9Bq@YG J<J:3JJJmE&K1x> Y;T~?y\OA¿UlEj7j749)B[[@[U~?[o][[[[BZYY i) yT~?y3nPA`lE77<9)B[[ſ[tU~?[j[[[[BZYY i) o{ elevatorAngleAction: 0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033651.123277F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@AAS[@AV~? ArsAr&"AAQhNA"AZAbAjArAzAAA])BAVDsAr@ACUA AAWA sA <*A9?2A7ֽ:ABA9?JA7ֽRA٘i)I9r@YG J<C=JJJJmE&K Y?T~?yvQAelEb77?9)BE[[Geÿ[8U~?[pq[[[[BZYY i) |G J˼<B=JJJJmE&K Y@AT~?yQAklE7=C9)B[[9[YU~?[x[[[[BZYY i) %zSI~, L%AJ"J*J2J:JBJnJvJAL@Av2@A V~? AAL}&"AAOhNA"AZAbAjArAzAAA?:yA\5^]NsAV4t@AfA`3A*AYx?AvAZ<*A9?2AXvֽ:AOmBA9?JAXvֽRAOmYm@qyp1gٓHR??jj@ I?@^???L`]?)m@ I٘i)I94t@YG J<C=J~JJJ!mE&Kx> YET~?yyQAplEb7F9)B[[?[U~?[~[[[[BZYY i) A̻ elevatorAngleAction: 0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199262 time: 1743033652.383273F (some fields omitted in printout)AQ@A"<@AV~? AA&"AAAPhNA"AZAbAjArAzAAATC%AklJSsAt@Ah:AB竽AA?AssA`<*Aq9?2Aֽ:AxBAq9?JAֽRAx٘i)I9t@YG Jy<JJJJ'mE&K YIT~?y*eRAulEŧ7ŧ7hJ9)BE[[弿[U~?[f[[[[BZYY i) ShNA"AZAbAjArAzAAAfkYAG!]sAv@AK{<A6ZA AMG?A``fA|R<*A9?2A%5׽:AH1BA9?JA%5׽RAH1٘i)I9v@YG J<JJJJ1mE&K YXRT~?yJSAlEŧ7b7Q9,B){BE[[[|U~?[[[[[BZYY i) ' elevatorAngleAction: 0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743033653.643276F (some fields omitted in printout)AG@Av1@A! V~? AӣA&"AAUhNA"AZAbAjArAzAAApA~9 bsAv@A9<A A*A f?A\As<*A"9?2Aֽ:ABA"9?JAֽRA٘i)I9v@Y/G J<JJJJ7mE&K YVT~?yASAlE7777(U9)vB[[_[nU~?[V[[[[BZYY iq=)  Y]T~?yų4TAlE{7j7X9)qBE[[}4[U~?[[[[[BZYY i) J= Y))YY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033654.083165 s, next control iter: 1743033654.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033654.483165 s.|_gSI~,M%AJ"J*J2J:JBJnJvJA@Aַ̔@A%V~? AݳA&"AA]hNA"AZAbAjArAzAAAo?A9KksAx@ArAijAAAi?A`-@ASU<*A9?2Aֽ:A 2BA9?JAֽRA 2٘i)I9x@YG J<C=JJJJBmE&K YdT~?yGTAlE77S\9)kB[[[cU~?[[[[[ZZZZ¸>BZYY i¸><) J@A-V~? AêA&"AAhhNA"AZAbAjArAzAAAq')AwusA3y@A/TA&خA蠿A?A`A8=*A9?2AZ'ֽ:A2BA9?JAZ'ֽRA2٘i)I9y@YG J<JJJJLmE&K YrT~?yNͩUAlEZ7SI7~c9-B)`BE[[[U~?[[[[[ZZZZBZYY i) #Gyֽ:A BA̝9?JA>yֽRA ٘i)I9zz@YsG J=JJJJRmE&K YzT~?yթVAlE7ŧ7g9.B)ZBE[[1{[U~?[D[[[[ZZZZBZYY i) E YۃT~?yީeVAlE77j9)SB[[#M[U~?[[[[[ZZZZBZYY i) sn9)MB[[[.U~?[Mǩ[[[[ZZZZBZYY i) JJJrmE&Kx> YT~?y WAlE77|90B)BB E[[;Q[V~?[,[[[[ZZZZBZYY i:}r) `]O%AJ"J*J2J:JBJnJvJA3333@Aap@AfV~? AB A%"AAhNA"AZAbAjArAzAAA@ AKQsA|.}@A<AA=A벁A?A ,wAr*A9?2AJս:AC=BA9?JAJսRAC=Yè@ys==r<ٓH?&?3? D? e$ 6??)è@ I٘i)I9.}@YG JWJ=JJJmE&Kw> YT~?y0.VAlEb77~9)IB'E[[@[ >V~?[[[[[BZYY ilh) KcTA~r{sA|@A9<A:=A3~A?A DAC*A9?2AT"ֽ:Asc=BA9?JAT"ֽRAsc=٘i)I9|@YG J8JJJEJmE&K YU~?y5pVAlE7793B)MB(E[[O [$GV~?[ [[[[BZYY i) p;Ii@ y+= ))ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033660.823165 s, next control iter: 1743033661.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033661.203165 s.SI~,MO%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056744< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033661.203296F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@A0g+p@AKV~? A.Ac%"AA iNA"AZAbAjArAzAAA?2EAhsAE|@Aj{:AK<=AxAd?AA4*A9?2Aֽ:A6=BA9?JAֽRA6=٘i)I9E|@YG JJJJJmE&K YU~?y!=VAlE777794B)RB+E[[ώ[PV~?[8 [[[[BZYY i) c;IiÄ@)= ~))~~eѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033661.223165 s, next control iter: 1743033661.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033661.623165 s.XSI~,agO%AA)\@A(+@AV~? A6A %"AAjiNA"AZAbAjArAzAAA`¿xA|ڸTsA{@A!A I=AIsAS?A@A*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9{@Y9G JJJJJmE&K Y%U~?yDUAlE77>9)VB[[U[|ZV~?[][[[[BZYY i) W;Ii@(= 1))11yhժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033661.643165 s, next control iter: 1743033662.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7160 , header.stamp.nsec: 0 0 temperature: 13.567587 * salinity: 33.375015 , density: 1025.000000 * values[0]: 0.580501 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033662.043165 s.SI~,ÂO%AJ"J*J2J:JBJnJvJA{Ga@Aq0G@AV~? A>=AI%"AAp/iNA"AZAbAjArAzAAA NRA`sA4{@A[}A+=A%mA_?AZAn*A59?2Ac׽:A=BA59?JAc׽RA=٘i)I94{@YG JӥJJJJmE&K Y4U~?yL[UAlEj7j7Ԝ95B)[B.E[[V[dV~?[z[[[[BZYY it) I;Ii@M'= ;));;֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033662.083165 s, next control iter: 1743033662.443185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743033662.463165 s.SSI~,ۤO%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743033662.463291F (some fields omitted in printout)A@A'@AV~? AMDAC%"AA.BiNA"AZAbAjArAzAAA<AgsAz@AXTAxD=AhA 6?ArdA}*Ap9?2Aֽ:A=BAp9?JAֽRA=Y@\iyA=DTٓH@?`)@? @ ?3?bc 劊@?)@ I٘i)I9z@YG J J<JJJmE&K.x> YEU~?ySTAilEb7b7i96B)aB/E[[[6oV~?[{[[[[BZYY i) db;Ii1@]%= FZ))FZFZժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033662.503165 s, next control iter: 1743033662.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7161, header.stamp.nsec: 00 temperature: 13.567797* salinity: 33.375034, density: 1025.000000* values[0]: 0.579892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033662.883165 s.ySI~,4O%AJ"J*J2J:JBJnJvJAQ8@A=@@AV~? AGKA&6%"AAUiNA"AZAbAjArAzAAA:mAsB@sAZz@A_nAV=AcA?A'Ar*A}9?2A@ֽ:AS=BA}9?JA@ֽRAS=٘i)I9z@Y3G JJJJJmE&K Y-WU~?yYTAlE{7j797B)fB2E[[!ㅿ[zV~?[u%[[[[BZYY i) 8&;IiL@td#= l))ll2ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033662.903165 s, next control iter: 1743033663.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033663.303165 s.ZSI~,gO%AAq= ף@AҨ@AXV~? A,RA%"AAiiNA"AZAbAjArAzAAA?ʀ(5AF<vsA!~y@A@;A=A^A?A5AV*A9?2A2ֽ:A=BA9?JA2ֽRA=٘i)I9~y@YG J}JJJJmE&K Y}hU~?y`#TAmESI7879)kB[[[YV~?[g+[[[[BZYY i)  $:Ii|@*!= x))xxЪYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743033663.323165 s, next control iter: 1743033663.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7162*, header.stamp.nsec: 0*0 temperature: 13.568022** salinity: 33.375053*, density: 1025.000000** values[0]: 0.579258*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033663.723165 s.SI~,HO%AJ"J*J2J:JJ?BJJ?nJ~5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033663.723279F (some fields omitted in printout)A(\@APD@APV~? AXA(%"AA~iNA"AZAbAjArAzAAAHoXA :sASx@Ar<AJ?=AYA E?A`A:*A9?2Aֽ:Au=BA9?JAֽRAu=٘i)I9x@Y~G J&JJJJmE&K YyU~?ygSAmE7777)9)pB5E[[d[V~?[O1[[[[BZYY i) Ֆ7:Ii@z@) = f))ffyShF̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033663.743165 s, next control iter: 1743033664.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033664.143165 s.T/TI~,) P%AAGz@AA`@AV~? A_A%"AA iNA"AZAbAjArAzAAA A\>sAVx@A[h<A5=A{TAm?AVeA *Ao9?2Aa>ֽ:AJ]=BAo9?JAa>ֽRAJ]=٘i)I9Vx@Y%G JYJJJJmE&K Y U~?ynRSA qD mE9)uB[[D~[V~?[,7[[[[BZYY i) _dIiIx@= T))TT ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033664.163165 s, next control iter: 1743033664.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033664.563165 s.TI~,_ $P%AJ"J*J2J:JBJnJvJAffff@ANP@AW~? AUfA"%"AA0iNA"AZAbAjArAzAAAbRA sAw@A8;AI5=A_OAg8?ArA*Aʾ9?2AHֽ:A&<BAʾ9?JAHֽRA& YU~?y2uRAOmEŧ7b7T99B){B9E[[Ky[CV~?[<[[[[BZYY i) 4Iit@s= B))BBĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033664.583165 s, next control iter: 1743033664.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7163, header.stamp.nsec: 00 temperature: 13.568246* salinity: 33.375038, density: 1025.000000* values[0]: 0.578632F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033664.983165 s.TI~,>P%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743033664.983274F (some fields omitted in printout)AQ@Aq= 7@AW~? AlA%"AAiNA"AZAbAjArAzAAA DyAsADw@AWA=AʴIA`;?AAA*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9Dw@Y~G JC=JJJJmE&K Y#U~?y{RAmE77j79:B)BYDA?AvA*A9?2A*׽:A<BA9?JA*׽RA<٘i)I9v@Y2G JJJJJmE&K YU~?y4RAmE779)B[[p[V~?[OH[[[[BZYY i) pGIi%n@i= P))PP{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033665.443165 s, next control iter: 1743033665.803177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7164, header.stamp.nsec: 00 temperature: 13.568419* salinity: 33.375053, density: 1025.000000* values[0]: 0.578037F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033665.823165 s.TI~,)tP%AA\(@A:@A6W~? AyA%"AAiNA"AZAbAjArAzAAA/¸'AaEsANv@AxAV=A?A ?A U@Aō*A!9?2A׽:A<BA!9?JA׽RA<٘i)I9Nv@YG JJJJJmE&K Y&U~?yNQA!mE)7)79;B)B?E[[/l[[V~?[M[[[[BZYY i) LIik@= P ))P P [YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033665.863165 s, next control iter: 1743033666.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033666.243165 s.#TI~,\P%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743033666.243289F (some fields omitted in printout)AGz@Abodz@AKGW~? AAV+%"AA\ jNA"AZAbAjArAzAAArۿA{9YYsAu@A A.ц=A:AC?AA*A9?2Aֽ:Af<BA9?JAֽRAf<٘i)I9u@YG JbJJJJmE&K YU~?yuQA&mE77{79)B[[wg[$V~?[S[[[[BZYY i) IiDi@J= l))llʹYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033666.263165 s, next control iter: 1743033666.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743033666.663165 s.*TI~,qP%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7165, header.stamp.nsec: 00 temperature: 13.568569* salinity: 33.375053, density: 1025.000000* values[0]: 0.577513F (some fields omitted in printout)A@A@AAXW~? AA%"AA"jNA"AZAbAjArAzAAA4ͿA0msAN`u@Ap&;A8م=Ac5A`1?A`*Ah*Aw9?2A:xֽ:AX<BAw9?JA:xֽRAX Y#V~?yfQA4,mE)7b7?9TI~,P%AJ"J*J2J:JBJnJvJA(\B@Az(@A{W~? AAU%"AAnrjNA"AZAbAjArAzAAAܻ?hp?A3sAs@A-<A{=AR%A?AA|̈*A9?2Aս:AL=BA9?JAսRAL=٘i)I9s@Y}G JJJJJmE&K YBV~?y PAB)BIE[[TU[hW~?[h[[[[BZYY i) qIif[@j = RD))RDRDy$YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033667.943165 s, next control iter: 1743033668.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033668.343165 s. YJoV~?yLWOAFmE777*9@B)BME[[L[7W~?[Rs[[[[BZYY i) (,.IiT@= C))7~CC YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033668.783165 s, next control iter: 1743033669.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033669.183165 s.RTI~,oKQ%AAQ@A\Wk@AW~? AdAu %"AAPjNA"AZAbAjArAzAAA{W$?Au`_ktAr@AO|Aެ=AA ?A@߿A-G*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9r@YG JJJJJmE&K YV~?yPNALmE)7b79)BPE[[[G[GW~?[[x[[[[BZYY i) =IiP@= @;)) @;@; YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033669.223165 s, next control iter: 1743033669.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033669.603165 s.64YTI~,fQ%AJ"J*J2J:JBJnJvJA= ף@A F@AW~? AAV%"AAjNA"AZAbAjArAzAAA*M?A!UtA=r@AIAa=AA?A޿Aa*A9?2Aս:Ad=BA9?JAսRAd=٘i)I9=r@YoG JJJJJnE&K YV~?ySNAQmEŧ7T9AB)BSE[[B[XW~?[U}[[[[BZYY i) AMIi4M@U= f<))f<f<ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033669.643165 s, next control iter: 1743033670.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7168 , header.stamp.nsec: 0 0 temperature: 13.568972 * salinity: 33.375092 , density: 1025.000000 * values[0]: 0.576094 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033670.023165 s.Z`TI~,{Q%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077283< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033670.023295F (some fields omitted in printout)A(\@AB@AW~? A粫A;%"AAkNA"AZAbAjArAzAAAy?AbâtACq@Ab42AD=Ad Ag$?A`ݿA _*A=9?2ASս:A( =BA=9?JASսRA( =٘i)I9q@Y'G JJJJJnE&K YV~?yWDNAWmEb779BB)BVE[[1>[hW~?[?[[[[BZYY i) C\IiJ@T= -=))-=-=)ɪYzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033670.043165 s, next control iter: 1743033670.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033670.443165 s.1fTI~,%]Q%AJ"J*J2J:JBJnJvJAz@AH@AX~? AA:%"AA!kNA"AZAbAjArAzAAA+%rj?Ai_ tAHq@A<A@=AA n?A@ݿAߛ*AY9?2A8)ս:As=BAY9?JA8)սRAs=٘i)I9Hq@YG JJJJJnE&K Y.V~?y[ĪMA\mE7779)B[[9[(zW~?[[[[[BZYY i) VlIiWG@'< @y=))@y=@y=EͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033670.463165 s, next control iter: 1743033670.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7169, header.stamp.nsec: 00 temperature: 13.569124* salinity: 33.375076, density: 1025.000000* values[0]: 0.575587F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033670.863165 s.+mTI~,>Q%AA33333@AH"@AsX~? A뼫AKu%"AA?kNA"AZAbAjArAzAAABR(@AL tAp@Aqiv<A鸗=AA{?A/[ܿA"*A9?2A8ս:AB=BA9?JA8սRAB=Y+@Ty=w<ٓH??j?޿c? ̎? ?)+@ I٘i)I9p@YG JGB=J<JJJnE&K#u> YV~?yȪMATamEb779)BZE[[[4[uW~?[ŋ[[[[BZYY i) P{{IiB@l< =))z==ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033670.903165 s, next control iter: 1743033671.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033671.283165 s.5RtTI~,Q%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244765@ elevatorAngleAction: -0.077283< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033671.283279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A}@AW+X~? AA%"AAb_kNA"AZAbAjArAzAAA #@AA+*tAI8p@A>c<A=AA ?AhۿA*AF9?2Aۓս:Av=BAF9?JAۓսRAv=٘i)I98p@Y4G JC=JJJJnE&K YV~?y̪MAgmEj7Z79CB)B]E[[/0[%W~?[d[[[[BZYY i) NIi>@.< =)) ==]ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033671.303165 s, next control iter: 1743033671.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7170., header.stamp.nsec: 0.0 temperature: 13.569266.* salinity: 33.375099., density: 1025.000000.* values[0]: 0.575050.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033671.703165 s.պzTI~, Q%AAףp= @AgI-@A@X~? AjƫA%"AAFkNA"AZAbAjArAzAAA#%@A0itAo@A;AF=A=A`_J?ADڿA⦼*A9?2AԽ:A=BA9?JAԽRA=٘i)I9o@YG J JJJJnE&K YQW~?y$ѪLAlmE77?9DB)ǯBaE[[y+[;W~?[[[[[BZYY i) ጼIi;@n<  =)) = =ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033671.743165 s, next control iter: 1743033672.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033672.123165 s.9TI~,eR%AJ"J*J2J:J"?BJ"?nJH5vJA)\u@Az[@AVX~? AʫA^%"AAkNA"AZAbAjArAzAAA b/@Ac10tA o@A RAŜ=AA`?A -ڿA|*A9?2ADWս:A q=BA9?JADWսRA q=٘i)I9 o@YG JJJJJ#nE&K Y/W~?yfժQLAqmEŧ7b79)˯B[[&[W~?[j[[[[BZYY i6豽) NrIi7@/< G >))G >G >תY)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033672.163165 s, next control iter: 1743033672.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033672.543165 s.ITI~,"R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033672.543321F (some fields omitted in printout)A{G@AX0@AkX~? A`ϫA.%"AApkNA"AZAbAjArAzAAAI@@AtA֔n@AfAAK=AپA?A:ٿA楼*AX9?2Aս:A# =BAX9?JAսRA# =٘i)I9n@Y4G JJJJJ)nE&K YGW~?y٪KAwmEb77j9EB)ЯBdE[[![W~?[Ν[[[[BZYY i) hIi4@p< 0S>))0S>0S>٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033672.583165 s, next control iter: 1743033672.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7171, header.stamp.nsec: 00 temperature: 13.569430* salinity: 33.375118, density: 1025.000000* values[0]: 0.574444F (some fields omitted in printout)BGW~?)B٪ rAdjusting time to match Gazebo time: 1743033672.963165 s.{TI~,=R%AJ"J*J2J:JBJnJvJAL@A 2@AX~? AӫA=%"AAkNA"AZAbAjArAzAAAX @AT}tA n@Aj'rAF=AξA!?AlؿAͦ*A9?2A ֽ:A"=BA9?JA ֽRA"=Yn@5Ͼy^B=rٓH 1S?!?`>?@oٿ`%m?@`D?)n@ I٘i)I9 n@YG JʥB=J"<JJJ.nE&Kt> YaW~?y!ݪKA5Ͼ|mEZ7SI79)կBgE[[E[bW~?[ [[[[BZYY i) xIi(0@I{< '/>))7@w'/>'/>HܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033672.983165 s, next control iter: 1743033673.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033673.383165 s.ؕTI~,#XR%AAQ@A=@AQX~? A׫A_%"AAUlNA"AZAbAjArAzAAA)>Cv @AwvRtA}{m@ARA\=A~ľA`L?A@)׿A *A9?2A<ս:A=BA9?JA<սRA=٘i)I9{m@YG J"C=JJJJ3nE&K Y{W~?yKAmE77{79FB)گBjE[[[W~?[0[[[[BZYY i) 쪼Ii+@I< B>))茅B>B>yױߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033673.423165 s, next control iter: 1743033673.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7172", header.stamp.nsec: 0"0 temperature: 13.569580"* salinity: 33.375122", density: 1025.000000"* values[0]: 0.573891"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033673.803165 s.wATI~,{gsR%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260841J@ elevatorAngleAction: -0.086869"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500 dt: 0.420000:JBJ2 time: 1743033673.803291nJF (some fields omitted in printout)vJAq= #@Ax @AX~? A۫A%"AAh%lNA"AZAbAjArAzAAA @A2>s tAl@A];Aҥ=AʺA@ڊ?AkֿA䵼*A9?2Aӽ:Aɂ=BA9?JAӽRAɂ=wI٘i)I9l@Y/G JJJJJ9nE&K  9YW~? 9yJAmEb77*9)߯BmE[[#[IX~?[B[[[[BZYY i) CaIi(@!< :U>)) :U>:U>"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033673.843165 s, next control iter: 1743033674.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033674.223165 s.gTI~,HR%AA(\@A`Cu@AX~? A߫A%"AAGlNA"AZAbAjArAzAAA1b@Ai͕"tA"Kl@AbP<A=AHA`?AտAJ*A9?2Aӽ:ASW=BA9?JAӽRASW=٘i)I9Kl@YG JJJJJ>nE&K YW~?y=JAmEj7Z79)B[[_[L"X~?[=[[[[BZYY i) ԹIi$@< uh>))uh>uh>YoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033674.263165 s, next control iter: 1743033674.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033674.643165 s.uЩTI~,*R%AJ"J*J2J:JBJnJvJAG@A-@AX~? AXAy%"AAjlNA"AZAbAjArAzAAArydN{@A%tA&k@A|<A=AA e?A(տAü*AH9?2A7Խ:AG=BAH9?JA7ԽRAG=٘i)I9k@YmG JJJJJDnE&K YvW~?yIAmE77U9)BpE[[c [6X~?[[[[[BZYY i) IIit!@< {>)){>{>Y)YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7173, header.stamp.nsec: 00 temperature: 13.569760* salinity: 33.375141, density: 1025.000000* values[0]: 0.573266F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743033674.663165 s, next control iter: 1743033675.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033675.063165 s.TI~,R R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033675.063291F (some fields omitted in printout)Afffff@AЛTL@AGX~? AA`2%"AAlNA"AZAbAjArAzAAA7j@A b?'tAk@A$<An:=AeA@,,?A4PԿA]ż*AV9?2AԽ:AO=BAV9?JAԽRAO=YiM@y/8=V%<ٓHj?@>?ڳ?`Y ӿ a?桿j`ڗ?L?)iM@ I٘i)I9k@YG JļB=Jv<JJJInE&Ks> YcW~?y]IAmE)7ŧ7 9GB)BsE[[T[KX~?[ص[[[[BZYY i) ȼIi@ < v>))(tv>v>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033675.103165 s, next control iter: 1743033675.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033675.483165 s.x_TI~,R%AJ"J*J2J:J?BJ?nJ5vJA@AG ^׷@A Y~? AWA%"AAilNA"AZAbAjArAzAAAB@A鿋V)tAJ]j@AAV=AA_?A`,rӿAż*AK9?2Aս:A=BAK9?JAսRA=٘i)I9]j@YG J(ƼC=JJJJNnE&K YKW~?yDHAmE7779IB)BwE[[[_X~?[x[[[[BZYY i) ϼIiB@< >))>H>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033675.503165 s, next control iter: 1743033675.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7174, header.stamp.nsec: 00 temperature: 13.569963* salinity: 33.375168, density: 1025.000000* values[0]: 0.572566F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033675.903165 s.ȽTI~,R%AA ףp=@AX#@A#Y~? AA%"AALlNA"AZAbAjArAzAAAB@AsehU+tAi@AT2A=AM솾A X?A@3ҿAcƼ*AD9?2ANԽ:A8 =BAD9?JANԽRA8 =٘i)I9i@Y>G JbƼJJJJTnE&K Y5X~?ytHAmEb779)BzE[[R[tX~?[[[[[BZYY i) & ׼IiA@Ľ< ̚>)) ̚>̚>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033675.923165 s, next control iter: 1743033676.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033676.323165 s.sTI~,S%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743033676.323274F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@Acގ@A;Y~? AAm%"AAlNA"AZAbAjArAzAAASG@A<=-tAi@A}A ų=AgyA?AѿAɼ*A'9?2AuԽ:A=BA'9?JAuԽRA=٘i)I9i@Y G JǼJJJJYnE&K Y5X~?yHAmESI7879)B}E[[%[ZX~?[o[[[[BZYY i) `g޼Ii@(< >))>>YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743033676.343165 s, next control iter: 1743033676.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7175*, header.stamp.nsec: 0*0 temperature: 13.570170** salinity: 33.375156*, density: 1025.000000** values[0]: 0.571868*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033676.743165 s.WTI~,u/S%AAGz@Abc@ASY~? AAU2%"AA mNA"AZAbAjArAzAAAQ@AE 8 /tAch@A(CA=A\eA?A@пAм*A9?2A;Խ:Ae=BA9?JA;ԽRAe=٘i)I9ch@Yo G JS̼JJJJ^nE&K Y PX~?y.GAmEŧ7b7@9)BE[[%[+X~?[ê[[[[BZYY i) Iiu @< h>))h>h>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033676.783165 s, next control iter: 1743033677.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033677.163165 s.t}TI~,qJS%AJ"J*J2J:JBJnJvJA@AJ_e@AAlY~? AA%"AABmNA"AZAbAjArAzAAAi7x[gE@Ay;0tA:g@A A=AQA ?A@ϿAHؼ*A~9?2AԽ:A-$=BA~9?JAԽRA-$=Y1~@Qy=AٓHQ4??˔? ɿ T? `l`?)1~@ I٘i)I9g@Y G JӼJ'K<JJJdnE&Ks> YkX~?yGAQmE9) B[[ھ[X~?[ƪ[[[[ZZ¸BZYY i¸=) #ټIi@vή< >))Yr>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033677.183165 s, next control iter: 1743033677.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033677.583165 s.TI~, SeS%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237123> elevatorAngleAction: 0.083770< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033677.583289F (some fields omitted in printout)AR@A1zn@AτY~? A3A%"AAgmNA"AZAbAjArAzAAA5o@Am(h2tA-f@A<<ACY=AF=A))i>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033677.603165 s, next control iter: 1743033677.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7176, header.stamp.nsec: 00 temperature: 13.570379* salinity: 33.375195, density: 1025.000000* values[0]: 0.571130F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033678.003165 s.v TI~,D4S%AJ"J*J2J:JBJnJvJAp= W@A%Z<@AY~? AAڐ%"AA>mNA"AZAbAjArAzAAAC^P@A+F3tA&f@Ax<A=A5*A c?A`cP̿Aƕ*Am9?2Aҽ:A=BAm9?JAҽRA=٘i)I9&f@Y G J&JJJJonE&K YݢX~?yFAmEb7%9)BE[[Tƾ[X~?[̪[[[[ZZBZYY i) rIi?ң< >)) >>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033678.023165 s, next control iter: 1743033678.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033678.423165 s.uTI~,S%AA(\@A+z@AjY~? AAa%"AAѲmNA"AZAbAjArAzAAA@A Zc5tA @e@AX<Aq=ABA@9?AmʿA*A:?2AHҽ:Ar<BA:?JAHҽRAr<٘i)I9@e@Y G Jd JJJJtnE&K YzX~?yVEAmE777(9) BE[[a[YX~?[Ϫ[[[[ZZBZYY i) 0^Ii?< >))>>yD=sתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033678.443165 s, next control iter: 1743033678.823183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7177, header.stamp.nsec: 00 temperature: 13.570619* salinity: 33.375191, density: 1025.000000* values[0]: 0.570257F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033678.843165 s.TI~,S%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083770< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743033678.843292F (some fields omitted in printout)AHz. @A6> @ApY~? ALA4%"AAmNA"AZAbAjArAzAAA6"D@AVmp6tAbd@A;A7zy=AS<A?AȿA*AK:?2Aӽ:Ano<BAK:?JAӽRAno<٘i)I9bd@Y G JJJJJynE&K YX~?y #EAmE77+,9)'BE[[M_[}Y~?[lҪ[[[[ZZBZYY i) %JIi?< i>))i>i>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033678.863165 s, next control iter: 1743033679.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033679.263165 s.TI~,S%AA @Ah @AY~? A\A* %"AAmNA"AZAbAjArAzAAATn)@A-`\7tAƞc@A\AD4=AFEؽA+?A@ǿAlѼ*A:?2AK[Խ:A`;BA:?JAK[ԽRA`;Y@ؽyC4=ٓH2? ?`ͦ?h $?sf? k~`?)@ I٘i)I9c@Y G J*J:߽JJJnE&KSq> Y6X~?yDAؽmE/9)-BE[[s['Y~?[Ԫ[[[[ZZBZYY iy=) wIi(?디< >)) r>> }YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033679.303165 s, next control iter: 1743033679.663174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 71782, header.stamp.nsec: 020 temperature: 13.5709292* salinity: 33.3752022, density: 1025.0000002* values[0]: 0.5693302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033679.683165 s.lTI~,kS%AJ"J*J2J:J?BJ?nJ5vJAQ @A  @AZ~? ADA>%"AA$nNA"AZAbAjArAzAAAB3\@A ٨)9tAIb@A|AB<A{A`?A@5ſAr*A:?2AԽ:APc4BA:?JAԽRAPc4٘i)I9b@Y% G JrJJJJnE&K YVY~?yDAmEZ7Z7U39)2BE[[Up[?Y~?[`ת[[[[ZZBZYY i) 𦓼Ii?Ž< a>))a>a>4YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743033679.683165 s, next control iter: 1743033680.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743033680.103165 s.UI~,ȚT%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256003> elevatorAngleAction: 0.073475< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743033680.103320F (some fields omitted in printout)A= ףp @As`V @ASZ~? AAw%"AAOKnNA"AZAbAjArAzAAA4KH @AK::tAY}b@A A'<Af[A\?AJÿA#}*A>:?2Aҽ:A~BA>:?JAҽRA~٘i)I9}b@Y G JJJJJnE&K Yx.Y~?ymDAmE77769)6B[[)X[VY~?[٪[[[[ZZBZYY i) KԈIi?w< >)) >>9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033680.123165 s, next control iter: 1743033680.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033680.523165 s.UI~,{!T%AJ"J*J2J:JBJnJvJA( @AƠ @A4Z~? AAǞ%"AAqnNA"AZAbAjArAzAAA9C< @AP %2;tAn b@AxA}A|=AQ?A>A22*AA:?2Aӽ:AyBAA:?JAӽRAy٘i)I9 b@Y G J;]JJJJnE&K YJY~?y1DAmEŧ7ŧ7:9)9BE[[]-[nY~?[۪[[[[ZZBZYY i=) y|Ii[?< ,?)),?,?y&=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033680.543165 s, next control iter: 1743033680.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7179, header.stamp.nsec: 00 temperature: 13.571070* salinity: 33.375233, density: 1025.000000* values[0]: 0.568743F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033680.943165 s.WdUI~,>]9);BE[[[jY~?[ݪ[[[[ZZBZYY i) *bfIi?$~< : ?)): ?: ?yP=y)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033680.963165 s, next control iter: 1743033681.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033681.363165 s.UI~,>WT%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082887< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033681.363300F (some fields omitted in printout)A3333 @A @AFhZ~? AM Af%"AAnNA"AZAbAjArAzAAA>"@A|[ YY~?yDAλmE7A9)h< pA?))pA?pA?y=9k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033681.803165 s, next control iter: 1743033682.183186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743033682.203165 s.#UI~,T%AJ"J*J2J:JBJnJvJAףp= @A,p @AZ~? A^ A:%"AA oNA"AZAbAjArAzAAAҺ jT#@A'$L>tAVa@A<AVAt! =A ve?AA;*A::?2A$ӽ:AhBA::?JA$ӽRAh٘i)I9a@Yp G JYy;B=JJJJnE&K YY~?yuDAmEb77H9);BE[[B[3Y~?[[[[[BZYY i) 1Iii?.]< g?)) g?g?yn=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033682.223165 s, next control iter: 1743033682.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033682.623165 s.S)UI~,LT%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067531< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033682.623269F (some fields omitted in printout)A)\ @A]S @AZ~? A( A)%"AA65oNA"AZAbAjArAzAAA8#@A4>tA b@AAuA,X=A`-q?A@|ATh/<*Ab;:?2Aҽ:ABAb;:?JAҽRA٘i)I9 b@Y G J^ <C=JJJJnE&K YY~?yDAmE77{7kL9IB)9BE[[s-[eY~?[n[[[[BZYY i) /e Ii?uT< ?))??y](=L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033682.643165 s, next control iter: 1743033683.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7181 , header.stamp.nsec: 0 0 temperature: 13.570946 * salinity: 33.375237 , density: 1025.000000 * values[0]: 0.568591 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033683.043165 s.0UI~,T%AJ"J*J2J:J?BJ?nJ5vJA{Ga @At/G @AZ~? A Af%"AA\oNA"AZAbAjArAzAAAQ o$@A>tAcb@ARDAHAL=Az?A`̩AFi<*A7:?2A=ӽ:A#IBA7:?JA=ӽRA#I٘i)I9cb@Y G JJ<JJJJnE&K Y8Y~?yDAmE7)7P9)6BE[[[Z~?[[[[[BZYY i) Iik?YL< ,"?)),"?,"?/*Y#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033683.083165 s, next control iter: 1743033683.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033683.463165 s.]7UI~,T%AA @AQ @AZ~? AFAG%"AAoNA"AZAbAjArAzAAAJ-%@A/E?tA:b@AkуA_A=A؀?A`dqA쭊<*A4:?2AKӽ:A@BA4:?JAKӽRA@Y@H=y%ٓH~?u KS?@w?!??y?)@ I٘i)I9b@Y G J<B=JJJJnE&Kq> YYZ~?y?,EAH=nE77S9)2BE[[a[ Z~?[[[[[BZYY ivj=) Ii?j?< n'?))zrn'?n'?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033683.483165 s, next control iter: 1743033683.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7182, header.stamp.nsec: 00 temperature: 13.570705* salinity: 33.375256, density: 1025.000000* values[0]: 0.569048F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033683.883165 s.y=UI~,8T%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236794> elevatorAngleAction: 0.057242< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743033683.883311F (some fields omitted in printout)AQ8@Ar9@A[~? AAG%"AAxoNA"AZAbAjArAzAAA K%@ABiw?tAHc@AAAfoAA=A`]?AՕA3̘<*A-1:?2A?Խ:A~BA-1:?JA?ԽRA~٘i)I9Hc@YT G J<C=JJJJnE&K Yw,Z~?ynEA rDnEŧ77+W9)/B[[-߽[6Z~?[[[[[BZYY i) kIi?3< 8*-?))jt8*-?8*-?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033683.903165 s, next control iter: 1743033684.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033684.303165 s.[DUI~,gU%AAq= ף@A}@A[~? AA%"AAoNA"AZAbAjArAzAAAT{ni&@A'8Ԏ?tA c@AA9A7>AҊ?A@)BwAr<*AU:?2A7jӽ:ABAU:?JA7jӽRA٘i)I9c@Y G J<JJJJnE&K YHZ~?yEA nE77Z9)*BE[[9[KPZ~?[[[[[BZYY i) IiW?Pf)< h2?)) h2?h2?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033684.343165 s, next control iter: 1743033684.703181 s, wait time: 0.360016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7183*, header.stamp.nsec: 0*0 temperature: 13.570344** salinity: 33.375256*, density: 1025.000000** values[0]: 0.569699*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033684.723165 s.KUI~,H.U%AJ"J*J2J:JBJnJvJA(\@A$]J@A28[~? AA%"AAoNA"AZAbAjArAzAAAP]O!'@Ap?tAYd@Ax!<A$A(>A ?A\?A<*A`:?2Aӽ:A: BA`:?JAӽRA: ٘i)I9Yd@Y G J`<JJJJnE&K YdZ~?yNFAnEV^9OB)-BE[[[LjZ~?[0[[[[BZYY i)  Iiz? < $7?))$7?$7?yj=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033684.743165 s, next control iter: 1743033685.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033685.143165 s.W/RUI~, *IU%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057242< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033685.143283F (some fields omitted in printout)AGz@A=`@AIR[~? AA%"AA"pNA"AZAbAjArAzAAA˶ڥ'@A7q?tA~d@Ae<A'Ad1>AZ?A`d?A<*Ad:?2AԽ:A BAd:?JAԽRA ٘i)I9d@YQ G Jʩ<JJJJnE&K YրZ~?yFAnE7)7a9)(BE[[ @[Z~?[[[[[BZYY i) +VIi8m?r< =?))=?=?q*Y3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033685.183165 s, next control iter: 1743033685.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033685.563165 s.XUI~,1 dU%AJ"J*J2J:J?BJ?nJ5vJAffff@AܼqR@A\l[~? A:Ao%"AAIpNA"AZAbAjArAzAAA߄͗C(@A=?tAye@A[<A<[AXF>A?Ab?AL3<*Af:?2A ս:A(BAf:?JA սRA(YN7@PE>yWȂ\<ٓHQ? ȿM"q?f? 1`&?]|?N?)N7@ I٘i)I9ye@Y G J<J0JJJnE&K;s> YZ~?yKGAPE>nEj7j7e9NB)#BE[[nټ[tZ~?[[[[[BZYY i) ULIiY?U < fDB?))ݫsfDB?fDB?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033685.603165 s, next control iter: 1743033685.963173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7184, header.stamp.nsec: 00 temperature: 13.569943* salinity: 33.375301, density: 1025.000000* values[0]: 0.570469F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033685.983165 s._UI~,~U%AAQ@A7@Ai[~? A AN%"AAqpNA"AZAbAjArAzAAA e (@AA>tA f@A+;AiAOsZ>A@{}?A Ԫ?Aؕ<*Ah:?2A:ս:ABAh:?JA:սRA٘i)I9 f@Y G J<JJJJnE&K YBZ~?y|GA"nE77{7i9)BE[[^[Z~?[[[[[BZYY i8=) IiG?; G?))+G?G?(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033686.023165 s, next control iter: 1743033686.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033686.403165 s.'fUI~J"J, ΙU%A*J2J:J"?BJ"?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258147> elevatorAngleAction: 0.066351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743033686.403296F (some fields omitted in printout)A ףp@AV@An[~? A Ah%"AApNA"AZAbAjArAzAAA0)@A"Uۉ>tAҟf@A%A-Am>A@>v?A`Q?A=h<*A:?2Ar<ӽ:ABA:?JAr<ӽRA٘i)I9f@Y\ G J^<JJJJnE&K YZ~?yGA(nEj7Z7l9MB)BE[[Qw<[Z~?[ [[[[BZYY i) l/Ii7?`; L?)) L?L?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033686.443165 s, next control iter: 1743033686.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7185, header.stamp.nsec: 00 temperature: 13.569541* salinity: 33.375309, density: 1025.000000* values[0]: 0.571239F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033686.823165 s.lUI~,SU%AA\(@A_"@Ai[~? AB A)%"AApNA"AZAbAjArAzAAAN9*@A& >tA42g@AtA]A>Ak?A@?A<*A4:?2A\ӽ:AcBA4:?JA\ӽRAc٘i)I92g@Y G JB<JJJJnE&K YZ~?y<JHA-nEŧ7b7Ap9)B[[=[Z~?[[[[[BZYY i) *Ii)?;  PR?)) PR? PR?/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033686.863165 s, next control iter: 1743033687.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033687.243165 s.sUI~,iU%AJ"J*J2J:JBJnJvJAGz@A+nbz@AV[~? AI A:%"AARpNA"AZAbAjArAzAAAm*@A}`q=tA4g@A;nAA>A]?A`?Ai<*AӋ:?2AԽ:A|0BAӋ:?JAԽRA|0٘i)I9g@Y G Jۧ<JJJJnE&K Yd [~?yHA2nEŧ7s9)BE[[j=[n[~?[s[[[[BZYY i) :Ii$?%; :W?)):W?:W?y҇=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033687.263165 s, next control iter: 1743033687.643176 s, wait time: 0.380011 s.d [~?). rAdjusting time to match Gazebo time: 1743033687.663165 s.zUI~,qU%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743033687.663284F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7186, header.stamp.nsec: 00 temperature: 13.569149* salinity: 33.375324, density: 1025.000000* values[0]: 0.572006F (some fields omitted in printout)A@A;ǀ@A2[~? A' AHO%"AAqNA"AZAbAjArAzAAA<:W+@AARL?A`K?A^1<*A4:?2A ս:A BA4:?JA սRA Y,=ؕ>yU1FջٓH`?pҿ l?? @?ԙz?),= I٘i)I9Dh@Y\ G J<Ju<JJJnE&Ks> Ys&[~?y IAؕ>8nE{7j7lw9LB) B¹E[[f=["[~?[[[[[BZYY i) :Ii ?; ]?))u]?]?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033687.683165 s, next control iter: 1743033688.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033688.083165 s.DUI~,RV%AJ"J*J2J:JBJnJvJARk@ABsQ@A\~? AAf%"AA5qNA"AZAbAjArAzAAA|+@AoH;tAnh@A7;Ä́As>A@8?A?A9<*A:?2Aս:AFBBA:?JAսRAFB𼙘٘i)I9h@Y G Jo<JJJJnE&K YA[~?ywgIA=nEb77{9)BŹE[[=[=[~?[&[[[[BZYY i) F!;IiC>h; b?))Jb?b? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033688.123165 s, next control iter: 1743033688.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033688.503165 s.UI~,@4 V%AAp= @A]@A!\~? AfA%"AA\qNA"AZAbAjArAzAAA-OuX,@At[;tA-6i@A`c<AVA>A#?A D?A<*AE:?2AԽ:AlBAE:?JAԽRAl뼙٘i)I96i@Y G J<JJJJnE&K Y\[~?yIABnE77{7~9KB)BȹE[[=[cX[~?[9[[[[BZYY i) `;Ii>w; h?)) h?h?_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033688.523165 s, next control iter: 1743033688.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7187, header.stamp.nsec: 00 temperature: 13.568764* salinity: 33.375343, density: 1025.000000* values[0]: 0.572709F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033688.923165 s.BUI~,;V%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743033688.923313F (some fields omitted in printout)A(\B@A-}(@AD;\~? AA%"AAqNA"AZAbAjArAzAAAظr*-@AS:tAťi@AM}<AH/A>AB ?A?A;A<*Aٛ:?2AbԽ:AVBAٛ:?JAbԽRAV뼙٘i)I9i@Y3G J݄<JJJJnE&K Yw[~?ybJAHnEb77,9HB)BʹE[[->[Ws[~?[[[[[BZYY i֙=) 6;Ii>ti; m?))m?m?T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033688.943165 s, next control iter: 1743033689.323186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743033689.343165 s.A?A`L?Anσ<*A :?2Aս:A':BA :?JAսRA':9٘i)I9j@YvG J<JJJJoE&K Y[~?yxJAMnE{7j79GB)B͹E[['>[a[~?[[[[[BZYY i) [;Ii>)K; X s?))X s?X s?ϰ*Yp YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033689.363165 s, next control iter: 1743033689.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7188*, header.stamp.nsec: 0*0 temperature: 13.568437** salinity: 33.375340*, density: 1025.000000** values[0]: 0.573321*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033689.763165 s.2UI~, pV%AJ"J*J2J:J?BJ?nJ5vJA@Awӂ@A n\~? AA%"AAqNA"AZAbAjArAzAAA ^.@A<7tAwj@AA\ A>A?Aj?A„<*A:?2AL:ս:AcBA:?JAL:սRAcY1>.>yE w'ٓH@m?`!ؿ|@t?#?@ ;A?br?)1> IvI٘i)I9j@YG J<Jj;JJJoE&Kjt> Y[~?yxJA.>SnEb77V9)B[[u=>[[~?[W[[[[BZYY i) ;Iis>Ԕ; 8x?))Tx8x?8x?6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033689.783165 s, next control iter: 1743033690.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033690.183165 s.ˢUI~,sV%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242708> elevatorAngleAction: 0.075117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743033690.183291F (some fields omitted in printout)AQ@A\pk@A]\~? AA %"AA;qNA"AZAbAjArAzAAA~#.@AP6tAj@AJAEAH7>A Z?A@P8?A漢<*AY:?2Akս:ABAY:?JAkսRA٘i)I9j@YG J<JJJJ oE&K Y[~?y&KAXnE{7j79)BйE[[ T>[[~?[[[[[BZYY i) ;;Ii0>G: ~?)) ~?~?yp=*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743033690.203165 s, next control iter: 1743033690.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033690.603165 s.<4UI~,ÚV%AJ"J*J2J:JBJnJvJA= ף@A6@Av\~? AA5%"AAcrNA"AZAbAjArAzAAA-/@AdYo+5tAQek@AWAlքAT>A ?AB?AM<*Aʔ:?2AԽ:ABAʔ:?JAԽRA٘i)I9ek@YDG JU<JJJJoE&K Y[~?y~KA]nE77779FB)BӹE[[]_j>[[~?[ߪ[[[[BZYY i) UAup?A`g?Aa<*A:?2AԽ:ABA:?JAԽRA٘i)I9k@YG J<JJJJoE&K Y[~?yYߪKAcnE{7j79EB)BֹE[[#o>[[~?[ݪ[[[[BZYY i) s elevatorAngleAction: 0.075117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033691.443295F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A@A4\~? AA`%"AAirNA"AZAbAjArAzAAAd6^0@AP~$2tAJl@AA}눽A\>AI?A r?A҆<*A:?2A1ս:ArsBA:?JA1սRArs٘i)I9Jl@YG J҇<JJJJoE&K Y,\~?y۪-LAhnE77779DB)BٹE[[>[\~?[۪[[[[BZYY i) %V%AA33333@Auq@A\~? AA%"AAzrNA"AZAbAjArAzAAA}20@AR}|0tA_l@A~)<A{A&>A?AX;?A<*A{:?2A\ֽ:ABA{:?JA\ֽRAY>9>y)<ٓH? _^޿D+B?*?s0l?/? ?)> I٘i)I9l@YG JN<J2JJJ oE&Ku> Y .\~?yתLA>mnE)7ŧ7A9)ޯB[[{>[L/\~?[٪[[[[BZYY i) =5[I\~?[y֪[[[[BZYY i) :D齉F ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033692.303165 s, next control iter: 1743033692.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7191., header.stamp.nsec: 0.0 temperature: 13.567414.* salinity: 33.375404., density: 1025.000000.* values[0]: 0.575195.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033692.703165 s.׺UI~,-W%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033692.703323F (some fields omitted in printout)Aףp= @A0g+@A{]~? A-AV6%"AArNA"AZAbAjArAzAAA.cG=1@A?,tA.m@A /Q<A[Aj?A?A C ?A<*A:?2Aeս:AX"BA:?JAeսRAX"٘i)I9m@YG Jي<JJJEJ+oE&K Y_\~?ytϪFMAxnEl9@B)үB޹E[[C>[d\~?[Ӫ[[[[BZYY i) ,T-;ݺ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033692.723165 s, next control iter: 1743033693.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033693.123165 s.J "J *J 2J :J T?BJ T?nJ |59UI~vJ,eGW%AA)\u@AIC[@A3]~? AAr%"AA!rNA"AZAbAjArAzAAA1@A3*tA0n@AL;AA ?A ?A?A<*AFy:?2A)Uս:A BAFy:?JA)UսRA ٘i)I9n@YG Jx<JJJJ0oE&K Yx\~?yH˪MA}nE{7{79?B)ίBE[[>["\~?[Ъ[[[[BZYY i M=) UcB)ɯBE[[۩>[\~?[aͪ[[[[BZYY i) s elevatorAngleAction: 0.084131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743033693.963320F (some fields omitted in printout)AL@Ayj2@Ab]~? A9A%"AA`EsNA"AZAbAjArAzAAA R2@AX&tAf'o@AyAחA?A`1?A?A<*Af:?2Aս:AwBAf:?JAսRAwY8>5?yL`zٓHbo?`s@R ?? ?5R?)8> I٘i)I9'o@YG Jz<B=JxJJJ;oE&Ku> Y\~?y-ªgNA5?nE777,9)įB[[>[\~?[ɪ[[[[BZYY i) !T m?))~m?m?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033694.003165 s, next control iter: 1743033694.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033694.383165 s.UI~,#W%AAQ@A9@ASz]~? AA8%"AAhsNA"AZAbAjArAzAAA}yS\2@AIX$tAo@A=jAAs*?A?A ci?A<*AZ:?2Aս:A@BAZ:?JAսRA@٘i)I9o@YG J=<C=JJJJ@oE&K YQ\~?y?NAnE)7ŧ79[\~?[dƪ[[[[BZYY i) Ъ[\~?[ª[[[[BZYY i) : elevatorAngleAction: 0.084131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743033695.223266F (some fields omitted in printout)A(\@AOu@AU]~? AګA%"AA sNA"AZAbAjArAzAAAr&2@AEtAp@A,;AnA'?A!?Aw?Aߧ<*AW:?2A+ֽ:AihBAW:?JA+ֽRAih٘i)I9p@YG Jܧ<JJJJKoE&K Y\~?ybOAnE779)B[[>[]~?[[[[[BZYY i)  ɗ[.]~?[U[[[[BZYY i) W2?ymSx<ٓHz?`0q?@?SIѴ???) > I٘i)I9q@Y=G J <JJJJVoE&Kv> Y&]~?yШqPA2?nEZ7Z796B)BE[[s-?[P4]~?[[[[[BZYY i)  elevatorAngleAction: 0.084131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743033696.483284F (some fields omitted in printout)A@A`+׷@AY]~? AiΫA%"AA\tNA"AZAbAjArAzAAA7C3@AXʋHtAr@Aj<AvѩA7?AN?A`ɋ?AT<*A::?2Aֽ:ABA::?JAֽRA٘i)I9r@YG J*<JJJJ[oE&K Y1]~?y,PAnE7795B)BE[[ ?[QM]~?[`[[[[BZYY i) z#?)) >#?>#?I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033696.523165 s, next control iter: 1743033696.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7195, header.stamp.nsec: 00 temperature: 13.565939* salinity: 33.375446, density: 1025.000000* values[0]: 0.578064F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033696.903165 s. VI~,9X%AA ףp=@A7W#@A^~? AɫAM%"AA6tNA"AZAbAjArAzAAAjE3@A3tAW s@AUKA4A1n:?2Aӎս:A=BA9>:?JAӎսRA=٘i)I9 s@YG J<JJJJaoE&K YyG]~?yQQAnE77B9)B[[[?[&f]~?[[[[[BZYY i) bq elevatorAngleAction: 0.084131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033697.743291F (some fields omitted in printout)AGz@Ac@A+^~? AA^%"AAwtNA"AZAbAjArAzAAA5v4@A!^tAutt@A耼AfAMF?A?A !?AȈ<*A{.:?2Aս:ABA{.:?JAսRA٘i)I9tt@YG J <JJJJkoE&K Yr]~?yA1RAnE77l93B)BE[[?[!]~?[\[[[[BZYY i) m- Y]~?yRAL?nE779,B)BE[["?[]~?[[[[[BZYY i) g elevatorAngleAction: 0.084131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743033699.003296F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@Ay"<@Aai^~? AA<%"AAtNA"AZAbAjArAzAAAչo]15@An؀tAv@A12<AAV?AU?A ?A.<*A :?2AW׽:AGBA :?JAW׽RAG٘i)I9v@YG J1<JJJJ{oE&K Y]~?yaSAnE{7j7,9)wB[[.?[]~?[[[[[BZYY i) <*Ac :?2AB׽:ABAc :?JAB׽RA٘i)I9w@YG Jo<JJJJoE&K YW]~?yrTAnEj7j7W9)B)jBE[[:?[I ^~?[[[[[ZZZZ¸>BZYY i¸>ɶ) 5 ^?))^?^? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033699.883165 s, next control iter: 1743033700.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033700.263165 s.DVI~,Y%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082868< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743033700.263262F (some fields omitted in printout)A@AH@A^~? AA%"AAj/uNA"AZAbAjArAzAAAt5@As\sAݐx@Ak;AADf?AM?A!?A<*A:?2Aֽ:ABA:?JAֽRAY.?6f?y" ;ٓH?`aK???y&?c?@?).? I٘i)I9x@YIG JZ<J6JJJoE&Kx> Y]~?ykTA6f?nEZ79%B)aBE[[mA?[B!^~?[J[[[[ZZZZBZYY i)  k[[[[ZZZZBZYY i) Y%AJ"J*J2J:JL?BJL?nJ5vJA3333 @A< @A^~? ApAM%"AAuNA"AZAbAjArAzAAA6@AhSV sAz|@A ;A?ҼA?A ?A@?Aܥ<*A:?2A`ֽ:An;BA:?JA`ֽRAn;YhH??yҼ;ٓH`*D? ?-D?YN@V?&~??)hH? I٘i)I9z|@YG J<J>JJJoE&K.w> YZ<^~?yHWA?nE{7{79B);BE[[0_?[*^~?[\[[[[ZZZZBZYY il匽) %"AAuNA"AZAbAjArAzAAA)yX7@AzVsAN}@A<<A;AM?A@J?Aa?A<*A:?2Aֽ:A*^<BA:?JAֽRA*^<٘i)I9N}@Y,G JYP<JJJJoE&K YZ^~?y:OWAnE7779B)3B E[[El?[_^~?[ N[[[[ZZZZBZYY i) (s4g7@A^&sAS}@A:<Aj<A?A?A?Aǵ;*A:?2A'ֽ:A篪<BA:?JA'ֽRA篪<٘i)I9}@YMG J<JJJJoE&K Y/j^~?y2rWA sDoE779)1B[[Wr?[^~?[OF[[[[ZZZZBZYY i) <.__~? A)kA6%"AAHvNA"AZAbAjArAzAAA効7@AsAϟ}@AyA" =A?A?A?A:*A9?2A׽:A <BA9?JA׽RA <٘i)I9}@Y]G J4|;JJJJoE&K   9Ywy^~?  9y;+WA oE)7ŧ7- 9B),B E[[x?[z^~?[j>[[[[BZYY i) J&`>?)4b? I٘i)I9Y J$B=J-(>JJJoE&Kx> Y;^~?y[#ZWA&?oE77 9)[[l~?[^~?[m6[[[[BZYY ii) 98@A% S~sAsL}@AA2zy=A|j?A`a?A?A89/*A9?2A׽:Ag=BA9?JA׽RAg=٘i)I9L}@Y*G JhJJJJoE&K Y^~?yVAoEj7 9)-B[[?[_~?[%[[[[BZYY i) @  Yd^~?yVA)?)oE{7 9)3B[[)?[0_~?[? [[[[BZYY i) {;INhG?i︿El ?))??ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033706.583165 s, next control iter: 1743033706.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7205, header.stamp.nsec: 00 temperature: 13.562929* salinity: 33.375572, density: 1025.000000* values[0]: 0.584060F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033706.983165 s.VI~,Z%AAQ%@A}^7%@A֟_~? AI;A(%"AAvNA"AZAbAjArAzAAAND8@AqysA{@AA<A{=A?A?A@?Aݎ*A`9?2Auֽ:A=BA`9?JAuֽRA=٘i)I9{@YG J;JJJJoE&K Y^~?yoUA.oEb77C 9)7B[[YR?[.>_~?[r[[[[BZYY i) P4;ITG?ip ?))??ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033707.023165 s, next control iter: 1743033707.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033707.403165 s.&VI~,Z%AJ"J*J2J:JBJnJvJA ףp%@Ao\%@Aܫ_~? A4AYb%"AA[vNA"AZAbAjArAzAAA9@ArsAkz@Afʥ:Aq=AU_?A`>?A ?A9*A9?2A׽:A_a=BA9?JA׽RA_a=٘i)I9z@YG JJJJJoE&K Y^~?y7:UA4oESI7Z7 9B)E[[`}?[J_~?[[[[[BZYY i) ;I?G?i./os R6?))R6?R6?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033707.423165 s, next control iter: 1743033707.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7206", header.stamp.nsec: 0"0 temperature: 13.563102"* salinity: 33.375580", density: 1025.000000"* values[0]: 0.583483"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033707.823165 s.VI~,-Z%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743033707.823291F (some fields omitted in printout)A\(&@Aur&@Ag_~? A,A %"AA=vNA"AZAbAjArAzAAAo&9@AB̡:sA bz@A"A;=A?A_?A<,?A*A9?2AY^׽:A? =BA9?JAY^׽RA? =٘i)I9bz@YdG J JJJJoE&K Y^~?yTA9oEb7b7m# 9)=AW?A~?Av?Al*A9?2A]C׽:A=BA9?JA]C׽RA=Yl)?5?yi:=a^ٓH ?@@s|??@ީ?۳?@\ 󶋿`?)l)? I٘i)I9=y@YG JJ;JJJoE&Kx> Y<^~?yHҩTA5?DoE77* 9 B)DBE[[?[il_~?[)ߩ[[[[BZYY i) |:IG?iv¿x H@))H@H@sتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033708.683165 s, next control iter: 1743033709.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033709.083165 s.DVI~,SE[%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033709.083303F (some fields omitted in printout)J"J*J2J:JBJnJvJARk'@AGqQ'@A!_~? AA%"AAwNA"AZAbAjArAzAAA$gh19@A&&sAsx@AruA>=AG۩?A`?Ai?A]*A>9?2Aֽ:A=BA>9?JAֽRA=٘i)I9x@YWG JJJJJoE&K Y^~?yɩSAIoEb777.. 9 B)FBE[[/?[+v_~?[թ[[[[BZYY i) tK:IvF?iĿ/{ N@))N@N@r֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033709.103165 s, next control iter: 1743033709.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033709.503165 s.VI~,L4`[%AAp= '@A~m'@A_~? A3A/%"AAxwNA"AZAbAjArAzAAA|N9@Ab֐sAx@Aux;A=A+Z?A?A?AX*Ag9?2Aֽ:A<=BAg9?JAֽRA<=٘i)I9x@YG JJJJJpE&K Y_~?yJ2SAOoE71 9)JB[[g_?[4_~?[w̩[[[[BZYY i) I0F?iſ7} Hh@))Hh@Hh@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033709.523165 s, next control iter: 1743033709.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7208, header.stamp.nsec: 00 temperature: 13.563537* salinity: 33.375576, density: 1025.000000* values[0]: 0.582161F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033709.923165 s.<VI~,{[%AJ"J*J2J:J?BJ?nJE5vJA(\B(@A-z((@A_~? AA%"AA%wNA"AZAbAjArAzAAA^_9@AŞsAww@A :x<A=A?A?Aw?A|*A9?2A^ֽ:A=BA9?JA^ֽRA=٘i)I9ww@YG J-JJJJpE&K Y_ _~?y˸RAToE7X5 9)OB[[?[|_~?[é[[[[BZYY i) IF?iſR} @))@@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033709.963165 s, next control iter: 1743033710.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033710.343165 s. YR_~?yQA@?_oEb7< 9B)TBE[[?[ĕ_~?[篩[[[[BZYY i) U>IPF?i=ǿ @))@@cǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033710.783165 s, next control iter: 1743033711.163182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033711.183165 s.VI~,R[%AAQ)@A _Bk)@A2`~? AA%"AAKwNA"AZAbAjArAzAAA:@Ae8))sAuu@AɼAvڍ=A?A {?AL?At*As9?2ArB׽:Aŝ<BAs9?JArB׽RAŝ<٘i)I9u@YG JJJJJpE&K Y_~?y잩QAdoE777@ 9)YB[[?[ś_~?[B[[[[BZYY i) {IāF?i|ȿO  @)) @ @êYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743033711.203165 s, next control iter: 1743033711.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033711.603165 s.64VI~,[%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743033711.603288F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף)@Av)@AJ `~? AA%"AAVwNA"AZAbAjArAzAAAlN@:@Adh!sACu@AfAʑ=A?A (?A`.?Ar*AG9?2At׽:A3<BAG9?JAt׽RA3<٘i)I9Cu@YFG JB=JJJJpE&K Yw_~?y:;QAioE7C 9)]B[[P?[_~?[[[[[BZYY i) yI.lF?iȿBm tB @))tB @tB @SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033711.643165 s, next control iter: 1743033712.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7210 , header.stamp.nsec: 0 0 temperature: 13.563993 * salinity: 33.375580 , density: 1025.000000 * values[0]: 0.580856 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033712.023165 s.ZWI~,{\%AA(\*@AlB*@A`~? AAڲ%"AAbawNA"AZAbAjArAzAAA/2:@A,h[sA t@A䟀Aԉ=A'6?A9?AC?A.*A9?2A b׽:A<BA9?JA b׽RA<٘i)I9t@YG J-C=JJJJ"pE&K Y #_~?yPAooE7CG 9B)^BE[[?[v_~?[Ԓ[[[[BZYY i0@) a$IVF?iǿ  @)) @ @齪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033712.063165 s, next control iter: 1743033712.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033712.443165 s.7WI~,>]\%AJ"J*J2J:JBJnJvJAz*@AMF*@A`~? A٪AK%"AAjwNA"AZAbAjArAzAAA<͎D:@A>,csALt@AAq{=A¾?A@v?A?A7͑*A9?2A׽:A ;<BA9?JA׽RA ;<٘i)I9Lt@YG JJJJJ'pE&K Y'_~?yڄyPAtoEJ 9)bB[[l?[!_~?[[[[[BZYY i) ٻIoAF?iſ4} k@))k@k@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033712.483165 s, next control iter: 1743033712.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7211, header.stamp.nsec: 00 temperature: 13.564208* salinity: 33.375591, density: 1025.000000* values[0]: 0.580281F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033712.863165 s.+ WI~,>7\%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743033712.863302F (some fields omitted in printout)A33333+@A4 +@Ax`~? A9ѪA%"AAswNA"AZAbAjArAzAAA #}_U:@A[}sAs@AQC;A Ň=AD?A ?A?AHb*A9?2ALֽ:A]<BA9?JALֽRA] YS)_~?y|PAI?zoE{7{7nN 9)fB[[ ?[_~?[N[[[[BZYY i) I,F?i(ǿ~ @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033712.903165 s, next control iter: 1743033713.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033713.283165 s.4RWI~,R\%AJ"J*J2J:Jz?BJz?nJ5vJAQ+@Ag'+@A `~? AKɪAc&"AA{wNA"AZAbAjArAzAAA$%d:@A\xsAmXs@A L<A=AF?A 1?A@?A*A/9?2Arֽ:A=BA/9?JArֽRA=٘i)I9Xs@YG JJJJJ2pE&K Y +_~?yDsOAoEj7Z7R 9)jB[[=?[#_~?[u[[[[BZYY i) | IF?imǿE @))@@y<*#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033713.323165 s, next control iter: 1743033713.683174 s, wait time: 0.360009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7212., header.stamp.nsec: 0.0 temperature: 13.564404.* salinity: 33.375603., density: 1025.000000.* values[0]: 0.579721.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033713.703165 s.պWI~, m\%AAףp= ,@Ay&1+@A%`~? ATA&"AA(wNA"AZAbAjArAzAAA>HTr:@APtsA?r@Ay<A[|=Am^?AƤ?A.?A*AE9?2Anqֽ:A=BAE9?JAnqֽRA=٘i)I9r@YG JB=JJJJ8pE&K Y,_~?yyjhOAoE77U 9B)lBE[[qD?[v_~?[k[[[[BZYY i) I3F?iƿ'?~ F$@))F$@F$@黪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033713.743165 s, next control iter: 1743033714.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033714.123165 s.3!WI~,L\%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033714.123284F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u,@Ax}[,@A)`~? AXA;&"AAwNA"AZAbAjArAzAAAqkq~:@AF}_(osAbr@A7<Au=AR?A^ٺ?AFA?AT*At9?2Aֽ:As=BAt9?JAֽRAs=٘i)I9br@YG JC=JJJJ=pE&K Yx._~?ya OAoE{7.Y 9)pB[[s?[_~?[a[[[[BZYY i) K(+IE?iĿw{ @))@@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033714.163165 s, next control iter: 1743033714.523175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033714.543165 s.I(WI~,â\%AA{G,@A7+1,@A},`~? AUAmS&"AAUwNA"AZAbAjArAzAAA*E:@AnDjsAq@A9A=AI?A ?A@zQ?A.܌*A9?2Ai׽:AҞ=BA9?JAi׽RAҞ=٘i)I9q@Y<G JƎJJJJBpE&K Y/0_~?yXNAoE777\ 9B)rBE[[C?[ï_~?[X[[[[BZYY i) :I9E?ix UN@))UN@UN@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033714.583165 s, next control iter: 1743033714.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7213, header.stamp.nsec: 00 temperature: 13.564585* salinity: 33.375595, density: 1025.000000* values[0]: 0.579169F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033714.963165 s.u.WI~,㤽\%AJ"J*J2J:JBJnJvJAL-@Ad=2-@Al/`~? AMA &"AA7wNA"AZAbAjArAzAAA9ّ:@AÈ]esAuq@A8+A;̌=Am?A &?A_?AG*A9?2Ae׽:A=BA9?JAe׽RA=YI?V?y?ʌ=\8,ٓH` YM?u@Iu? y2?)I? I٘i)I9uq@YG JJB;JJJHpE&Kx> Y/_~?yPSNAV?oEb77Y` 9B)wBE[[?[_~?[MN[[[[BZYY i) i'JIXE?i4¿"x @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033715.003165 s, next control iter: 1743033715.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033715.383165 s.5WI~,\%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033715.383303F (some fields omitted in printout)AQ-@A=-@A1`~? A@A&"AAIwNA"AZAbAjArAzAAA:@A_Hs`sA)q@ATbA@$=Au?Aښ?A@j?A~*Ag9?2Ar׽:AQ=BAg9?JAr׽RAQ=٘i)I9q@YG JJJJJMpE&K Y-_~?yJGMAoE7c 9B)yBE[[i?[_~?[D[[[[BZYY i) YIE?iw r@))r@r@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033715.423165 s, next control iter: 1743033715.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7214", header.stamp.nsec: 0"0 temperature: 13.564802"* salinity: 33.375595", density: 1025.000000"* values[0]: 0.578630"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033715.803165 s.AMAoEŧ77g 9)}B[[+?[^_~?[:[[[[BZYY i馬) iIE?iqu @))@@cȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033715.823165 s, next control iter: 1743033716.203183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033716.223165 s.gCWI~,H]%AA(\.@AEu.@A5`~? AA&"AAwNA"AZAbAjArAzAAAsb#٢:@A297VsA p@AgNA=A&-?AϞ?Ax?AN蘼*A9?2A/ֽ:Ah =BA9?JA/ֽRAh =٘i)I9 p@YG J5JJJJXpE&K Y+_~?y57MAoEj7Z7k 9)B[[V?[_~?[1[[[[BZYY i) rxIE?i_ q @))@@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033716.263165 s, next control iter: 1743033716.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033716.643165 s.tIWI~,))]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033716.643281F (some fields omitted in printout)J"J*J2J:JBJnJvJAG.@AOu.@A5`~? A Ape&"AAwNA"AZAbAjArAzAAA-);T:@A=e0QsA0o@AVG<A}=A?A@|?A {?A//*A9?2A:iֽ:A=BA9?JA:iֽRA=٘i)I9o@YG JqJJJJ]pE&K Y]*_~?y,LAoE77{7n 9B)BE[[~?[_~?[q'[[[[BZYY i) &IpE?iul .@)).@.@ϪYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7215, header.stamp.nsec: 00 temperature: 13.565032* salinity: 33.375607, density: 1025.000000* values[0]: 0.578069F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743033716.663165 s, next control iter: 1743033717.043176 s, wait time: 0.380011 s2]*_~?)2, rAdjusting time to match Gazebo time: 1743033717.063165 s.PWI~, D]%AAfffff/@A3OL/@A&6`~? AA*&"AAwNA"AZAbAjArAzAAA::@AƾLsA4o@A|<A@q=Ag6?A C?A{?AUQ*A9?2A|>ֽ:A=BA9?JA|>ֽRA=YP?`\?yl=}<ٓH|/¿ϬHs? ?p¿ꆳ?('?` ?)P? I٘i)I9o@YxG J硼Jp<JJJcpE&Kx> YW&_~?y.$rLA\?oE7Dr 9)B[[?[_~?[[[[[BZYY i) |I\E?i{#l X@))X@X@yOҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033717.103165 s, next control iter: 1743033717.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033717.483165 s.~_WWI~,^]%AJ"J*J2J:J?BJ?nJ5vJA/@A6ٷ/@A5`~? AxA&"AAwNA"AZAbAjArAzAAAZʇ:@ApuGsAvn@A m<A+@=A?A JAy?AZ*AJ9?2Aeֽ:A=BAJ9?JAeֽRA=٘i)I9vn@Y"G JJJJJhpE&K YQ"_~?yw LAoEŧ7b7u 9)B[[v?[s_~?[@[[[[BZYY i) I6IE?iٶ j P!@))P!@P!@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033717.503165 s, next control iter: 1743033717.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7216, header.stamp.nsec: 00 temperature: 13.565289* salinity: 33.375587, density: 1025.000000* values[0]: 0.577441F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033717.903165 s.]WI~,y]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743033717.903296F (some fields omitted in printout)A ףp=0@A"QhY#0@A)5`~? ApA>&"AAwNA"AZAbAjArAzAAANJ9:@A旦BsAm@A 7;AP=A&?AA@u?A*Ap9?2Aֽ:Ar=BAp9?JAֽRAr=٘i)I9m@YG JfJJJJmpE&K YL_~?yKAoE77ny 9)B[[ ?[_~?[ [[[[BZYY i) I5E?i(\f "@))"@"@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033717.923165 s, next control iter: 1743033718.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033718.323165 s.rdWI~,]%AJ"J*J2J:J?BJ?nJ5vJA\0@Aiݎ0@A3`~? AhA:&"AAnwNA"AZAbAjArAzAAAoJ:@A/A0=sAYm@AA$=A??A@ʦA n?A*A9?2A2׽:At=BA9?JA2׽RAt=٘i)I9Ym@YuG J塚JJJJspE&K YF_~?y =KAoE777} 9B)BE[[?[_~?[X[[[[BZYY i) I"E?ika t$@))t$@t$@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033718.343165 s, next control iter: 1743033718.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7217*, header.stamp.nsec: 0*0 temperature: 13.565547** salinity: 33.375599*, density: 1025.000000** values[0]: 0.576755*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033718.743165 s.WkWI~,y]%AAGz1@A4f0@A2`~? A`Ay&"AAwNA"AZAbAjArAzAAAt:@A Q 9sAUl@AjA5=A?AKAe?AZ*A9?2Af׽:A=BA9?JAf׽RA=٘i)I9l@YG J骼JJJJxpE&K Y@_~?ySJAoE{7j7 9)B[[;?[=_~?[[[[[BZYY i) ǫIlE?iO[ Y&@))Y&@Y&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033718.783165 s, next control iter: 1743033719.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033719.163165 s.r}rWI~,q]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033719.163294F (some fields omitted in printout)J"J*J2J:JBJnJvJA1@AAe1@A/`~? AXA &"AAwNA"AZAbAjArAzAAA~ܙ:@A"4sA7l@AE{ANf=A?AaAY?A*AҮ9?2AF׽:A~=BAҮ9?JAF׽RA~=YY?Lf?y9a=|ٓHοB@ա`?-Ͽp?gh\?)Y? I٘i)I97l@YG JJs<JJJ}pE&Kcx> Yi_~?ydJAf?oE77. 9B)BE[[M^?[z_~?[[[[[BZYY i) I!D?i(uY '@))'@'@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033719.183165 s, next control iter: 1743033719.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033719.583165 s.xWI~, S]%AAR1@An1@A,`~? APA &"AAwNA"AZAbAjArAzAAA\-Qɉ:@A\ID?iPV #)@))#)@#)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033719.603165 s, next control iter: 1743033719.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7218, header.stamp.nsec: 00 temperature: 13.565805* salinity: 33.375587, density: 1025.000000* values[0]: 0.576077F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033720.003165 s.y WI~,P4^%AJ"J*J2J:JBJnJvJAp= W2@A[&<2@A\)`~? AHA9P &"AA?wNA"AZAbAjArAzAAA7p:@AX!Z*sAj@AVL;A=Aő?AiA:?A-ż*Aq9?2Afֽ:AO=BAq9?JAfֽRAO=٘i)I9j@YG JJJJJpE&K Y_~?yIAoEb77Y 9B)BE[[?[g_~?[{ܨ[[[[BZYY i) IwD?i}R  *@)) *@ *@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033720.043165 s, next control iter: 1743033720.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033720.423165 s.uWI~,^%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033720.423281F (some fields omitted in printout)A(\2@A0|2@Ao%`~? A@AM &"AAwNA"AZAbAjArAzAAAY{Us:@AA.{%sATj@AߚS<At=A ?AKA'?AZͼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Tj@YG J=ɼJJJJpE&K Y^~?y/ߨIAoE777 9)B[[I?[\_~?[Ө[[[[BZYY i) G ǼIQD?ixL A,@))A,@A,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033720.463165 s, next control iter: 1743033720.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7219, header.stamp.nsec: 00 temperature: 13.566119* salinity: 33.375587, density: 1025.000000* values[0]: 0.575326F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033720.843165 s.݌WI~,5^%AJ"J*J2J:JBJnJvJAHz.3@A3@A `~? A8A &"AAmwNA"AZAbAjArAzAAAf:@Al!l sAإi@Ak<A :=Aܣ?AA ?AҼ*A9?2A<ֽ:Ak=BA9?JA<ֽRAk=٘i)I9i@Y3G JtмJJJJpE&K Y ^~?y֨HAoEŧ7b7 9)B[[?[Q_~?[ʨ[[[[BZYY i) kfμIŸD?iיD -@))-@-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033720.883165 s, next control iter: 1743033721.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033721.263165 s.WI~, P^%AA3@An3@A`~? A0A" &"AAV}wNA"AZAbAjArAzAAAk+W:@Ah`sA)h@A*-<A =AN?A@L¿A@?AMqӼ*AY9?2A\jֽ:A6J=BAY9?JA\jֽRA6J=Y`?&m?y8 =z.<ٓH@տ ?տԵ?::*??)`? I٘i)I9h@Y G JӼJ8<JJJpE&K*x> Yy^~?y`Ψ)HAm?oE{7j7 9B)B E[[?[E_~?[[[[[BZYY i) OռI}D?iA 4[/@))4[/@4[/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033721.283165 s, next control iter: 1743033721.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 72202, header.stamp.nsec: 020 temperature: 13.3870732* salinity: 33.3916402, density: 1025.0000002* values[0]: 0.6942372F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033721.683165 s.lWI~,^k^%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743033721.683310F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ4@AF3@A`~? A(AV &"AAtuwNA"AZAbAjArAzAAASm,dF:@A.bVsACh@AAd=A ?AĿAQ?AQmѼ*A9?2AMֽ:A;=BA9?JAMֽRA;=٘i)I9Ch@Y[ G JҼJJJJpE&K Y^~?yƨGAoEj7Z7 9)B[[`~@[G9_~?[<[[[[BZYY i) NܼID?i-U= 0@))0@0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033721.683165 s, next control iter: 1743033722.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033722.103165 s.WI~,^%AA= ףp4@A(\V4@A`~? A!AW &"AAlwNA"AZAbAjArAzAAAD 8-4:@AhTޡ.sAѓg@A~p4AW=A?A`ƿAA?Acϼ*A9?2A6׽:A=BA9?JA6׽RA=tI٘i)I9g@Y G JмJJJJpE&K YN^~?yս:GAoE77D 9)ůB[[@[,_~?[[[[[ZZ¸BZYY i¸=) ?мID?ȉ8 Hr2@))Hr2@Hr2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033722.123165 s, next control iter: 1743033722.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033722.523165 s.WI~,{^%AJ"J*J2J:JBJnJvJA(4@Ay4@A `~? A6A &"AAMcwNA"AZAbAjArAzAAAa :@A=dj sAf@AաAx=Al?A`IȿA Σ?AWϼ*A=9?2A@׽:A=BA=9?JA@׽RA=٘i)I9f@Y G JpϼJJJJpE&K Y^~?yFAoE{7{7٠ 9B)̯BE[[~@[W_~?[S[[[[ZZBZYY i) ļI7zD?ifx'1 3@))3@3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033722.563165 s, next control iter: 1743033722.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7221, header.stamp.nsec: 00 temperature: 13.387401* salinity: 33.391663, density: 1025.000000* values[0]: 0.692814F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033722.943165 s.[dWI~,O]^%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743033722.943280F (some fields omitted in printout)AzG5@AöE-5@A`~? ArA#&"AAYwNA"AZAbAjArAzAAAzLC :@A usA#f@AVMAϵ=Az?A XʿA?A *A9?2AUֽ:AX<BA9?JAUֽRAX<٘i)I9#f@Y G JJJJJpE&K Y%^~?yJKFAoE777o 9B)ӯBE[[p@[ _~?[[[[[ZZBZYY i) 3ҸIlD?i{( ~5@))~5@~5@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033722.963165 s, next control iter: 1743033723.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033723.363165 s.WI~,>^%AJ"J*J2J:J.1?BJ.1?nJ95vJA33335@A=#5@Ap_~? A AT&"AA NwNA"AZAbAjArAzAAAecOC09@AsAKe@AX.A+=Ad?@A'̿A[?AB*A9?2Aֽ:A>;<BA9?JAֽRA>; Y^~?y[EA<@ tDpES77 9)ٯB[[>@[_~?[엨[[[[ZZBZYY i) .I'^D?i瀿$ 7@))7@7@y_=ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033723.403165 s, next control iter: 1743033723.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7222&, header.stamp.nsec: 0&0 temperature: 13.387741&* salinity: 33.391663&, density: 1025.000000&* values[0]: 0.691301&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033723.783165 s.ZWI~,^%AAQ6@AҤ6@Ag_~? AA&"AAIBwNA"AZAbAjArAzAAAR;9@AXHrAwd@Ar<AqQq=A@A`iͿA 5?A*A79?2Ayֽ:ANi<BA79?JAyֽRANi<٘i)I9wd@Y G JC=JJJJpE&K Y^~?ylEApEb7ŧ7 9B)BE[[B"@[m^~?[揨[[[[ZZBZYY i) ތIPD?iy" 8@))8@8@.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033723.823165 s, next control iter: 1743033724.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033724.203165 s.WI~,  _%AJ"J*J2J:J0?BJ0?nJV95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743033724.203283F (some fields omitted in printout)Aףp=6@Aߡ(p6@A_~? AqAJ&"AA5wNA"AZAbAjArAzAAALPj9@Ap14rA$c@A.p<A,=A@A@ϿA ?A<Ҽ*A9?2A)vֽ:Am;BA9?JA)vֽRAm;٘i)I9c@Y G JzJJJJpE&K Yi^~?y~EA pE77/ 9)B[[Y @[Q^~?[[[[[ZZBZYY i) 땼ICD?i[o0  :@)) :@ :@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033724.223165 s, next control iter: 1743033724.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033724.623165 s.YWI~,e'_%AA)\6@AA%6@A_~? AA'&"AAz(wNA"AZAbAjArAzAAAC#9@AJ0brA c@AwS<A<A@A~пAx?A%*A9?2Ajֽ:AجɺBA9?JAjֽRAجɺ٘i)I9c@Y2 G JWüJJJEJpE&K Y*^~?yDApEj7Z7IJ 9B)BE[[( @[^~?[T[[[[ZZBZYY i) kII7D?icY ;@));@;@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033724.643165 s, next control iter: 1743033725.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7223 , header.stamp.nsec: 0 0 temperature: 13.388097 * salinity: 33.391693 , density: 1025.000000 * values[0]: 0.689651 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033725.043165 s.WI~,B_%AJ"J*J2J:J0?BJ0?nJ 95vJA{Ga7@A7G7@AM_~? A`AXr&"AAqwNA"AZAbAjArAzAAA.ň9@A[orAܑb@AKf;A ^;Ajh@AXѿA?A3{*A9?2A(nֽ:AEBA9?JA(nֽRAE٘i)I9b@Y G JJJJJpE&K Y^~?yQDApE77Z 9 B)BE[[ @[^~?[x[[[[ZZBZYY i) M}I8,D?iTM= )=@)))=@)=@WFYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033725.063165 s, next control iter: 1743033725.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033725.463165 s.ZWI~,]_%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033725.463283F (some fields omitted in printout)A7@A)嵲7@AH_~? AAf&"AA wNA"AZAbAjArAzAAA!yDk9@A"H:rA*8b@AA0A@AҿA ?A\ *A)9?2Ap=ֽ:A]!BA)9?JAp=ֽRA]!Y\?@y/ٓH`I<`[I?|"ŀ?}`?)\? I٘i)I98b@Y G JUJdGJJJpE&Kv> Y"x^~?y~\DA@pESI7SI7 9)B[[x)@[^~?[Xq[[[[ZZBZYY imz=) jI/!D?i8MW l>@))l>@l>@ )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033725.503165 s, next control iter: 1743033725.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7224, header.stamp.nsec: 00 temperature: 13.388373* salinity: 33.391701, density: 1025.000000* values[0]: 0.688476F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033725.883165 s.yWI~,Dx_%AJ"J*J2J:J?0?BJ?0?nJ85vJAQ88@A&:8@A_~? AܩA@&"AA&vNA"AZAbAjArAzAAA`nK9@AꬄbrA:b@A-(wAnAk@AgӿA[?A*A9?2Aֽ:AܸBA9?JAֽRAܸ٘i)I9b@Y G JSJJJJpE&K YXi^~?yvhDA pE77 9 B)BE[[9@[^~?[ j[[[[ZZBZYY ih=) WID?iC\O 2@@))2@@2@@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033725.903165 s, next control iter: 1743033726.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033726.303165 s.SWI~,jg_%AAq= ף8@AӾ8@A͸_~? A;թA$&"AAvNA"AZAbAjArAzAAAv#*9@AQbrA.a@AoxA1%AG @A@EԿAu(?A4:*A(9?2A]ֽ:A׼BA(9?JA]ֽRA׼٘i)I9a@Y G JOJJJJpE&K YZ^~?y osDA%pE{7{7 9 B)BE[[(@[^~?[b[[[[BZYY i) +EI D?i7` 8A@))8A@8A@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033726.343165 s, next control iter: 1743033726.703174 s, wait time: 0.360009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7225., header.stamp.nsec: 0.0 temperature: 13.388511.* salinity: 33.391716., density: 1025.000000.* values[0]: 0.687999.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033726.723165 s.WI~,H_%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072049< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033726.723274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\9@AD8@AW_~? AͩA&"AAvNA"AZAbAjArAzAAAd9@AD/lrAb@AMAȮ8AB @A\"տAl?A;*AS9?2A^ֽ:ABAS9?JA^ֽRA٘i)I9b@Y G J;JJJJpE&K YK^~?yg~DA*pE77 9B)BE[[@[u^~?[[[[[[BZYY i) h>2ID?i>*ٻ 8C@))8C@8C@y;=Ax*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033726.763165 s, next control iter: 1743033727.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743033727.143165 s.c/WI~,=*_%AAGz9@A=`9@Ah_~? AƩA?&"AA:vNA"AZAbAjArAzAAAS28@Ad;rA-b@AtU;ADN\A @A@%տA໹?A;*Ap9?2A)ֽ:AHBAp9?JA)ֽRAH٘i)I9-b@Y G J;JJJJpE&K Y<^~?y_DA0pE77j7E 9)B[[q@[sb^~?[?U[[[[BZYY i) {ISC?iiŻ ND@))ND@ND@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033727.163165 s, next control iter: 1743033727.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033727.563165 s.WI~,N _%AJ"J*J2J:JBJnJvJAffff9@A.R9@A_~? AA5&"AAζvNA"AZAbAjArAzAAA觼8@AyrAjb@A9V<A|zAmF@A1ֿA~?AL ,<*A9?2Atֽ:ABA9?JAtֽRAY3@C9@yfwzIdW<ٓH]mR?'f?k@9̤@I?tߊ??)3@ I٘i)I9jb@Y G J<JJJJpE&KGx> Y+^~?yXDA9@5pEj7Z7 9B)E[[@[eN^~?[N[[[[BZYY i|i=) I}C?i F8F@))F8F@F8F@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033727.603165 s, next control iter: 1743033727.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7226, header.stamp.nsec: 00 temperature: 13.388496* salinity: 33.391697, density: 1025.000000* values[0]: 0.688053F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033727.983165 s.WI~,_%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056909< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743033727.983311F (some fields omitted in printout)AQ:@AY7:@A_~? AAT&"AAvNA"AZAbAjArAzAAA8@AڂrA>b@ALy<AډA[@A׿A@A?A}[<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9b@Y G JA<JJJJpE&K Y^~?yQ2EA;pE77o 9)B[[@[9^~?[$H[[[[BZYY i) I elevatorAngleAction: 0.066115< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743033729.243300F (some fields omitted in printout)AGz;@Ak]hz;@A^_~? A-A&"AA&fvNA"AZAbAjArAzAAAn*78@AZxrA+d@A)@A%AO]@A ڿA@?A<*A-9?2Aս:A"BA-9?JAսRA"٘i)I9+d@Y G J*<JJJJpE&K YK]~?y<.FAKpEŧ770 9B)BE[[m@[]~?[5[[[[BZYY i) tIC?itBh oE))oEF*L@y2i=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033729.263165 s, next control iter: 1743033729.643190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743033729.663165 s.XI~,qj`%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7228, header.stamp.nsec: 00 temperature: 13.388215* salinity: 33.391720, density: 1025.000000* values[0]: 0.689344F (some fields omitted in printout)A<@A;@A"P_~? AAk&"AAMPvNA"AZAbAjArAzAAAn67@AUxrAd@AbhA 9A@AڿA@=?Aߎ<*A9?2Alս:A9BA9?JAlսRA9Yn@@y 4=ȀٓH_ͤ?G?@E ? ,?)n@ I٘i)I9d@Y9 G JV<JJJJqE&Kw> Y]~?y6FA@PpE77 9)B[[G@[]~?[#0[[[[BZYY i) CmIC?iN x|D))x|D=M@y&=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033729.683165 s, next control iter: 1743033730.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033730.083165 s.D!XI~,S`%AJ"J*J2J:JBJnJvJARk<@ABusQ<@A A_~? AAD&"AA9vNA"AZAbAjArAzAAAVn 7@AT rAZe@A:A8A$@A`wۿA`4?AYǴ<*AC9?2AFKֽ:AM BAC9?JAFKֽRAM ٘i)I9Ze@Y G J]<JJJJ qE&K Y]~?y0GAUpE777Z 9B)BE[[R@[]~?[*[[[[BZYY i) HIC?i݉w0 C))CO@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033730.103165 s, next control iter: 1743033730.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033730.503165 s.'XI~,L4`%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066115< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743033730.503285F (some fields omitted in printout)Ap= <@A-!<@A1_~? AtAl&"AA"vNA"AZAbAjArAzAAAE7@ArAe@AUAAS@A`AjܿA˭?A<*AZ9?2Aֽ:ABAZ9?JAֽRA٘i)I9e@Y G Jo<JJJJqE&K Y`]~?y)iGA[pE 9B)BE[[@[M]~?[)%[[[[BZYY i)  IC?i\ ; A))AʒP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033730.523165 s, next control iter: 1743033730.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7229, header.stamp.nsec: 00 temperature: 13.388005* salinity: 33.391720, density: 1025.000000* values[0]: 0.690423F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033730.923165 s.9.XI~,`%AJ"J*J2J:J0?BJ0?nJU95vJA(\B=@A(=@A!_~? AAi&"AA vNA"AZAbAjArAzAAAd%._7@Az rA"f@Aŝ <A<A@A .ݿA`b?AԪ<*A;9?2A׽:A>iBA;9?JA׽RA>i٘i)I9f@YK G J1<JJJJqE&K Y]~?yC#GA`pE7 9)B[[j.!@[]~?[[[[[BZYY i) ^FIC?itPʺ @))@R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033730.943165 s, next control iter: 1743033731.323182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033731.343165 s.<5XI~,`%AAHz=@A1=@A6_~? A̓A f&"AAVuNA"AZAbAjArAzAAAn0.7@A݅7rAg@AS~<AWA@A ݿA@?AL<*Aλ9?2A(׽:AXQBAλ9?JA(׽RAXQ٘i)I9g@Y G J<JJJJqE&K Yņ]~?y:HAepE{7j7 9B)BE[[j"@[ފ]~?[[[[[BZYY i) ৤IC?i Va 4>))4>|S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033731.363165 s, next control iter: 1743033731.743178 s, wait time: 0.380013 s&ņ]~?)&*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7230*, header.stamp.nsec: 0*0 temperature: 13.387786** salinity: 33.391731*, density: 1025.000000** values[0]: 0.691399*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033731.763165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ D;XI~,V`%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066115< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743033731.763293F (some fields omitted in printout)A>@A'+=@Ao_~? A}A&"AA=uNA"AZAbAjArAzAAAT. 6@A>asrA?g@AV<AmA&M@A޿A@?A*<*A9?2Aֽ:AGBA9?JAֽRAGYl7 @=@yjT.W<ٓHWi0?? %)A.?@ӊ? ?)l7 @ I٘i)I9g@Y G J<B=JH<JJJqE&K(x> Yuq]~?yHA=@kpE7777 9)ޯB[[6$@[{s]~?[[[[[BZYY i) KQ!:IC?i3 /=))/= T@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033731.803165 s, next control iter: 1743033732.163183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743033732.183165 s.BXI~, a%AAQ>@A k>@A@^~? AwA1W&"AAuNA"AZAbAjArAzAAA0> 6@A濪rA*'h@Ay;AhrAh@Ac`߿Au?Ae<*A%9?2Aֽ:A BA%9?JAֽRA ٘i)I9'h@YJ G Jg<C=JJJJ$qE&K Y(\]~?yIIAppE7)7E 9B)ܯBE[[n%@[[]~?[i[[[[BZYY i) u:I,C?i;Oll8 ;));bV@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033732.203165 s, next control iter: 1743033732.583194 s, wait time: 0.380029 s rAdjusting time to match Gazebo time: 1743033732.603165 s.84IXI~,&a%AJ"J*J2J:JBJnJvJA= ף>@AG>@A^~? AqA&"AA:uNA"AZAbAjArAzAAA[ elevatorAngleAction: 0.066115< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743033733.023320F (some fields omitted in printout)A(\?@A1 B?@A^~? AkA?&"AAVuNA"AZAbAjArAzAAA+U[6@AfUrA>i@A>rAA@A aA?Aǥ<*A9?2A^-ֽ:AaBA9?JA^-ֽRAa٘i)I9>i@Y G J<JJJJ/qE&K Y1]~?yIA{pE)7ŧ7p 9)֯B[[;(@[P,]~?[[[[[BZYY i) _;IC?is>: 8))8"DY@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033733.043165 s, next control iter: 1743033733.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033733.443165 s.6VXI~,:]\a%AJ"J*J2J:JBJnJvJAz?@AR(?@Af^~? A fA&"AAnuNA"AZAbAjArAzAAA+#6@ADi rAi@AojAAc @A@Ai{?A<*AE9?2A(Tֽ:AEBAE9?JA(TֽRAE٘i)I9i@YIG J<JJJJ4qE&K Y<]~?y-JApE77 9"B)ԯBڹE[[)@[b]~?[[[[[BZYY i) ;I}C?iCJ>s; am7))am7TZ@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033733.463165 s, next control iter: 1743033733.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7232, header.stamp.nsec: 00 temperature: 13.387381* salinity: 33.391739, density: 1025.000000* values[0]: 0.693328F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033733.863165 s.+]XI~,>wa%AA33333@@Aoc#@@A^~? Al`A&"AARuNA"AZAbAjArAzAAA4H| 5@AÅ6rA8Mj@A_ͻA7A^!@A A@'#?AB<*A9?2Axֽ:A¿BA9?JAxֽRA¿Y"@G!@yh6nλٓH s@j'?Mf?$c@#?yu?)"@ I٘i)I9Mj@YG J<B=J\U<JJJ:qE&Kx>  !9Y$]~? !9yJA!@pE7!9$B)ѯB׹E[[V+@[\~?[[[[[BZYY iF=)  ;IC?i x>; z5))z5; \@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033733.903165 s, next control iter: 1743033734.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033734.283165 s.4RdXI~,a%AJ"J*J2J:J1?BJ1?nJ;:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743033734.283301F (some fields omitted in printout)AQ@@AEƟ@@A^~? AZA&"AA86uNA"AZAbAjArAzAAA,65@ABDrAj@AL;AWPAt#@A`@bA$?A᳐<*A\9?2A ׽:A BA\9?JA ׽RA ٘i)I9j@YG J<C=JJJJ?qE&K Y\~?yJApE{7{70!9%B)ϯBԹE[[f,@[U\~?[[[[[BZYY i) ;IC?i>@; 4))4]@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033734.323165 s, next control iter: 1743033734.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7233., header.stamp.nsec: 0.0 temperature: 13.387197.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.694240.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033734.703165 s.ԺjXI~,a%AAףp= A@As/0+@@A/^~? AUA&"AAuNA"AZAbAjArAzAAAOJv5@A NbrA@k@AAa<A}AKk$@AqA` ?A<*A^9?2A:׽:A+BA^9?JA:׽RA+󼙘٘i)I9@k@Y-G J <B=JJJJDqE&K Y\~?yAKApE7777!9)˯B[[-@[\~?[+[[[[BZYY i) %;IC?iڴ>}g; &3))&3^@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033734.723165 s, next control iter: 1743033735.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033735.123165 s.=qXI~,va%AJ"J*J2J:J1?BJ1?nJu:5vJA)\uA@A̷>[A@Afl^~? AOPA^&"AA\tNA"AZAbAjArAzAAAHL:5@A%QsɒrAڰk@A2y<A#A"%@AA?A<*AQ9?2AE(׽:AqjBAQ9?JAE(׽RAqj٘i)I9k@YrG Jƅ<C=JJJJJqE&K Y\~?yKApE{7[ !9)B)йE[[s%/@[\~?[[[[[BZYY i) ]i; 1))1c`@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033735.143165 s, next control iter: 1743033735.523182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033735.543165 s.IxXI~,a%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743033735.543337F (some fields omitted in printout)A{GA@A,&6A@AFX^~? A0KA&"AA#tNA"AZAbAjArAzAAA* H4@A@7rA!l@AV <A˶A*'@APA_?Ak<*A9?2Atֽ:ABA9?JAtֽRA٘i)I9!l@YG J|<B=JJJJOqE&K Y˨\~?yKApEŧ7b7!9*B)ɯB͹E[[a0@[A\~?[[[[[BZYY i) l`; T0))T0a@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033735.583165 s, next control iter: 1743033735.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7234, header.stamp.nsec: 00 temperature: 13.387063* salinity: 33.391758, density: 1025.000000* values[0]: 0.695000F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033735.963165 s.w~XI~,a%AJ"J*J2J:JBJnJvJALB@A#2B@AC^~? A2FA&&"AAjtNA"AZAbAjArAzAAA['H.F4@AT*QrAΔl@AKw!AˊAA(@A9A`?A<*A9?2Ayֽ:AfBA9?JAyֽRAfY=@C(@yʊe!ٓH@L@c߿`?N?`U?.d+?)=@ I٘i)I9l@YG J܉<C=JJJJTqE&Kx> Y-\~?y@VLAC(@pE777!9)ůB[[1@[\~?[~[[[[BZYY i) $B@A /^~? AUAA&"AA4tNA"AZAbAjArAzAAAbVM4@A)rA m@AIAA])@AA`y?A<*A9?2A 4ֽ:A;*BA9?JA 4ֽRA;*٘i)I9 m@YFG J1<JJJJZqE&K Yw\~?yݧLApE77!9,B)ïBʹE[[6;3@[f\~?[[[[[BZYY i) 3 elevatorAngleAction: 0.076449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033736.803274F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #C@A* C@A^~? A<A&"AAtNA"AZAbAjArAzAAAGc@4@Aᣐ†rAm@AAA*@A*A`Z?A%<*Aݻ9?2A3ֽ:A BAݻ9?JA3ֽRA ٘i)I9m@YG J<JJJJ_qE&K Y^\~?y٧MApE{7j7!9-B)BǹE[[4@[M\~?[[[[[BZYY i) :CtNA"AZAbAjArAzAAAZYн3@AY:rAGn@A\ǪAAz-@A@rA?A%f<*A9?2A ֽ:Ax BA9?JA ֽRAx sI٘i)I9n@Y/G J!<JJJJjqE&K Y-\~?yЧMApEb7!!90B)BE[[?7@[I\~?[[[[[BZYY i) b elevatorAngleAction: 0.076449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033738.063285F (some fields omitted in printout)AfffffD@AQLD@A]~? A8/A&"AAtNA"AZAbAjArAzAAAKC0{3@A~rA, o@ANZ)<A$6A.@AA #?A–<*A9?2A2׽:A BA9?JA2׽RA Yk @.@y4)<ٓH*C`+ٿ$? z?&Y  J?1+??)k @ I٘i)I9 o@Y|G J <JGFJJJoqE&KKx> Y\~?yvͧ/NA.@pE7p%!92B)BE[[U8@[\~?[[[[[BZYY i) Cq elevatorAngleAction: 0.085635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743033739.323277F (some fields omitted in printout)J"J*J2J:JBJnJvJA\E@Aq!E@A^]~? A#A &"AAsNA"AZAbAjArAzAAAAtW2@Af2wrAXp@A@;A泛Am2@A A 35?A5<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9p@YkG J<JJJJqE&K Y![~?y§\OApEŧ7b700!94B)BE[[<@[T[~?[eݧ[[[[BZYY i) p YY[~?y+PAJ5@pE777[7!9)B[[-?@[p[~?[ڧ[[[[BZYY i) B elevatorAngleAction: 0.085635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743033740.583275F (some fields omitted in printout)ARF@AQnF@AO]~? AIA!&"AANsNA"AZAbAjArAzAAAp 1@AlprAIr@AeA7Ae6@AMA ϩ?A<*Aǟ9?2A:ֽ:A pBAǟ9?JA:ֽRA p٘i)I9Ir@YvG JIJ<JJJJqE&K Yuv[~?y PApE77:!96B)BE[[*|@@[h[~?[o٧[[[[BZYY i) !98B)BE[[oA@[sO[~?[rا[[[[BZYY i) k elevatorAngleAction: 0.085635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033741.843332F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.H@A!H@A]~? AAJu"&"AArNA"AZAbAjArAzAAA;-1@A^jrA|t@ABe<AȩA:@A oA`h?A۵<*A@9?2A;׽:AkBA@9?JA;׽RAk٘i)I9t@YG Jʹ<JJJJqE&K Y%[~?yQApEj7Z7E!9:B)BE[[XD@[ [~?[֧[[[[BZYY i) U Y+ [~?y7MRA;@pEZ7FI!9;B)BE[[5E@[[~?[w֧[[[[BZYY i) d?A=<*A9?2A)ֽ:AIBA9?JA)ֽRAI٘i)I9Ju@YJG Jt<JJJJqE&K YZ~?yhRApE77{7L!9=B)BE[[{F@[LZ~?[֧[[[[BZYY i) B elevatorAngleAction: 0.085635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743033743.103289F (some fields omitted in printout)A= ףpI@A&VI@AT\~? AA#&"AAsrNA"AZAbAjArAzAAAO[`"0@A]LLerAuu@AlOAHAc>@A@3UA?A<*Aa9?2A+@ֽ:ABAa9?JA+@ֽRA٘i)I9u@YG J|<JJJJqE&K YZ~?y4SA uDpE77qP!9)B[[1H@['Z~?[է[[[[BZYY i) v3B)BE[[uI@[0Z~?[է[[[[BZYY i) G}d%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033744.363286F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333J@AUOJ@Ams\~? A Aß#&"AAvrNA"AZAbAjArAzAAAj|4^~.@Aq4arA x@A'ARAJBB@AA!?A<*A9?2AIֽ:AsBA9?JAIֽRAsYK4@2QB@yWP(ٓH@(;?Һ?U%`w?@ |?)K4@ I٘i)I9 x@YG J"<J?&JJJqE&Kw> YZ~?yTAQB@ qE771[!9@B)BE[[#K@[qZ~?[O֧[[[[ZZZZ¸>BZYY i¸>竽) ~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033744.383165 s, next control iter: 1743033744.763191 s, wait time: 0.380026 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7243", header.stamp.nsec: 0"0 temperature: 13.385233"* salinity: 33.391735", density: 1025.000000"* values[0]: 0.704041"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033744.783165 s.V YI~,2d%AAQK@AO崧K@A/Z\~? AA#&"AAQqNA"AZAbAjArAzAAA-@AaIԟ`rAyx@A9A굽AC@AA@?A<*A~9?2Aֽ:ABA~9?JAֽRA٘i)I9x@YhG JU<JJJJqE&K YcZ~?y!UAqE77{7^!9AB){BE[[ Y4Y~?yTVAH@&qEm!9)dB[[5R@[ Z~?[٧[[[[ZZZZBZYY i{) j5vJA(\N@AHM@AȦ[~? AFA$&"AApNA"AZAbAjArAzAAAR})@AfP9[rAV~}@AkWA7qE)7w!9GB)[BE[[=U@[Y~?[ݧ[[[[ZZZZBZYY i̘) *r5vJAffffN@A RN@Ar[~? A5A$&"AAc~pNA"AZAbAjArAzAAAlaq&k(@AnZrA}@A ;Aj=ArBA !nAH?Adu:*AP9?2Aֽ:A'3<BAP9?JAֽRA'3JJJqE&Kv> YeY~?yzWABAqE77!9HB)|E[[;[X@[̔Y~?[[[[[BZYY ik) Ke%AAQO@A7O@AX[~? AA$&"AAVpNA"AZAbAjArAzAAAq'@A lZrA}@Are<AU4=AtAAlAW?A5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743033749.403327F (some fields omitted in printout)A ףpO@AtZO@A>[~? AA$&"AA/pNA"AZAbAjArAzAAA-+l/'@A3U]ZrA}@Ai<A[=AAAOA(p?A *Ak:?2A_½:A=BAk:?JA_½RA=٘i)I9}@Y`G JJJJJrE&K Y-Y~?yͦWALqEŧ7b71!9)\BvE[[XZ@[>fY~?[[[[[BZYY i) t(te%AA\(P@AP@A$[~? AA$&"AApNA"AZAbAjArAzAAA|rT&@Awn^ZrA a}@Ai;A_x=AP@AWAt{A;*Avq:?2A:Ž:A׷=BAvq:?JA:ŽRA׷=٘i)I9a}@Y7G J "JJJJrE&K YgY~?yVAQqE7lj!9)^B[[`\@[_OY~?[[[[[BZYY i) rA@A`=A4d*Aq:?2AcȽ:Ak =BAq:?JAcȽRAk =٘i)I9 }@YG JMOJJJJ rE&K Y=X~?yVAWqEb7\!9JB)bBsE[[3]@[8Y~?[@[[[[BZYY i)  YqX~?ydVA=\qE77!9KB)fBpE[[g^@[?"Y~?[[[[[BZYY i$l) ~k;I"F?i(@9< 7t))7tU@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033750.683165 s, next control iter: 1743033751.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033751.083165 s.DqYI~,Re%AJ"J*J2J:JP5?BJP5?nJ>5vJARkQ@ApQQ@AZ~? AA$&"AAqoNA"AZAbAjArAzAAA$$@A)`ZrA&/|@AsgA=AN<A:ABAmÒ*A)i:?2A: ν:A.=BA)i:?JA: νRA.=٘i)I9/|@Y}G JaJJJJrE&K YX~?yVAbqE77!9)jBmE[["_@[ Y~?[[[[[BZYY i) ;I6 G?ip,@2< A))A @ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033751.103165 s, next control iter: 1743033751.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033751.503165 s.wYI~,L4e%AAp= Q@AeȱQ@AZ~? AFAH$&"AAioNA"AZAbAjArAzAAAU$U$@A:[rA{@A(AEx=A;AwA`cAw*Ah:?2ARϽ:A(=BAh:?JARϽRA(=٘i)I9{@Y-G JEJJJJrE&K YڡX~?y5UAgqE77!9LB)nBjE[[`@[X~?[[[[[BZYY i) ";I /G?iY0@b<  ")) "X@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033751.523165 s, next control iter: 1743033751.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7250, header.stamp.nsec: 00 temperature: 13.384653* salinity: 33.391697, density: 1025.000000* values[0]: 0.707444F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033751.923165 s.8~YI~,e%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033751.923290F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\BR@AMy(R@AZ~? AAւ$&"AABoNA"AZAbAjArAzAAAB @I{#@A0J/[rA{@A:A(E=AJ9AmAϲAf*Ah:?2Afѽ:A#=BAh:?JAfѽRA#=٘i)I9{@YG JNJJJJ!rE&K YX~?yĮ@UAlqE77{7!9EB)lBgE[[$a@[SX~?[a[[[[BZYY i) ~;IUG?i4@y;< 7))7@y`)m٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033751.943165 s, next control iter: 1743033752.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033752.343165 s. Y OX~?yŲwTA7wqEݢ!9)uBbE[[Td@[X~?[#[[[[BZYY i) );IQG?i=<@<  )) fL@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033752.783165 s, next control iter: 1743033753.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033753.183165 s.˒YI~,cKf%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743033753.183263F (some fields omitted in printout)AQS@Aq kS@ATZ~? A!AJ$&"AAnNA"AZAbAjArAzAAA !@A9]rA$Gy@A-<Ae=AD5A@)@A A*Ak:?2AԽ:A/=BAk:?JAԽRA/=٘i)I9Gy@YG JԻJJJJ1rE&K Y4X~?y6TA|qEZ7SI7r!9)zB[[e@[uX~?[2[[[[BZYY iw) :I}G?i?@)< G))GI@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033753.223165 s, next control iter: 1743033753.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033753.603165 s.84YI~,ff%AJ"J*J2J:J4?BJ4?nJP=5vJA= ףS@AiS@A5;Z~? AA2$&"AAnNA"AZAbAjArAzAAA !@Ai^rAx@A:A/!=Am4A+A*A;*Ak:?2A ս:A$<BAk:?JA սRA$<٘i)I9x@Y[G J9JJJJ6rE&K YX~?ySAqE{7j7!9DB)B_E[[f@[X~?[\[[[[BZYY i) >D:IwG?i7C@A< /Z))/ZOy@ʪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033753.643165 s, next control iter: 1743033754.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7252 , header.stamp.nsec: 0 0 temperature: 13.385225 * salinity: 33.391674 , density: 1025.000000 * values[0]: 0.705247 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033754.023165 s.ZYI~,|f%AA(\T@A}BT@A!Z~? AA$&"AA~nNA"AZAbAjArAzAAA"m @AkX_rAx@A|]A=A-3A`WA¿AUL*Ah:?2Aֽ:A<BAh:?JAֽRA<rI٘i)I9x@YG J2JJJJSAqE77{7!9)B\E[[g@[+wX~?[[[[[BZYY i) O/IS$H?iHG@`< ))\@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033754.063165 s, next control iter: 1743033754.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033754.443165 s.6æYI~,:]f%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033754.443306F (some fields omitted in printout)AzT@ATT@A Z~? AA#&"AAWnNA"AZAbAjArAzAAAsbs @A ~[a`rAbw@AUjAϬ=A1A LA ĿAp*Ae:?2A,ֽ:AXD<BAe:?JA,ֽRAXD<٘i)I9w@YG JB=JJJJArE&K YW~?yRAqES7S72!9)BYE[[i@[cX~?[[[[[BZYY i) 2II'PH?iK@c=  )) X@y/tyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033754.483165 s, next control iter: 1743033754.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7253, header.stamp.nsec: 00 temperature: 13.385474* salinity: 33.391670, density: 1025.000000* values[0]: 0.704166F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033754.863165 s.+YI~,>f%AA33333U@A/h!U@AY~? AA#&"AAd1nNA"AZAbAjArAzAAAgkߘq@AarAw@AHA2=Aj0A A`ƿAt*Aa:?2A׽:A<BAa:?JA׽RA YqW~?yֿyRAx0qEŧ7b7Ǵ!9)BVE[[,j@[NX~?[y [[[[BZYY i) ~>I|H?icN@r= G_))G_뿩 8@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033754.903165 s, next control iter: 1743033755.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033755.283165 s.8RYI~,f%AJ"J*J2J:JBJnJvJAQU@AI+U@A]Y~? AAq#&"AA nNA"AZAbAjArAzAAAuB?@ASͽbrAv@AwAI=A;$/AA:aȿAX*A^:?2Aֽ:A<BA^:?JAֽRA<٘i)I9v@YG JJJJJLrE&K YBW~?y#çRAqE]!9)BSE[[Uk@[:X~?[ [[[[BZYY i) XCIH?imQ@=  )) 鿩̎@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033755.303165 s, next control iter: 1743033755.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 72542, header.stamp.nsec: 020 temperature: 13.3857172* salinity: 33.3916972, density: 1025.0000002* values[0]: 0.7032302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033755.703165 s.ںYI~,!f%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033755.703286F (some fields omitted in printout)Aףp= V@AH5U@A9Y~? AA#&"AAmNA"AZAbAjArAzAAA_#@Au/drA!v@A~;A=A-A@ A)5ʿADc*AbZ:?2Aֽ:A<BAbZ:?JAֽRA<٘i)I9!v@YG J B=JJJJQrE&K Y W~?yqƧQAqE7!9)B[[~l@[h'X~?[[[[[BZYY i) mIYH?iT@$:= w))w濩=a@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033755.723165 s, next control iter: 1743033756.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033756.123165 s.;YI~,mg%AJ"J*J2J:J3?BJ3?nJ<5vJA)\uV@A([V@A:Y~? AAY#&"AA¾mNA"AZAbAjArAzAAADC @A_e}erAAu@A^<AhR=A,AzAp̿A@V*AV:?2Aֽ:A<BAV:?JAֽRA<٘i)I9u@YG JC=JJJJWrE&K YyW~?yɧeQAqEZ7Z7!9CB)BPE[[Τm@[3X~?[[[[[BZYY ibi) ǟII?iX@m = m))m俩b@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033756.143165 s, next control iter: 1743033756.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033756.543165 s.IYI~,"g%AA{GV@A ~1V@AdY~? AA+#&"AAmNA"AZAbAjArAzAAAQڱ@A;iKpgrA*u@AZ<A=AH+A TAͿAN*AJS:?2A9ֽ:Ac<BAJS:?JA9ֽRAc<٘i)I9*u@Y7G JؑJJJEJ\rE&K Y_W~?y ͧ QAqEŧ7ŧ7!9)BME[[Yn@[TX~?[h[[[[BZYY i) ؾII?i\@W = $))$⿩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033756.583165 s, next control iter: 1743033756.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7255, header.stamp.nsec: 00 temperature: 13.385948* salinity: 33.391666, density: 1025.000000* values[0]: 0.702326F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033756.963165 s.{YI~,=g%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075396< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743033756.963288F (some fields omitted in printout)J"J*J2J:JBJnJvJALW@Aȳ˷2W@AqY~? A6 A%"&"AAxsmNA"AZAbAjArAzAAAXWe@A$J+MhrAt@A9;A=A5)A +AȬϿAŇ*AK:?2A\<׽:A<BAK:?JA\<׽RA YFW~?y*ѧPA)qE7777!9)BKE[[o@[}W~?[i[[[[BZYY i) A޻Ii=_@= ߿))߿t@ͳYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033757.003165 s, next control iter: 1743033757.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743033757.383165 s.YI~,Xg%AAQW@ACW@A?YY~? AA$"&"AA7NmNA"AZAbAjArAzAAAA8]@AæSjrAEt@ATAA=AO(A7ANпA)*AD:?2AÔ׽:A<<BAD:?JAÔ׽RA<<٘i)I9Et@YG JJJJJgrE&K Y-W~?yIէYPAqE77H!9BB)BHE[[Oq@[W~?[ [[[[BZYY i) Iib@٦= ߈ݿ))߈ݿ@yNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033757.423165 s, next control iter: 1743033757.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7256", header.stamp.nsec: 0"0 temperature: 13.386167"* salinity: 33.391670", density: 1025.000000"* values[0]: 0.701477"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033757.803165 s.{AYI~,gsg%AJ"J*J2J:JBJnJvJAq= #X@A X@A@Y~? AA"&"AA@)mNA"AZAbAjArAzAAA?$3I7@A`!lrAFs@Aq9MA=A@'A@&A5ѿAI}*A+=:?2A,׽:A<BA+=:?JA,׽RA<٘i)I9s@YjG JJJJJlrE&K YW~?yg٧PAqE77!9)B[[ YOV~?yNAc#qEŧ7ŧ7!9AB)B?E[[u@[W~?[1[[[[BZYY i) `=Iin@e= nԿ))nԿV@nªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033759.083165 s, next control iter: 1743033759.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033759.483165 s.J "J *J 2J :J H3?BJ H3?nJ ;5vJ y_YI~,g%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075396< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743033759.483265F (some fields omitted in printout)AY@AԷY@AX~? ALA!&"AAlNA"AZAbAjArAzAAAc@ض@AnOEtrAr@A7<A=AU""AAտA]*A":?2Aֽ:A9 =BA":?JAֽRA9 =٘i)I9r@YUG J JJJJrE&K YҳV~?ylNAqE7772!9)B[[v@[W~?[?6[[[[BZYY i) LIi?q@f= S(ҿ))S(ҿƅ@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033759.503165 s, next control iter: 1743033759.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7258, header.stamp.nsec: 00 temperature: 13.386583* salinity: 33.391636, density: 1025.000000* values[0]: 0.699920F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033759.903165 s.YI~,g%AA ףp=Z@Ab1Z#Z@AX~? A"AaG!&"AA1ulNA"AZAbAjArAzAAA?@AzvrAaq@A]m<AH=A AAտAՆ*AO:?2A~ֽ:AT =BAO:?JA~ֽRAT =٘i)I9q@YG J昼JJJJrE&K YSV~?yP6NAqE77j7!9)B=E[[5w@[*sW~?[:[[[[BZYY i) 4\Ii t@== Ͽ))Ͽ@;ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033759.923165 s, next control iter: 1743033760.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033760.323165 s.wZI~,)h%AJ"J*J2J:JBJnJvJA\Z@AmZ@AϳX~? A%A &"AA;RlNA"AZAbAjArAzAAAV3Cp@Ap\ՄV~?)>4 rAdjusting time to match Gazebo time: 1743033760.743165 s.#W ZI~,/h%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743033760.743303F (some fields omitted in printout)AGz[@A'dZ@A"X~? A)Ae &"AA/lNA"AZAbAjArAzAAA3\2 @AÂUP{rAp@A_ :Ay=Ay*ATA_׿A *A:?2A U׽:A =BA:?JA U׽RA =٘i)I9p@YgG JDJJJJrE&K YWmV~?yxMAqEŧ7b7!9)B7E[['z@[RW~?[FD[[[[BZYY i)  {Ii{@ = g˿))g˿5@0ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033760.763165 s, next control iter: 1743033761.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033761.163165 s.w}ZI~,qJh%AJ"J*J2J:JBJnJvJA[@A`5e[@AX~? A-A%b &"AA| lNA"AZAbAjArAzAAA|OD @A~}rA; p@ARAs=A;A{A?zؿA *A :?2A׽:A =BA :?JA׽RA =Y=g@y=ٓH`g? h3|T`I㫿aE*?)=g@ I٘i)I9 p@YG JSJJ<JJJrE&Kx> YWV~?yMAqE7{7!9)B[[H{@[BW~?[$I[[[[BZYY i) ]Ii|@)!= %ɿ))%ɿ[Ɩ@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033761.183165 s, next control iter: 1743033761.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033761.583165 s.ZI~,Reh%AAR[@AL6l[@ApX~? A@2A &"AAkNA"AZAbAjArAzAAA>zp@A0Be srAo@AbjAg=A|A+A@_KٿAʛ*A:?2A<׽:AP =BA:?JA<׽RAP =٘i)I9o@YG JkJJJJrE&K YAV~?yOLAqEb7b7!9?B)ïB4E[[h|@[;3W~?[N[[[[BZYY i) oIi@7#= Kƿ))KƿHV@yĬԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033761.603165 s, next control iter: 1743033761.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7260, header.stamp.nsec: 00 temperature: 13.387055* salinity: 33.391621, density: 1025.000000* values[0]: 0.698074F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033762.003165 s.{ ZI~,Y4h%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033762.003298F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W\@At<\@AZX~? A6AU&"AAlkNA"AZAbAjArAzAAAbE @Aڤ6%rAo@A?AYY=A1A`QA ڿA+ʡ*AS9?2Ak׽:AFU=BAS9?JAk׽RAFU=٘i)I9o@YwG JJJJJrE&K Y ,V~?y FLAqEŧ77!9>B)ƯB0E[[}@[#W~?[S[[[[BZYY i) 8Iì@$= wĿ))wĿ@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033762.043165 s, next control iter: 1743033762.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033762.423165 s.u&ZI~,h%AA(\\@AKy\@ABEX~? A8;Ac&"AAkNA"AZAbAjArAzAAABԕ@A7rAwn@A+/?A͡=A-AIAڿA*A9?2A׽:A=BA9?JA׽RA=٘i)I9wn@Y#G JJJJJrE&K YHV~?yKAqEb7H!9?B)˯B1E[[~@[W~?[#X[[[[BZYY i) țIiF@p&= m¿))m¿pt@[ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033762.463165 s, next control iter: 1743033762.823179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7261, header.stamp.nsec: 00 temperature: 13.387307* salinity: 33.391609, density: 1025.000000* values[0]: 0.697148F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033762.843165 s.,ZI~,h%AJ"J*J2J:JBJnJvJAHz.]@A]@A0X~? A?A &"AA!kNA"AZAbAjArAzAAAQB@AUȈrAkm@ALg;A=AA4A@̢ۿAڴ*Al9?2Aʜֽ:AN=BAl9?JAʜֽRAN=٘i)I9m@YG JGB=JJJJrE&K YV~?y#zKA vDqE)7ŧ7!9>B)ϯB.E[[ @[W~?[A][[[[BZYY i) YIi@(= c5))c5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033762.863165 s, next control iter: 1743033763.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033763.263165 s.4ZI~,h%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033763.263281F (some fields omitted in printout)A]@A}ƅ]@AX~? ADA4&"AA,ikNA"AZAbAjArAzAAA+=G@ACrAWIm@AXc<AV=AiA >AjdܿADɼ*A9?2Apֽ:AVn=BA9?JApֽRAVn=Ytm@Wy.=amd<ٓHc?`X>@3`H} Шt??)tm@ I٘i)I9Im@YkG JC=J<JJJrE&K^x> YU~?yf KAWqE77s!9)ӯB+E[[}o@[;V~?[{b[[[[BZYY i) Ii@ )= ))x@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033763.283165 s, next control iter: 1743033763.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7262., header.stamp.nsec: 0.0 temperature: 13.387535.* salinity: 33.391590., density: 1025.000000.* values[0]: 0.696117.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033763.683165 s.l:ZI~,Zh%AJ"J*J2J:JBJnJvJAQ^@A>[]@AX~? AIAN&"AAIkNA"AZAbAjArAzAAAɧ,8H?A%rAƨl@AeV<A`=AA@mA`$ݿA@*A9?2A\ֽ:A}=BA9?JA\ֽRA}=٘i)I9l@Y G J2JJJJrE&K  "9YU~? "9y"JArEj7j7"9)دB[[@[:V~?[g[[[[BZYY i)  Ii@= += C))C @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033763.683165 s, next control iter: 1743033764.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743033764.103165 s.AZI~,Úi%AA= ףp^@A&V^@AAW~? ANAL&"AA*kNA"AZAbAjArAzAAAƟ@q?AHu בrAl@A;A#=AAA`ݿAY¼*A89?2ADֽ:Az=BA89?JADֽRAz=٘i)I9l@YG J'¼JJJJrE&K YU~?y((JArE777"9=B)ݯB(E[[7@[V~?[m[[[[BZYY i) hIiÆ@V,= ))2@OYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033764.123165 s, next control iter: 1743033764.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033764.523165 s.GZI~J"J*J,{!i%A2J:J2?BJ2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033764.523299F (some fields omitted in printout)A(^@AKr^@AUW~? ASA &"AA> kNA"AZAbAjArAzAAAy?ArAbk@AoܥAK=A1eAA޿A¼*A9?2AgQ׽:A=BA9?JAgQ׽RA=٘i)I9bk@YBG J¼B=JJJJrE&K YDU~?y3/IA rE3"9)B[[@[>V~?[r[[[[BZYY i) Ii@-.= +P))+P;@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033764.563165 s, next control iter: 1743033764.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7263, header.stamp.nsec: 00 temperature: 13.387829* salinity: 33.391582, density: 1025.000000* values[0]: 0.694978F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033764.943165 s.ZdNZI~,J]Wi%AJ"J*J2J:JBJnJvJA3333_@A_@AW~? A^A'&"AAjNA"AZAbAjArAzAAAa?AXrAj@AcAF=A;A)AADaǼ*AJ9?2Ab׽:A=BAJ9?JAb׽RA=YHt@yA=qdٓH } G?""|}!!r?)Ht@ I٘i)I9j@YyG JżJ]5<JJJrE&Kx> Y͋U~?yR<HArE777^"9.B)ݯB#E[[4@[V~?[}[[[[BZYY i) WϼIi*@0= g岿))g岿V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033765.403165 s, next control iter: 1743033765.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7264&, header.stamp.nsec: 0&0 temperature: 13.388097&* salinity: 33.391590&, density: 1025.000000&* values[0]: 0.693818&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033765.783165 s._[ZI~,ri%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033765.783289F (some fields omitted in printout)AQ`@A# `@AW~? AKdAL&"AA jNA"AZAbAjArAzAAA>I?A`ŋFrAni@AL>A=ز=AxA`A y_Aͼ*A9?2A׽:A=BA9?JA׽RA=٘i)I9ni@YG J%ʼJJJJrE&K Y&zU~?y.CYHArE77"9)B[[@[-V~?[[[[[BZYY i) ּIi@1= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033765.823165 s, next control iter: 1743033766.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033766.203165 s.cZI~,i%AJ"J*J2J:JBJnJvJAףp=`@A&p`@Ah@A/;Aj=A: A~AAF[ռ*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9h@Y G J1ѼJJJJrE&K Y}hU~?y JGA#rEb7"9-B)B E[[O@[!V~?[ň[[[[BZYY i) .ݼIi@d3= {)){q@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033766.243165 s, next control iter: 1743033766.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033766.623165 s.SiZI~,Li%AA)\`@AӁ`@A"W~? AoAn&"AA{jNA"AZAbAjArAzAAA`*ӈr?A^rA h@AΑ=<Aϴ=A3 A'A Axۼ*A89?2ARHֽ:A=BA89?JARHֽRA=٘i)I9 h@Y8 G JNؼJJJJrE&K YVU~?yPkGA(rE777"9.B)B!E[[ۄ@[oV~?[x[[[[ZZ¸BZYY i¸Õ=) ѼIi@4= H))H@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033766.663165 s, next control iter: 1743033767.023176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7265, header.stamp.nsec: 00 temperature: 13.388397* salinity: 33.391575, density: 1025.000000* values[0]: 0.692608F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033767.043165 s.pZI~,i%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033767.043284F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gaa@Aޏ/Ga@AjnW~? AuA&"AA`jNA"AZAbAjArAzAAA %01}?ATFfrAOg@Ak<A=AU A߿A ZAD޼*A9?2AHֽ:Ar =BA9?JAHֽRAr =٘i)I9Og@Y G JݼJJJJrE&K Y.EU~?yWFA-rE{7{7"9)BE[[g@[V~?[4[[[[ZZBZYY i) `żIib@@6= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033767.083165 s, next control iter: 1743033767.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033767.463165 s.UwZI~,i%AAa@AWдIJa@A]W~? A{A&"AA=FjNA"AZAbAjArAzAAA/ޅƿAIGKrA<ٓH@T@?@ܚ<Ri5Űf?@v?)cz@ I٘i)I9f@YK G JbB=JJJJrE&Kx> Y5U~?y%_FAM 3rE77I "9-B)B[[@[{V~?[ [[[[ZZBZYY i) ߹IiΎ@r6= 䧿))䧿@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033767.503165 s, next control iter: 1743033767.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7266, header.stamp.nsec: 00 temperature: 13.388722* salinity: 33.391560, density: 1025.000000* values[0]: 0.691301F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033767.883165 s.y}ZI~,Mi%AJ"J*J2J:JBJnJvJAQ8b@A[kBb@A+LW~? AׁA&"AAF,jNA"AZAbAjArAzAAA8zE`ؿAy?rAYe@A}帹A=AXA`j%޿A@]A*A9?2A1ֽ:A<BA9?JA1ֽRA<٘i)I9e@Y G JC=JJJJrE&K Y&U~?yf FA8rEb77#"9)BE[[I@[HpV~?[꟨[[[[ZZBZYY i) Iij@ܒ7= [))[D@y=#ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033767.923165 s, next control iter: 1743033768.283181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033768.303165 s.TZI~,ogj%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743033768.303290F (some fields omitted in printout)Aq= ףb@Ad‰b@A;W~? AA&"AAjNA"AZAbAjArAzAAAI~OAԥִrA2d@A*AOo=AjAgݿAGA(9*A9?2Aoֽ:AU<BA9?JAoֽRAU<٘i)I9d@YE G J JJJJrE&K Y.U~?ymEA=rE7s'"9)B[[ @[eV~?[֥[[[[ZZBZYY i) Ii5@Y8= ;));/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033768.323165 s, next control iter: 1743033768.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7267., header.stamp.nsec: 0.0 temperature: 13.389093.* salinity: 33.391552., density: 1025.000000.* values[0]: 0.689763.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033768.723165 s.ZI~,H.j%AJ"J*J2J:JBJnJvJA(\c@A3iSb@A+W~? AjAR&"AA.iNA"AZAbAjArAzAAAWiiA=rA=d@AzAJ-,=A ZA@ ܿA AǼ*A.9?2A ֽ:A@ʖ;BA.9?JA ֽRA@ʖ;٘i)I9d@Y G JܼB=JJJJrE&K YU~?yKu$EACrE77 +"9) BE[[@[[V~?[̫[[[[ZZBZYY i) Ii/@9= KQ))KQ@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033768.743165 s, next control iter: 1743033769.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033769.143165 s.X/ZI~,*Ij%AAGzc@AX`c@AW~? AڔA&"AAiNA"AZAbAjArAzAAAKZA(c,rAc@A ,LA<AA xۿA@Ae*A9?2Aֽ:AEBA9?JAֽRAE٘i)I9c@Yv G J!C=JJJJrE&K YT~?y|DAHrE{7Z7."9)B[[$@[/RV~?[ʱ[[[[ZZBZYY i) 'IiW@P;= #))#F@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033769.163165 s, next control iter: 1743033769.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033769.563165 s.ZI~,c dj%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743033769.563301F (some fields omitted in printout)Affffc@AmXSYc@A W~? AdA"&"AAiNA"AZAbAjArAzAAAPUA=: YT~?yDAMrEb7742"9)BE[[@[HV~?[ᷨ[[[[ZZBZYY iK=) NIi@;= _))_񜿩ӡ@rYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033769.603165 s, next control iter: 1743033769.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7268, header.stamp.nsec: 00 temperature: 13.389364* salinity: 33.391560, density: 1025.000000* values[0]: 0.688552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033769.983165 s.ZI~,~j%AAQd@A7d@AV~? AAo&"AAȳiNA"AZAbAjArAzAAAlRA`rAb@A>@;AAwAUڿAmAE+7*A49?2Awֽ:ABA49?JAwֽRA٘i)I9b@Y G JaJJJJsE&K YT~?yeDASrE{7{75"9)B[[=@[?V~?[[[[[ZZBZYY it=) lIi@0<= 󿚿))󿚿_@H)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033770.003165 s, next control iter: 1743033770.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033770.403165 s.&ZI~,͙j%AJ"J*J2J:J(0?BJ(0?nJ85vJA ףpd@ArZd@AlV~? AA &"AAiNA"AZAbAjArAzAAAg AcKtrAgb@A _<AD׭A3(AٿAAŻ*AG9?2Aֽ:AţBAG9?JAֽRAţ٘i)I9gb@Y G JJJJJ sE&K YT~?yADAXrE77^9"9.B)BE[[ ʉ@[6V~?[/Ĩ[[[[ZZBZYY i) 2?YIi@<= K))K@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033770.443165 s, next control iter: 1743033770.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7269", header.stamp.nsec: 0"0 temperature: 13.389552"* salinity: 33.391525", density: 1025.000000"* values[0]: 0.687868"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033770.823165 s.ZI~,6j%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033770.823303F (some fields omitted in printout)A\(e@Ae@A{V~? AAΛ&"AA"iNA"AZAbAjArAzAAA)p,>A[rAdKb@A1 O<A AA ؿA`8Aٹ*A:9?2Aֽ:AjȼBA:9?JAֽRAjȼ٘i)I9Kb@Y G JJJJJsE&K YT~?yDA^rE{7j7<"9-B)E[[U@[.V~?[cʨ[[[[BZYY i) EIiq@/>= _))_w@y"=/7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033770.843165 s, next control iter: 1743033771.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033771.243165 s.ZI~,ij%AJ"J*J2J:J0?BJ0?nJ85vJAGze@A,fze@AV~? AzA&"AAPsiNA"AZAbAjArAzAAA眄XA;B*rAOb@AĜ;Al)6A%A`j׿A)3AX;*A9?2Aֽ:A?BA9?JAֽRA?鼙٘i)I9Ob@Y G JF+:JJJJsE&K YT~?yuDAcrE7{7@"9)[[b@[&V~?[Ш[[[[BZYY i) 1Iim@D?= 1))1]@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033771.263165 s, next control iter: 1743033771.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033771.663165 s.ZI~,qj%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7270, header.stamp.nsec: 00 temperature: 13.389575* salinity: 33.391506, density: 1025.000000* values[0]: 0.687752F (some fields omitted in printout)Af@Ah$e@AV~? AwAL&"AA,_iNA"AZAbAjArAzAAAL6LAEAC!nrATtb@AzAr9\AAl׿AoA,;*A/9?2A&Eֽ:ABA/9?JA&EֽRAY@y8\ٓH.׿?|?;׿`~? ? Hw?)@ I٘i)I9tb@Y G J;JJJJsE&Kw> YӭT~?y1DAhrE)7ŧ7D"9,B)BE[[m@[V~?[֨[[[[BZYY ig=) 6!Ii@^?= '))'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033771.683165 s, next control iter: 1743033772.063185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743033772.083165 s.DZI~, Sk%AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033772.083289F (some fields omitted in printout)ARkf@AnQf@A\V~? AĩA!&"AAKiNA"AZAbAjArAzAAA^GOuAArAеb@A\A0{AAGֿAAk=<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9b@Y G J<JJJJ#sE&K YT~?yg EAnrE7777G"9.B)BE[[@[V~?[6ݨ[[[[BZYY i) ZIiĕ@r?= ԏ))ԏ@[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033772.103165 s, next control iter: 1743033772.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033772.503165 s.ZI~,P4 k%AAp= f@A%/f@A=V~? A˩Amz&"AA8iNA"AZAbAjArAzAAAaA%rAc@A|hAA{AoտAYAZx<*A9?2A#ֽ:ABA9?JA#ֽRA٘i)I9c@Y2 G JUZ<JJJJ(sE&K YPT~?ySEAsrEŧ7b7IK"9)B[[;@[V~?[[[[[BZYY i=) Ii6@=F@= ))6@Ϻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033772.543165 s, next control iter: 1743033772.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7271, header.stamp.nsec: 00 temperature: 13.389486* salinity: 33.391506, density: 1025.000000* values[0]: 0.688211F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033772.923165 s.=ZI~,;k%AJ"J*J2J:J.0?BJ.0?nJ85vJA(\Bg@Atx(g@AV~? AҩA9&"AA&iNA"AZAbAjArAzAAAUAKmrAÁc@AAYAA`ԿAAM<*Aٵ9?2A*zֽ:A&BAٵ9?JA*zֽRA&٘i)I9c@Yv G J<JJJJ.sE&K YT~?yĨEAxrE7)7N"9-B)BE[[{@[ V~?[[[[[BZYY i) Iiז@A= y))yv1@yg=u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033772.963165 s, next control iter: 1743033773.323181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033773.343165 s. elevatorAngleAction: 0.065946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743033773.343291F (some fields omitted in printout)AHzg@A2Vg@AiV~? A2کA`&"AAiNA"AZAbAjArAzAAA1S#A2YrAUc@AC;AKWA;A@ӿANA <*A9?2A7ֽ:A BA9?JA7ֽRA ٘i)I9c@Y G J<JJJJ3sE&K Ÿ́T~?y ͨEA~rE{7{7tR"9) B[[k@[V~?[T[[[[BZYY i) i+Ii@B= M))Mf@y=v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033773.363165 s, next control iter: 1743033773.743180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7272*, header.stamp.nsec: 0*0 temperature: 13.389324** salinity: 33.391476*, density: 1025.000000** values[0]: 0.689126*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033773.763165 s.:ZI~,,pk%AJ"J*J2J:Jj0?BJj0?nJ85vJAh@ADg@AV~? AA&"AAiNA"AZAbAjArAzAAAغ&Ac urA3d@A"C<Af͙AlA!ҿAAi<*A%9?2A&׽:A&F BA%9?JA&׽RA&F Yp*@dyʙC<ٓHSп ?@mM? i%п@bS?4?0d?T?)p*@ I٘i)I9d@Y G J<JPJJJ8sE&K]x> YI}T~?yըNFArE7)7 V"9.B) BE[[{%@[U~?[[[[[BZYY i) Ii@A= !))!vG@I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033773.803165 s, next control iter: 1743033774.163182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743033774.183165 s.ZI~,sk%AAQh@A΍ kh@AV~? AAA&"AA$hNA"AZAbAjArAzAAA6+|A4rAe@A?n<A꛽AfAѿA@رAKx<*A9?2AS$׽:A BA9?JAS$׽RA ٘i)I9e@Yc G J<JJJJ>sE&K YuT~?yިFArE77{7Y"9)B[[@[TU~?[9[[[[BZYY i) )քIi@B= W))Wҧ@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033774.223165 s, next control iter: 1743033774.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033774.603165 s.84ZI~,k%AJ"J*J2J:J0?BJ0?nJF95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033774.603302F (some fields omitted in printout)A= ףh@Ah@AxV~? A{As&"AAhNA"AZAbAjArAzAAA1Bm ACrAe@A2<Ab֜A=<A` ѿA`GA<*A9?2Aֽ:A: BA9?JAֽRA: ٘i)I9e@Y G Jߧ<JJJJCsE&K YCnT~?yGArEŧ7b74]"9)B E[[;@[!U~?[[[[[BZYY i) QMIi@lB= [ɂ))[ɂ]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033774.643165 s, next control iter: 1743033775.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7273 , header.stamp.nsec: 0 0 temperature: 13.389075 * salinity: 33.391468 , density: 1025.000000 * values[0]: 0.690204 F (some fields omitted in printout)JCnT~?)J rAdjusting time to match Gazebo time: 1743033775.023165 s.ZZI~,|k%AA(\i@ADBi@AoV~? AA&"AAhNA"AZAbAjArAzAAA6bA@-rAw&f@AAjAA@`+пA# A`c<*Ac9?2Aֽ:A BAc9?JAֽRA ٘i)I9&f@Y G J<JJJJHsE&K YfT~?yGArE77`"9)B[[YƏ@[JU~?[7 [[[[BZYY i) WIiV@B= ))T@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033775.043165 s, next control iter: 1743033775.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033775.443165 s.>ZI~,[]k%AJ"J*J2J:JBJnJvJAzi@ADgi@AfV~? AA&"AAhNA"AZAbAjArAzAAAZ9A?4mrA?f@A/$(A bA7A͏οA2A%<*A9?2A=ֽ:A BA9?JA=ֽRA ٘i)I9f@Yo G J<JJJJNsE&K Y<_T~?yzGArE7_d"9/B)BE[[P@[U~?[[[[[BZYY i) aIi@C= M|))M|r@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033775.463165 s, next control iter: 1743033775.843182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7274, header.stamp.nsec: 00 temperature: 13.388829* salinity: 33.391460, density: 1025.000000* values[0]: 0.691364F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033775.863165 s.+ZI~,>k%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743033775.863282F (some fields omitted in printout)A33333j@AI.!j@A^V~? ANA&"AA!hNA"AZAbAjArAzAAA^q: A `S sA!Xg@A1oABA޿A ̿AiYA<*A9?2AX8ֽ:A} BA9?JAX8ֽRA} Yl@޿y>oٓHJſ?@2? v$|ſ>?@D#? 卿3?)l@ I٘i)I9Xg@Y G J(<Jz&:JJJSsE&Kx> YZT~?y(RHA޿rE)7ŧ7g"9)B[[ې@[U~?[I[[[[BZYY i) I¹Ii@mC= x))x@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033775.883165 s, next control iter: 1743033776.263182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033776.283165 s.6R[I~,l%AJ"J*J2J:JBJnJvJAQj@ARdj@AVV~? AA|]&"AAhNA"AZAbAjArAzAAA[t)? ACT5sAKg@A!8AAܿA $ʿA%~A<*A 9?2Avֽ:AS}BA 9?JAvֽRAS}٘i)I9g@Y) G J4<JJJJYsE&K YUT~?yHArEŧ7b7k"9)B[[f@[U~?[[[[[BZYY i) _T:Ii@!LC= :t)):t@F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033776.303165 s, next control iter: 1743033776.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7275., header.stamp.nsec: 0.0 temperature: 13.388575.* salinity: 33.391457., density: 1025.000000.* values[0]: 0.692617.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033776.703165 s.ٺ [I~,-l%AAףp= k@AD7j@AOV~? AAo&"AAhNA"AZAbAjArAzAAA @d A& sA@h@AA쮓AvPٿA ɿA@ˠA F<*A99?2Aֽ:A->BA99?JAֽRA->٘i)I9h@Y G J֮<B=JJJJ^sE&K YQT~?yIArE7777o"91B)BE[[u@[}U~?[u$[[[[BZYY i) 8:Ii@AfC= Uo))Uop@[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033776.723165 s, next control iter: 1743033777.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033777.123165 s.6[I~,XGl%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743033777.123313F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\uk@Aհ[k@AHV~? AAx.&"AAhNA"AZAbAjArAzAAAdl A #ʵsA0i@A% <AAֿAU7ǿA` Aޡ<*A9?2Aw&׽:A&BA9?JAw&׽RA&٘i)I9i@Y G J<C=JJJJcsE&K YfLT~?y2IArE)7b7r"90B)B E[[*|@[pU~?[+[[[[BZYY i) B;Ii@ܻC= k))k%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033777.143165 s, next control iter: 1743033777.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033777.543165 s.I[I~,bl%AA{Gk@Am2k@ABV~? An&A &"AABhNA"AZAbAjArAzAAAup$Rp' APfisAi@A&j<ArAWӿA`sWſA A<*AM9?2A,?׽:A"BAM9?JA,?׽RA"٘i)I9i@Y)G Jߞ<JJJJisE&K YGT~?y"IArE7777Jv"9)B[[@[U~?[1[[[[BZYY i) j@Y;Ii\@LD= 8g))8g(@k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033777.583165 s, next control iter: 1743033777.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7276, header.stamp.nsec: 00 temperature: 13.388303* salinity: 33.391426, density: 1025.000000* values[0]: 0.693824F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033777.963165 s.z[I~,}l%AJ"J*J2J:J1?BJ1?nJ?:5vJALl@AE2l@A#=V~? AQ.A &"AA?hNA"AZAbAjArAzAAAZݰ A|BPsAj@AQQ<A AS]ѿA@xÿAmA<*AA9?2AM׽:A[ABAA9?JAM׽RA[AYC@zѿyؓQ<ٓH@;ǰ`?瀿? ?{"?@?)C@ I٘i)I9j@YxG JЙ<B=JPo<JJJnsE&K-x> YET~?y+LJAzѿrEj7SI7y"9)B[[y@[hU~?[O8[[[[BZYY ixę=) :;Ii@C= 5b))5bt@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033777.983165 s, next control iter: 1743033778.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033778.383165 s.%[I~,Ul%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075082< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743033778.383291F (some fields omitted in printout)AQl@AF;l@A7V~? A<6Aa &"AAhNA"AZAbAjArAzAAA됊- A4%sAj@A7;A}A1οAA A&u<*A9?2A'ֽ:AtBA9?JA'ֽRAt٘i)I9j@YG JI<C=JJJJssE&K YCT~?ys4JArEb77t}"92B)ݯB E[[>@[nU~?[>[[[[BZYY i) ^;Ii@UC=  ^)) ^9>@Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033778.423165 s, next control iter: 1743033778.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7277", header.stamp.nsec: 0"0 temperature: 13.388080"* salinity: 33.391411", density: 1025.000000"* values[0]: 0.694879"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033778.803165 s.J "J *J 2J :J 1?BJ 1?nJ :5vJ {A,[I~,gl%AAq= #m@AFT m@AZ3V~? A/>A &"AAxhNA"AZAbAjArAzAAAl% AJ`u)$sAk@AdȻAAQ̿AA&A:<*Ag9?2Awֽ:AiBAg9?JAwֽRAi٘i)I9k@YG J<JJJJysE&K YBT~?y==KArE77 "9+B)үB[[(@[U~?[E[[[[BZYY i) ;;Ii@3C= 5Z))5Z#ɭ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033778.843165 s, next control iter: 1743033779.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033779.223165 s.g3[I~,Hl%AA(\m@A1ZGum@A<*A9?2A'Qֽ:ABA9?JA'QֽRA٘i)I9k@Y`G J<JJJJ~sE&K YD@T~?yFgKArE77{7"9)ίB[[2@[U~?[JL[[[[BZYY i) n;Ii@3MC= eU))eUT@yb=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033779.263165 s, next control iter: 1743033779.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033779.643165 s.u9[I~,*l%AJ"J*J2J:Ji?BJi?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075082< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743033779.643281F (some fields omitted in printout)AGm@A{m@A+V~? A*NA[ &"AAlhNA"AZAbAjArAzAAA`HYAy-sAGl@AEaAzAM+ǿA@AJAx<*AM9?2Akֽ:AfBAM9?JAkֽRAf٘i)I9l@YG J<JJJJsE&K Yi>T~?yNKArE)7b74"9)ʯB[[뼕@[U~?[R[[[[BZYY i) |? M?@??*{1?)@ I٘i)I9l@YG Jƒ<J8D;JJJsE&KGx> Yn?T~?yW"LApĿrE{7Z7ʋ"9)ƯBE[[G@[%U~?[Y[[[[BZYY i)  elevatorAngleAction: 0.075082< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033780.903283F (some fields omitted in printout)A ףp=o@A?-W#o@A$V~? AHfA&"AA'_hNA"AZAbAjArAzAAABsRA,ݭy elevatorAngleAction: 0.075082< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033782.163280F (some fields omitted in printout)Ap@Ah$ep@A.!V~? A~AX&"AAYhNA"AZAbAjArAzAAAtVA HoAKsA*n@AdAAPnApA=zAޟ<*A9?2A@ֽ:A BA9?JA@ֽRA Y1@:kyZdٓH@? g? `:@G?^O?^p? L^U@?)1@ I٘i)I9n@YfG J5<C=J5JJJsE&Kx> YcGT~?yMAkrE)7ŧ7"9)B[[D[U~?[{[[[[BZYY i) A` elevatorAngleAction: 0.083862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033783.423320F (some fields omitted in printout)A(\q@A*5{q@A#V~? AAO&"AA[hNA"AZAbAjArAzAAAfQ(A㎕ ZsA.p@A0An2A%Aٶ?A YpAU<*AE9?2A{ֽ:A|BAE9?JA{ֽRA|٘i)I9p@Y_G JE<JJJJsE&K YST~?y"OArEu"9,B)BE[[ջ[U~?[[[[[BZYY i) = g*))g*g*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033783.443165 s, next control iter: 1743033783.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7282, header.stamp.nsec: 00 temperature: 13.570310* salinity: 33.374989, density: 1025.000000* values[0]: 0.574227F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033783.843165 s.J "J *J 2J :J ?BJ ?nJ $5vJ |[I~,m%AAHz.r@A2r@A$V~? AƞAi&"AA;]hNA"AZAbAjArAzAAAetAI^sAq@AmAS:AAk?AgAC<*A9?2Aֽ:A;BA9?JAֽRA;٘i)I9q@YG J<JJJJsE&K YVT~?ynOAsEŧ7b7 "9)B[[[[U~?[[[[[BZYY i) =  &)) & &y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033783.883165 s, next control iter: 1743033784.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033784.263165 s.%[I~,Zn%AAr@Ar@A&V~? AҦA&"AA*`hNA"AZAbAjArAzAAAFkA'ҁcsAq@A#<AɜASKA?A\Ap͡<*A9?2A-׽:ABA9?JA-׽RAYct@ay)Ȝِ<ٓH|L?)?m}x?@hz??f$?`?)ct@ I٘i)I9q@YG J<J.JJJsE&KJx> Y]T~?yOAa sEZ7SI7"9)B[[`[U~?[][[[[BZYY i) s elevatorAngleAction: 0.083862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199372 time: 1743033784.683279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQs@Ao r@A)V~? AٮA/&"AAchNA"AZAbAjArAzAAANOO!AQ!hsA-r@Aj<AȟApA?A` OA/<*A9?2A@׽:ABA9?JA@׽RA٘i)I9r@YYG J<JJJJsE&K YPdT~?yWPAsE77{75"9)BE[[2[`U~?[[[[[BZYY i) AWi<*AG9?2A ׽:ABAG9?JA ׽RA٘i)I9r@YG J<JJJJsE&K YkT~?yPAsE77ʶ"9)B[[[9U~?[[[[[BZYY i)  elevatorAngleAction: 0.083862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743033785.943308F (some fields omitted in printout)AzGt@A]-t@A&5V~? AƪA#[&"AAshNA"AZAbAjArAzAAAMT?r AϐKdwsAs@A߻AʨAu A`Б?AAb <*A9?2A<ֽ:AiBA9?JA<ֽRAipI٘i)I9s@YeG J<B=JJJJsE&K YlxT~?y0ѩQAsE7ŧ7"9.B)BE[[[U~?[϶[[[[BZYY i) 5!n%AJ"J*J2J:JBJnJvJA3333t@A.2t@A9V~? AΪA&"AAzhNA"AZAbAjArAzAAA2" Aؕ;|sAst@AyaAHAA l?AAō<*A9?2Aqֽ:ABA9?JAqֽRAYT@]y ZCbٓH`Y?)?}i Z?L?X?.?)T@ I٘i)I9st@YG J<C=J9JJJsE&Kw> YށT~?yy٩RA]$sE77j7"9)B[[ t[U~?[X[[[[BZYY i) oU~?[é[[[[BZYY i)  elevatorAngleAction: 0.083862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033787.203289F (some fields omitted in printout)Aףp=u@A%pu@A2EV~? A~ުA|%"AAhNA"AZAbAjArAzAAA,U A%څsAku@AQɻAA7A&(?A AV<*A%9?2Aֽ:AЭBA%9?JAֽRAЭ٘i)I9u@YG J<JJJJsE&K Y”T~?y RA/sE77"9/B)BE[[i[U~?[dʩ[[[[BZYY i) hNA"AZAbAjArAzAAA AL`sAw@A8N<A`Ad̒A{?A`AU<*Ai9?2A+׽:ABAi9?JA+׽RA٘i)I9w@YaG J<JJJJsE&K YT~?ySA9sE77{7"9)wB[[c[^ V~?[aש[[[[BZYY i%=)  elevatorAngleAction: 0.092845< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743033788.463292F (some fields omitted in printout)Av@A)嵲v@AYV~? AAu%"AAhNA"AZAbAjArAzAAA@- AQsADw@Ah<ACAp-A?AgAp<<*AC9?2A׽:A}BAC9?JA׽RA}YP@Uy*|i<ٓH9W??@Ϛ .?v?,?`1?@c?)P@ I٘i)I9w@YG J<JOJJJsE&K4x> YT~?yHTAU?sEZ7SI7u"90B)rB E[[z[V~?[ݩ[[[[BZYY i) BZYY i¸>%) pjV~? A%AM%"AAhNA"AZAbAjArAzAAA^KjAxqsAy@AHANA'A5P?AAL[<*A|9?2AvKֽ:ABA|9?JAvKֽRA٘i)I9y@YG JB<JJJJsE&K YT~?yw6UAIsE777"91B)hB!E[[[ V~?[[[[[ZZZZBZYY i)  YT~?y)xVA]ZsE`"9)VB'E[[co[R9V~?[[[[[ZZZZBZYY i) liNA"AZAbAjArAzAAA6JJJ*tE&Kw> Y`>U~?yOWAltsE{7j7K"95B)EB.E[[I[iV~?[T[[[[ZZZZBZYY i?r) ]~AdsA&~@A4fA5=AB#bA`D?A`A:*A͑9?2Aֽ:A<BA͑9?JAֽRA<٘i)I9&~@YG J3JJJJ5tE&K Yx`U~?y.]pWAsEb77v"97B)2E[[̄[V~?[Y([[[[BZYY i) (8yiNA"AZAbAjArAzAAAaBiE@AwVsA~@A*WA#I[=A\Ay?A HAq*A9?2A(ֽ:AF<BA9?JA(ֽRAF<٘i)I9~@YG JJJJJ:tE&K  #9YqU~? #9y:dTWAsEb7 #9)GB5E[[[V~?[N.[[[[BZYY i) X&@PRy=r;ٓH`? Zy?8?iB?@--Cw?g?)>@ I٘i)I9u}@YCG J}LJ=JJJEtE&K&w> YƕU~?yqVARsE77j76 #99B)MB9E[[|[V~?[:[[[[BZYY iNh) viNA"AZAbAjArAzAAA /C#AE0IsAc|@Agl<A=AHA h0?AʿA5*A9?2Aս:At=BA9?JAսRAt=٘i)I9|@YG JJJJJPtE&K Y/U~?y~$VAsE77j7a#9:B)VBEA=A=A@$?A(AH*Ar9?2Aֽ:Am =BAr9?JAֽRAm =٘i)I9k{@YG JJJJJ[tE&K YU~?ykUAsEb77#9;B)_B?E[[oi[5V~?[P[[[[BZYY iu)  ;Iij@+= PZ))PZPZ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033796.483165 s, next control iter: 1743033796.843180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7295, header.stamp.nsec: 00 temperature: 13.567402* salinity: 33.375061, density: 1025.000000* values[0]: 0.580476F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033796.863165 s.+M\I~,>7q%AA33333@A5($@AgRW~? AGAk%"AAjNA"AZAbAjArAzAAAU?˫WӿAtsAz@AȦGA\˚=A6p8At?AAP*A٫9?2A1׽:A=BA٫9?JA1׽RA=Y2@8yiȚ=9HٓH??N?` ?Ԥ`VT@?)2@ I٘i)I9z@YG J/J?<JJJ`tE&K&x> YU~?ybUA8sE77j7!#9B)tBIE[[ǣW[W~?[[f[[[[BZYY i) G,:IiA]@S = >i))>i>iyoR̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033798.143165 s, next control iter: 1743033798.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033798.543165 s.Ih\I~,âq%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743033798.543306F (some fields omitted in printout)A{Gြ@A/ǀ@AW~? AA'%"AÃjNA"AZAbAjArAzAAAԼ?AJy6JsAx@A(4*<Aܾ=A$A Y?A\AS*A29?2A,ֽ:Af=BA29?JA,ֽRAf=٘i)I9x@YOG JʪJJJJvtE&K YLV~?ycSAsE77v)#9)yB[[cS[! W~?[k[[[[BZYY i)  IiZ@ = H))HHȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033798.563165 s, next control iter: 1743033798.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7297, header.stamp.nsec: 00 temperature: 13.567801* salinity: 33.375080, density: 1025.000000* values[0]: 0.579197F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033798.963165 s.J n\I~"J*J2J, q%A:JF?BJF?nJz5vJAL@Afٓ2@AW~? AAw%"AAjNA"AZAbAjArAzAAAou$?A-&sA| x@A t<A=AAe?A9Adħ*A9?2A8(ֽ:A:,=BA9?JA8(ֽRA:,=Y8@&y=gu<ٓH?Л??@ʉ T? ۱v? ?)8@ I٘i)I9 x@YG JB=J`JJJ{tE&Kw> YcV~?ySAsE7{7 -#9)~BLE[[oN[/W~?[p[[[[BZYY i) IiV@f = ))4ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033798.983165 s, next control iter: 1743033799.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033799.383165 s.u\I~,+q%AAQ@A.:@AW~? A&AKK%"AAjNA"AZAbAjArAzAAAfޭT?A_gsAw@Ac<><A<=AApI?A߿A]*A9?2Adֽ:A!<BA9?JAdֽRA!<٘i)I9w@YG JIC=JJJJtE&K YzV~?yݲRAsE7770#9@B)BPE[[I[?W~?[u[[[[BZYY i) , IiR@= D)) DDNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033799.403165 s, next control iter: 1743033799.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7298", header.stamp.nsec: 0"0 temperature: 13.567988"* salinity: 33.375092", density: 1025.000000"* values[0]: 0.578614"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033799.803165 s.wA|\I~,{gq%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743033799.803313F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@A_" @AW~? AA|%"AA"jNA"AZAbAjArAzAAAMRT?AdgtAAv@A7 ;A2=AmOA ?A ߿Aǘ*A9?2Aս:A0<BA9?JAսRA0<٘i)I9v@YSG JJJJJtE&K YV~?yCRAsEj7Z764#9AB)BSE[[{1E[OW~?[z[[[[BZYY i) |IIi{O@= w<))w<w<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033799.843165 s, next control iter: 1743033800.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033800.223165 s.g\I~,Hr%AA(\@AbEu@AW~? AկAx%"AAjNA"AZAbAjArAzAAAIu3?AttA(v@AU A=AA?A`R޿A:P*Ai9?2A$ֽ:A<BAi9?JA$ֽRA<٘i)I9v@YG J씼JJJJtE&K YV~?yQAsE7#9)B[[LJ@[{`W~?[[[[[BZYY i) {IitL@= @=))@=@= YW,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033800.243165 s, next control iter: 1743033800.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033800.643165 s.tЉ\I~,))r%AJ"J*J2J:J?BJ?nJ+5vJAG@AdϞ@AW~? AA%"AAkNA"AZAbAjArAzAAAnͳv?AtAX v@AoAK=A A YV~?yƪ*QAsE{7j7>#9)BZE[[57[W~?[i[[[[BZYY iU) ~IimE@<  ֎=))g| ֎= ֎=ɷYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033801.103165 s, next control iter: 1743033801.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033801.483165 s.r_\I~,^r%AJ"J*J2J:JBJnJvJAу@AJVշ@A"X~? A뾫A^M%"AAsRkNA"AZAbAjArAzAAA=7UQ@ADUtA#u@A A „=A?A`?A@5ܿA,*A9?2A:ֽ:A<BA9?JA:ֽRA<oI٘i)I9#u@Y3G JJJJJtE&K YV~?yʪPAsE7{7B#9CB)B]E[[K2[4W~?[[[[[BZYY i) IilA@5< 4=)) 4=4=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033801.523165 s, next control iter: 1743033801.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7300, header.stamp.nsec: 00 temperature: 13.568269* salinity: 33.375114, density: 1025.000000* values[0]: 0.577583F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033801.903165 s.ȝ\I~,yr%AA ףp=@AJ\#@A7X~? AëA%"AArkNA"AZAbAjArAzAAAg`3O@A[ϿtAEt@A;Aք=A9A ?A SۿA(*A>9?2A–Խ:A?<BA>9?JA–ԽRA?<٘i)I9t@YG JJJJJtE&K Y- W~?yOϪwPAsEZ7SI7!F#9)B[[-[#W~?[[[[[BZYY i) Ii=@l< @=))@=@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033801.923165 s, next control iter: 1743033802.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033802.323165 s.u\I~,!r%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077450< massPositionAction: 0.0000004 buoyancyAction: 0.000500J"J dt: 0.420004*J2J2 time: 1743033802.323285F (some fields omitted in printout):JBJnJvJA\@A>;@AMX~? ATȫAϒ%"AAkNA"AZAbAjArAzAAAzk9T@ALtA;t@A]a<AY݅=ARA$_?AڿAJ*Am9?2AԽ:A˜=BAm9?JAԽRA˜=٘i)I9;t@YG JJJJJtE&K Y!W~?yӪPA xDsE{7{7I#9DB)BaE[[)[rW~?[2[[[[BZYY i) Ii:@< =))==yfGYLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033802.343165 s, next control iter: 1743033802.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7301*, header.stamp.nsec: 0*0 temperature: 13.568378** salinity: 33.375095*, density: 1025.000000** values[0]: 0.577128*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033802.743165 s.W\I~,ur%AAGz@A^-wf@AbX~? A̫AU9%"AAkNA"AZAbAjArAzAAA(B`@A95UtAs@Ag<Ao=A A?AٿA&*A~9?2A Խ:A=BA~9?JA ԽRA=٘i)I9s@Y^G JJJJJtE&K Y@:W~?y تOAsE77LM#9EB)BdE[[gY$[W~?[[[[[BZYY i) ]FIi7@0< >))>>gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033802.783165 s, next control iter: 1743033803.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033803.163165 s.y}\I~,qr%AJ"J*J2J:JBJnJvJA@AJ_e@AxX~? A6ѫAx%"AAkNA"AZAbAjArAzAAAʝ:s @AatAQs@A;Ax=ARn־A?A@ٿA<*A'9?2Aս:A =BA'9?JAսRA =Yͩ@/־yw=;ٓH`,?@?z?ٿ;?(I+"}?@X?)ͩ@ I٘i)I9Qs@YG JJ8;JJJtE&Kt> YTW~?y۪gOA/־sEP#9)BgE[[˥[W~?[꟪[[[[BZYY i) .Ii,3@FX< @%>))y@%>@%>-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033803.183165 s, next control iter: 1743033803.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033803.583165 s.\I~,Sr%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243194@ elevatorAngleAction: -0.077450< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743033803.583293F (some fields omitted in printout)AR논@A}qх@AX~? ArիAM%"AAkNA"AZAbAjArAzAAA7'z @A 5tAur@A{nA=A*˾A ,#?A`;/ؿAv*A9?2A)ֽ:A=BA9?JA)ֽRA=٘i)I9r@YG JlJJJJtE&K YmW~?y4ߪ OAtEj7Z7wT#9)B[[[W~?[[[[[BZYY i)  Q>Ii.@< `8>)) `8>`8>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033803.603165 s, next control iter: 1743033803.983184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7302, header.stamp.nsec: 00 temperature: 13.568501* salinity: 33.375149, density: 1025.000000* values[0]: 0.576638F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033804.003165 s.y \I~,P4s%AJ"J*J2J:JBJnJvJmW~?)4ߪAp= W@A+<@A(X~? A٫A<%"AAlNA"AZAbAjArAzAAAw*# @Aa,PtAkr@AYLAm=AY$A@$e?A U׿An*AB9?2A_Խ:A=BAB9?JA_ԽRA=٘i)I9kr@YG JˈJJJJtE&K YW~?yNAtE7{7 X#9FB)BjE[[g#[tX~?[>[[[[BZYY i) YMIi5+@%< бK>))бK>бK>ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033804.043165 s, next control iter: 1743033804.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033804.423165 s.u\I~,s%AA(\†@Ajhw@AX~? A|ݫAQ%"AA8lNA"AZAbAjArAzAAA@A<~!tAq@A6'qA%=AA@?A`ֿAG*A9?2A5ս:Aj=BA9?JA5սRAj=٘i)I9q@YDG J犼JJJJtE&K YW~?y[RNA tE7777[#9)BmE[[cV[QX~?[F[[[[BZYY i) Z]Ii'@< ^>))^>^>ȪY+1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033804.443165 s, next control iter: 1743033804.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7303, header.stamp.nsec: 00 temperature: 13.568613* salinity: 33.375145, density: 1025.000000* values[0]: 0.576179F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033804.843165 s.\I~,5s%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077450< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033804.843298F (some fields omitted in printout)AHz.@AS@AX~? AKAl%"AA[lNA"AZAbAjArAzAAAb(a@AD#tAr}q@AL[Ab=A߬A@H?AմտA,*A9?2AoDս:A =BA9?JAoDսRA =٘i)I9}q@YG JJJJJtE&K YTW~?yMAtE77_#9)BpE[[ [,X~?[6[[[[BZYY i) 7lIi$@< 8r>))8r>8r>gͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033804.883165 s, next control iter: 1743033805.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033805.263165 s.\I~,'Ps%AA@A@A X~? AAGY%"AAz~lNA"AZAbAjArAzAAA<1GP@Am$&tAp@A:AW=Af颾A` ?A`ԿAҴ*A9?2A4ս:AN=BA9?JA4սRAN=Y޷@iݢyW=T:ٓH`O? ?`? ӿ@d? tST?W?)޷@ I٘i)I9p@YG JKJ<JJJtE&Kqt> Y$W~?yMAݢtE77j7b#9GB)BsE[[k[@X~?[[[[[BZYY i) #|Ii @< ং>))NJvং>ং>}ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033805.303165 s, next control iter: 1743033805.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7304., header.stamp.nsec: 0.0 temperature: 13.568733.* salinity: 33.375145., density: 1025.000000.* values[0]: 0.575695.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033805.683165 s.l\I~,Zks%AJ"J*J2J:JBJnJvJAQ@Au뇼@AzY~? A{A%"AAˡlNA"AZAbAjArAzAAA+x6@A4(tAtp@A0s4<Aɚ=A☾A o??A` ԿAm*AG9?2A3ս:A=BAG9?JA3սRA=٘i)I9tp@YXG JJJJJtE&K YW~?yq)MAtE{7bf#9)ïBvE[[[[UX~?[[[[[BZYY i) Ii@j< xE>))xE>xE>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033805.683165 s, next control iter: 1743033806.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033806.103165 s.\I~,s%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259987@ elevatorAngleAction: -0.077450< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743033806.103301F (some fields omitted in printout)A= ףp@A 1V@A#Y~? AAt%"AAwlNA"AZAbAjArAzAAAw2mU@AC*tAo@A՝u<At=AFᎾA`u?A_'ӿA2*A9?2Aӽ:A =BA9?JAӽRA =٘i)I9o@YG JTJJJJtE&K Y X~?y2LA tE77i#9IB)ɯBwE[[([UjX~?[B[[[[BZYY i)  !Ii@e< >)) >>תYFFF]: Waiting for Gazebo time sync: latest Gz time: 1743033806.143165 s, next control iter: 1743033806.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033806.523165 s.\I~,{s%AJ"J*J2J:JBJnJvJA(܈@Apˆ@A1Y~? AAڎ%"AA{lNA"AZAbAjArAzAAA^w@Aou;,tAlRo@Ag5<A=AMAݤ?A OҿA<*A9?2A-ӽ:A=BA9?JA-ӽRA=٘i)I9Ro@YG JVB=JJJJtE&K Y&X~?y]LA%tEŧ7b7m#9)ίBzE[[mf[X~?[[[[[BZYY iα) IiZ@4< I>))I>I>T٪Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033806.563165 s, next control iter: 1743033806.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7305, header.stamp.nsec: 00 temperature: 13.568897* salinity: 33.375160, density: 1025.000000* values[0]: 0.575127F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033806.943165 s.bd\I~,l]s%AAzG@AW˝-@AIY~? A)AQ%"AA mNA"AZAbAjArAzAAA;@A2&.tAn@A:A%=AtA@h?A4rѿA筼*AY9?2AԽ:A=BAY9?JAԽRA=٘i)I9n@YNG JϮC=JJJJtE&K YlAX~?yKA+tE{7j7"q#9)ӯB}E[[ [WX~?[!ª[[[[BZYY i) >Ii<@< >))>>ڪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033806.983165 s, next control iter: 1743033807.343187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743033807.363165 s.\I~,>s%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086820< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199302 time: 1743033807.363276F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@Af@A_aY~? AAH%"AAn2mNA"AZAbAjArAzAAAqr@A/tA/n@ABAT=Ay^A?AdпA6*Au9?2Aڌս:A=BAu9?JAڌսRA=Ys@J_y=AٓHn%?@?@? ˿@>?@a 1h ?)s@ I٘i)I9/n@YG J J<JJJtE&Ks> Y\X~?yKAJ_0tE{7t#9)دBE[[޾[X~?[WŪ[[[[BZYY i) vIik @< ;>))%>t;>;>ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033807.383165 s, next control iter: 1743033807.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7306&, header.stamp.nsec: 0&0 temperature: 13.569057&* salinity: 33.375183&, density: 1025.000000&* values[0]: 0.574501&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033807.783165 s.Z\I~,s%AAQ@AZ@AyY~? AAq%"AAXWmNA"AZAbAjArAzAAAc @A1tA(m@AoA=ALIA'?A`SϿA ݪ*A9?2A2ֽ:A>=BA9?JA2ֽRA>=٘i)I9m@YG JJJJJtE&K YxX~?yKA6tEb77Lx#9JB)ݯBE[[uվ[X~?[sȪ[[[[BZYY i) $Ii@ < A>))$A>A>yiߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033807.823165 s, next control iter: 1743033808.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033808.203165 s.]I~,C t%AJ"J*J2J:JBJnJvJAףp=@AaTR'p@AxY~? A|A%"AA|mNA"AZAbAjArAzAAAͯ@Ai1|13tAm@A2)) 9>9>1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033808.243165 s, next control iter: 1743033808.603189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743033808.623165 s.[ ]I~,m't%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086820< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743033808.623282F (some fields omitted in printout)A)\@Aլۊ@AGY~? AAw%"AAmNA"AZAbAjArAzAAAgwA@A z4tAxl@AA=A!A`t?AX˿A*Au9?2Aiӽ:A)=BAu9?JAiӽRA)=٘i)I9xl@YG JJJJJtE&K YX~?yQGJA@tE{7{7w#9)B[[T[X~?[UΪ[[[[BZYY i)  Ii^@P< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033808.663165 s, next control iter: 1743033809.023180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7307, header.stamp.nsec: 00 temperature: 13.569202* salinity: 33.375183, density: 1025.000000* values[0]: 0.573917F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033809.043165 s.]I~,Bt%AJ"J*J2J:JBJnJvJA{Ga@A7n1G@A;Aͫ=A}A`V?AeʿA*A9?2Aӽ:AC=BA9?JAӽRAC=٘i)I9k@YG JJJJJtE&K Y5X~?y9IAFtE777 #9)BE[[1X[Y~?[Ѫ[[[[BZYY i) }IiW?7< >))>>Y#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033809.063165 s, next control iter: 1743033809.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033809.463165 s.Y]I~,]t%AA̋@A |E@ASY~? AmA%"AAmNA"AZAbAjArAzAAAE@A^n7tA3k@Acf<AQ=AA@,?A9ȿA.ɼ*A9?2Ar&Խ:A=BA9?JAr&ԽRA=YB@ybM=:g<ٓH@2?? .?!@? µ9̌? ?)B@ I٘i)I93k@Y&G JżJ<JJJuE&Kr> Y9X~?yCgIAKtEj7Z7#9)BE[[qz[Y~?[Ӫ[[[[BZYY i) ȼIi?|< E>)) sE>E>|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033809.483165 s, next control iter: 1743033809.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7308, header.stamp.nsec: 00 temperature: 13.569366* salinity: 33.375210, density: 1025.000000* values[0]: 0.573281F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033809.883165 s.y]I~,Y~?yMHAPtE778#9)BE[[Q[3Y~?[+֪[[[[BZYY i) мIi?9< e>))qe>e>\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033809.903165 s, next control iter: 1743033810.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033810.303165 s.W$]I~,{gt%AAq= ף@A@AZ~? AIAb%"AA :nNA"AZAbAjArAzAAA~ @AI 9tA)i@A L;A2=A2A?A`yĿAPϼ*A:?2A6ӽ:A(5=BA:?JA6ӽRA(5=٘i)I9i@YSG J8ϼJJJJ uE&K Y?Y~?yW}HAVtE{7Z7͍#9)BE[[m[JY~?[ت[[[[BZYY i) :I׼Iiv?< I>)) I>I>%YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743033810.323165 s, next control iter: 1743033810.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7309., header.stamp.nsec: 0.0 temperature: 13.569573.* salinity: 33.375210., density: 1025.000000.* values[0]: 0.572573.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033810.723165 s.+]I~,Ht%AJ"J*J2J:JBJnJvJA(\@AjG@A`)Z~? AA%"AA`nNA"AZAbAjArAzAAAz @A:tA+i@AXA/=AoA ?A¿AHϼ*A:?2Auӽ:AxA=BA:?JAuӽRAxA=٘i)I9+i@Y G JϼJJJJuE&K YD;Y~?yaHA[tE777b#9)BE[[d[bY~?[ڪ[[[[BZYY i) v޼Ii%?^U< t]?))t]?t]?=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033810.743165 s, next control iter: 1743033811.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033811.143165 s.V/2]I~,*t%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086820< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033811.143294F (some fields omitted in printout)AGz@Ax`@ABZ~? AA%"AA:nNA"AZAbAjArAzAAA%8!@AS;tAe}h@ARSA浵=A"A?ADA м*A :?2AԽ:A=BA :?JAԽRA=٘i)I9}h@Y G JϼJJJJuE&K YGWY~?ykGA`tE77{7#9)BE[[9[zY~?[ܪ[[[[BZYY i) ^Ii?$0< s?))s?s?Y;#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033811.163165 s, next control iter: 1743033811.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033811.563165 s.8]I~,[ t%AJ"J*J2J:J{?BJ{?nJ5vJAffff捼@A80Q̍@A\Z~? A Ao%"AA nNA"AZAbAjArAzAAA`;!@A{_ YzsY~?yGAƚftE{7#9) BE[[Zv[ӒY~?[ު[[[[ZZ¸BZYY i¸FA=) )ټIi?=< *y ?))r*y ?*y ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033811.583165 s, next control iter: 1743033811.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7310, header.stamp.nsec: 00 temperature: 13.569777* salinity: 33.375229, density: 1025.000000* values[0]: 0.571830F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033811.983165 s.?]I~,t%AAQ@Ar7@A_vZ~? A A V%"AAnNA"AZAbAjArAzAAA#?_[p"@A&MT=tAg@A&5 A/=A;AbD?ACNAټ*Aw9?2A6ս:A0=BAw9?JA6սRA0=٘i)I9g@Y G J9ּJJJJ"uE&K YY~?yFAktE7ŧ7"#9)B[[b[0Y~?[[[[[ZZBZYY i) ͼIiվ?uDt< ?)):l??`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033812.003165 s, next control iter: 1743033812.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033812.403165 s.&F]I~,u%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256685> elevatorAngleAction: 0.083621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033812.403289F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AV]@A0Z~? A% A?%"AAnNA"AZAbAjArAzAAA=l #@A#=tA9Mf@An:A8=Ax<AS?ArAā*A:?2A ӽ:A,<BA:?JA ӽRA,<٘i)I9Mf@Y* G J;JJJJ'uE&K YޫY~?y!FAptEŧ7b7#9)BE[[M[Y~?[-[[[[ZZBZYY i) Ii?2i< ?)) ??DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033812.423165 s, next control iter: 1743033812.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7311, header.stamp.nsec: 00 temperature: 13.569994* salinity: 33.375252, density: 1025.000000* values[0]: 0.571091F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033812.823165 s.L]I~,>4u%AA\(@Aٵ@AZ~? A A,%"AA<#oNA"AZAbAjArAzAAAtA6he@A;7<A=A"=A`>`?A`۲AF*A0:?2Aҽ:Av<BA0:?JAҽRAv<٘i)I9he@Y G JVJJJJ,uE&K YY~?yEAvtE)7ŧ7M#9)BE[[k9[Y~?[[[[[ZZBZYY i) IiV?n`< @?))@?@?yk=3تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033812.863165 s, next control iter: 1743033813.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033813.243165 s.S]I~,qOu%AJ"J*J2J:JBJnJvJAGz@A+dz@AZ~? A A%"AA|JoNA"AZAbAjArAzAAA[ G$@Abկ!>tAGd@Ak<Az=AIs=A`k?AxA6*A+8:?2A2ӽ:Asy<BA+8:?JA2ӽRAsy<٘i)I9d@Y G JLJJJJ2uE&K YAY~?y?+EA{tE7777#9IB)%BE[[T$[Y~?[[[[[ZZBZYY i) rIiݨ?b%X< ?))??YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033813.263165 s, next control iter: 1743033813.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033813.663165 s.Z]I~,qju%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743033813.663275F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7312, header.stamp.nsec: 00 temperature: 13.570285* salinity: 33.375271, density: 1025.000000* values[0]: 0.570111F (some fields omitted in printout)A@AR叼@AZ~? AZA%"AAqoNA"AZAbAjArAzAAA$@A Q?tAc@A$<AE4=Ac=At?A`%AnIټ*A*;:?2A"<Խ:A0;BA*;:?JA"<ԽRA0;Yܝ@E=y4=XL<ٓH`?f?}??N3y@|?@?)ܝ@ I٘i)I9c@Y G JJgݽJJJ7uE&Kq> YtZ~?yDAE=tE{7{7x#9)+BE[[[Z~?[8[[[[ZZBZYY ie=) Ii ?K< T%?))[!sT%?T%?~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033813.683165 s, next control iter: 1743033814.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033814.083165 s.Da]I~,Su%AJ"J*J2J:JBJnJvJARk@A~mQ@AZ~? AA%"AA4oNA"AZAbAjArAzAAA{?%@AZLw?tAhc@A$չA')<Aދ=A{?A@QEA*A8:?2AԽ:ABA8:?JAԽRA٘i)I9c@Y5 G JfȼJJJJ̽[&BZ~?[#[[[[ZZBZYY i) Ii?5< /?)) /?/?wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033814.523165 s, next control iter: 1743033814.903190 s, wait time: 0.380025 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7313, header.stamp.nsec: 00 temperature: 13.570497* salinity: 33.375267, density: 1025.000000* values[0]: 0.569348F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033814.923165 s.:n]I~,u%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073544< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743033814.923335F (some fields omitted in printout)A(\B@A/w(@A,[~? AA@%"AA)oNA"AZAbAjArAzAAAuw@&@A΁?tA9b@A'A7Az>A~?A`OA_F'*AY:?2Aӽ:A 7BAY:?JAӽRA 7٘i)I99b@Y G JaXB=JJJJGuE&K Y UZ~?yl8DAtEZ7Z78#9HB)7BE[[v[\Z~?[[[[[ZZBZYY iϩ=) I|Ii?d,< 4?))4?4?yK=K(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033814.963165 s, next control iter: 1743033815.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033815.343165 s.A^?Ag?A5*A R:?2Aӽ:Ae|BA R:?JAӽRAe|٘i)I9b@Y G JGC=JJJJMuE&K Y=qZ~?yCAtE77͸#9)8BE[[^o[,vZ~?[l[[[[ZZBZYY i) =fIiN?V;$< :?)):?:?yo=)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033815.363165 s, next control iter: 1743033815.743180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7314*, header.stamp.nsec: 0*0 temperature: 13.570577** salinity: 33.375282*, density: 1025.000000** values[0]: 0.568998*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033815.763165 s.;{]I~,0u%AJ"J*J2J:JBJnJvJA@Az@A<`[~? AA\%"AA27pNA"AZAbAjArAzAAA'Ws'@A=؜?tAAa@ARA|Ag8>AЃ?Añ?A*AB:?2AԽ:AbͼBAB:?JAԽRAbͼYG@/8>yQұRٓHw?ƿ % [?{?@5d?`Rj`?)G@ I٘i)I9a@Y| G JJu8JJJRuE&Kr> YZ~?y#&DA/8>tE77{7c#9)9B[[n[ Z~?[[[[[BZYY iZk=) *UIi,m?b< X??))AtX??X??y=+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033815.783165 s, next control iter: 1743033816.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033816.183165 s.˂]I~,Z v%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238533> elevatorAngleAction: 0.057380< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743033816.183275F (some fields omitted in printout)AQ@A\pk@AIz[~? AsA%%"AA^pNA"AZAbAjArAzAAAjTe(@AB`?tAa@AN;A/AXM>A}?A?A:*At3:?2Amս:A+7BAt3:?JAmսRA+7鼙٘i)I9a@Y{ G JuJJJJWuE&K YZ~?yRDAtE777#9)E[[[*Z~?[ [[[[BZYY i?%=) ȮCIiw[?[u < ңD?))rңD?ңD?yң= k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033816.203165 s, next control iter: 1743033816.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033816.603165 s.:4]I~,&v%AJ"J*J2J:JBJnJvJA= ף@AR֒@AN[~? A A8 %"AA'pNA"AZAbAjArAzAAAR$T.6)@A] ?tAsa@ADi<A VA-b>A Dw?Au?A;*AvK:?2Aӽ:ABAvK:?JAӽRA٘i)I9a@Y G J8;B=JJJJ]uE&K YZ~?y}DAtE7#9GB)7BE[[Dk;[Z~?[[[[[BZYY i) 12IiK?o=< I?)) I?I?y% d=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033816.623165 s, next control iter: 1743033817.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7315 , header.stamp.nsec: 0 0 temperature: 13.570486 * salinity: 33.375305 , density: 1025.000000 * values[0]: 0.568980 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033817.023165 s.Z]I~,|Av%AA(\@AuB@AK[~? A. Az%"AApNA"AZAbAjArAzAAA ~)@Aؙ>tAW6b@A2jX<AQtA v>A m?A?Ag"<*AI:?2AUԽ:A BAI:?JAUԽRA ٘i)I96b@Y G J<C=JJJJbuE&K YZ~?ygDAtE77##9)5BE[[k<[Z~?[[[[[BZYY i)  IiP=?R; 8[O?))8[O?8[O?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033817.043165 s, next control iter: 1743033817.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033817.443165 s.;Ö]I~,O]\v%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420005J2 time: 1743033817.443308"JF (some fields omitted in printout)*J2J:JBJnJvJAzǓ@An@A:[~? AN A'%"AApNA"AZAbAjArAzAAAQq*@A4CY>tAb@Aڦ;AԆA>A9`?A6?A[<*AE:?2AFԽ:A8 BAE:?JAFԽRA8 ٘i)I9b@Y G J<<JJJJguE&K YrZ~?yDAtEŧ7b7#9FB)2BE[[R;=[Z~?[[[[[BZYY i) :Ii0?Ot; T?))T?T?ڶ*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033817.483165 s, next control iter: 1743033817.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7316, header.stamp.nsec: 00 temperature: 13.570271* salinity: 33.375332, density: 1025.000000* values[0]: 0.569281F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033817.863165 s.+]I~,>wv%AA33333@Am@A[~? AG A(:%"AA0pNA"AZAbAjArAzAAA\Μ +@Alp=tAb@AwARAL>A`P?A`2ܹ?Ao;<*AtA:?2A&tԽ:Ah BAtA:?JA&tԽRAh Yvw= >y.R ٓHu?ѿ``??fOs?&w?)vw= InI٘i)I9b@Y G Js<JJJJmuE&Kr> Y[~?yd4EA >tE77{7M#9)/B¹E[[m=[$[~?[9[[[[BZYY iLj=) $Ii?; Z?))OvZ?Z?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033817.903165 s, next control iter: 1743033818.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033818.283165 s.8R]I~,v%AJ"J*J2J:JBJnJvJAQ@A@A[~? A AO%"AA[#qNA"AZAbAjArAzAAA6F-~b+@AFA`>?A?A<*A)>:?2AԽ:AAlBA)>:?JAԽRAAl٘i)I9ec@Ye G Jڐ<JJJJruE&K Y2[~?yEAtE77#9EB)*BŹE[[z=[.[~?[[[[[BZYY i) Ii ? ; *_?))䍅*_?*_?j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033818.303165 s, next control iter: 1743033818.683180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7317*, header.stamp.nsec: 0*0 temperature: 13.569936** salinity: 33.375332*, density: 1025.000000** values[0]: 0.569837*F (some fields omitted in printout)62[~?)6 rAdjusting time to match Gazebo time: 1743033818.703165 s.պ]I~, v%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260848> elevatorAngleAction: 0.057202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743033818.703277F (some fields omitted in printout)Aףp= @A/Q5@A\~? AA@h%"AAiJqNA"AZAbAjArAzAAAޒ\d^F,@A;tA{c@AmAxA0>A ],?An?Ag <*A\:?2Afӽ:A=BA\:?JAfӽRA=٘i)I9c@Y G JТ<B=JJJJxuE&K YM[~?yEAtE7{7y#9)&B[[:=[mI[~?[[[[[BZYY i) l»Ii^><; Bd?)) Bd?Bd?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033818.723165 s, next control iter: 1743033819.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033819.123165 s.7]I~,]v%AJ"J*J2J:J?BJ?nJ5vJA)\u@AT[@AE/\~? A:A%"AAXqqNA"AZAbAjArAzAAA%q,@A8`:tAd@AGAAח>A?AW?A<*A`:?2A;CԽ:AMBA`:?JA;CԽRAM٘i)I9d@Y G J<C=JJJJ}uE&K Y i[~?yWFAtE)7ŧ7#9KB)'BȹE[[Uv>[Gd[~?[[[[[BZYY i) Ii >; pmj?))pmj?pmj?ypj=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033819.163165 s, next control iter: 1743033819.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033819.543165 s.I]I~,v%AA{Gᕼ@A2Ǖ@AH\~? AA%"AA"qNA"AZAbAjArAzAAA!I|-@A$9tA%e@AGS;AAP>A?A^?Aݯ<*Ac:?2A.ս:ABAc:?JA.սRA٘i)I9e@Yl G J<JJJJuE&K Y/[~?yFAtESI787#9HB)BʹE[[U>[8[~?[[[[[BZYY i) nIi`>a3; po?))po?po?b*YN YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033819.583165 s, next control iter: 1743033819.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7318, header.stamp.nsec: 00 temperature: 13.569554* salinity: 33.375336, density: 1025.000000* values[0]: 0.570589F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033819.963165 s.|]I~,v%AJ"J*J2J:J?BJ?nJ*5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743033819.963300F (some fields omitted in printout)AL@A g2@AA`?AV:?AY<*A!f:?2A2ս:ABBA!f:?JA2սRABY$>>yҘK<ٓH`M?׿`??] ?qP?`?)$> I٘i)I9e@Y G J<J!JJJuE&Kt> Yi[~?yhGA>tE{7Z78#9GB)B͹E[[U1>[Ι[~?[4[[[[BZYY i) MIiW>;O; Feu?))xFeu?Feu?e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033819.983165 s, next control iter: 1743033820.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033820.383165 s.]I~,+w%AAQ@AZ7@A{\~? AA%"AA7qNA"AZAbAjArAzAAAي_1I.@ABAʞ7tA8f@Au<A軕AB>A?A?A?<*Ah:?2AnNֽ:A#EBAh:?JAnNֽRA#E٘i)I98f@Y G J<JJJJuE&K Y[~?y$GAtE{7#9FB)BйE[[mYG>[[~?[[[[[BZYY i=) RIi>%; 6z?)) 6z?6z?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033820.403165 s, next control iter: 1743033820.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7319&, header.stamp.nsec: 0&0 temperature: 13.569150&* salinity: 33.375351&, density: 1025.000000&* values[0]: 0.571387&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033820.803165 s.wA]I~,{g3w%AJ"J*J2J:JBJnJvJAq= #@A @A\~? AAD%"AAy rNA"AZAbAjArAzAAA|=sH/@AhvN6tA]f@An <AA>Aʥ?A`L?AGۨ<*Az:?2A^Խ:AHBAz:?JA^ԽRAH٘i)I9f@Yt G J<JJJEJuE&K Y[~?yGAtEZ7SI7c#9)BӹE[[u]>[X[~?[[[[[BZYY i) ǩIi?F>j: \9?))\9?\9?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033820.843165 s, next control iter: 1743033821.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033821.223165 s.g]I~,HNw%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033821.223306F (some fields omitted in printout)A(\@A.EDu@A\~? AJA=%"AA1rNA"AZAbAjArAzAAA/@A`8u4tASg@AADA e>A ?Aƺ?AgJ<*A:?2AԽ:ABA:?JAԽRA٘i)I9Sg@Y G J<JJJJuE&K Y[~?yRHAtE777#9) B[[s>[<[~?[ު[[[[BZYY i) ԛùIi>: ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033821.263165 s, next control iter: 1743033821.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033821.643165 s.z]I~,*iw%AJ"J*J2J:Jv?BJv?nJ5vJAG@AJ@A\~? AAk%"AA^WrNA"AZAbAjArAzAAA؞;0@Ajf3tAg@AV8,AA\>A``?A.}?A;<*A":?2AԽ:ABA":?JAԽRA٘i)I9g@Y G J<JJJJuE&K YJ\~?yXߪHAtE77{7#9EB)BֹE[[3>[&\~?[ܪ[[[[BZYY i) (:Ii{=: ԅ?)tReceived state from Gazebo (printed only once in a while):)0 header.stamp.sec: 7320ԅ?, header.stamp.nsec: 0ԅ?0 temperature: 13.568765* salinity: 33.375359, density: 1025.000000* values[0]: 0.572125F (some fields omitted in printout)y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033821.663165 s, next control iter: 1743033822.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033822.063165 s.]I~,t w%AAfffff@ALQL@AX\~? A9A1%"AA|rNA"AZAbAjArAzAAAu0@A1tAPdh@AuA*A0>A`9?AB?A<ŝ<*Ah{:?2A`ս:ALBAh{:?JA`սRALY>">y>KvٓH zO? ݿ@(ְLJ?ob?qÑ?@з@?)> I٘i)I9dh@Yp G J|<J<JJJuE&Kyu> YW \~?yF۪IA">tEj7##9DB)BٹE[[Y>[\~?[ڪ[[[[BZYY i) st:Ii1<q9 /?))G|/?/?j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033822.083165 s, next control iter: 1743033822.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033822.483165 s._]I~,w%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246167> elevatorAngleAction: 0.066394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033822.483294F (some fields omitted in printout)Aј@A շ@A\~? AvAw%"AARrNA"AZAbAjArAzAAAy'0@AMW0tA.h@A3=AVA?A2?A?A_<*ADw:?2A[ս:ACBADw:?JA[սRAC٘i)I9h@Y G J<JJJJuE&K Yd9\~?y3תpIA yDtE77#9CB)BܹE[[>[=:\~?[ ت[[[[BZYY i) y ;IeI?iZ ϯ b?)) b?b?ĵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033822.523165 s, next control iter: 1743033822.883188 s, wait time: 0.360023 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7321, header.stamp.nsec: 00 temperature: 13.568384* salinity: 33.375381, density: 1025.000000* values[0]: 0.572871F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033822.903165 s.]I~,͹w%AA ףp=@A^I\#@A@]~? AA%"AAerNA"AZAbAjArAzAAA_31@A34W.tA5ai@AEA=Ag?A?As?A'<*Ad:?2AT7ս:ABAd:?JAT7սRA򼙘٘i)I9ai@Y G Jy<JJJJuE&K YpR\~?y ӪIAtE)7b7N#9BB)B߹E[[>[T\~?[Vժ[[[[BZYY i) ^;I,I?ikh ,%?)),%?,%?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033822.923165 s, next control iter: 1743033823.303183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033823.323165 s.J "J *J 2J :J ?BJ ?nJ 5vJ x]I~,-w%AA\@A{eގ@Ak(]~? AyA5C%"AA/rNA"AZAbAjArAzAAA7Hd1@A(Kv,tAi@A# <A ہA ?AG?AR?Af_<*A:?2ABս:ABA:?JABսRA٘i)I9i@YPG J<JJJJuE&K Y|k\~?y Ϫ&JAtE{7{7#9@B)B޹E[[U>[lo\~?[nҪ[[[[BZYY i) y;IJ I?i U ?))??*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033823.343165 s, next control iter: 1743033823.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7322*, header.stamp.nsec: 0*0 temperature: 13.568025** salinity: 33.375401*, density: 1025.000000** values[0]: 0.573530*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033823.743165 s.W]I~,mw%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033823.743288F (some fields omitted in printout)AGz@A;b@Ab@]~? A@A%"AAsNA"AZAbAjArAzAAAip1@AES*tABj@A~p<A~3A?A ?A`W1?AE`<*A:?2ALDֽ:A3BA:?JALDֽRA3뼙٘i)I9Bj@YG J<JJJJuE&K  $9Y\~? $9yʪJAuE777y$9?B)BE[[н>[\~?[RϪ[[[[BZYY iD=) ;I I?i5Ry ?))??*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033823.763165 s, next control iter: 1743033824.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033824.163165 s.z}^I~,q x%AJ"J*J2J:JBJnJvJA@Ae@A!X]~? AA%"AA4sNA"AZAbAjArAzAAAq-1@A cp(tAj@AU<AA ?AR?A@ ?A?<*A{:?2Aoֽ:ABA{:?JAoֽRAY>?y.cV<ٓH`?G@D?`b?`Q@ ???)> I٘i)I9j@YG J <B=J<JJJuE&K v> Y(\~?y#ƪJA?uEb77$9>B)BE[[2>[\~?[̪[[[[BZYY i) ;I}I?iy ?))K??ү*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033824.183165 s, next control iter: 1743033824.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033824.583165 s.%^I~,;S%x%AAR뚼@ACrњ@Ao]~? A\A%"AAXsNA"AZAbAjArAzAAA[>?<2@AWxJ&tAk@A;AցA4?A`y?A?Am<*Asr:?2Aagֽ:ASBAsr:?JAagֽRAS٘i)I9k@YG Jr~<C=JJJJuE&K Y³\~?yL/KA uE$9=B)BE[[ϫ>[\~?[Ȫ[[[[BZYY i) ʖ;IQI?i9F H?)) H?H?ư*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033824.603165 s, next control iter: 1743033824.983193 s, wait time: 0.380028 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7323, header.stamp.nsec: 00 temperature: 13.567719* salinity: 33.375408, density: 1025.000000* values[0]: 0.574142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033825.003165 s.J "J *J 2J :J ?BJ ?nJ 5vJ { ^I~,Y4@x%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033825.003290F (some fields omitted in printout)Ap= W@A i<@A]~? AAI%"AA)|sNA"AZAbAjArAzAAAqnqق2@A5f| $tAk@AлACAi,?A ?A ?ASE<*Az:?2A-ս:A IBAz:?JA-սRA I٘i)I9k@YWG Jw<JJJJuE&K Y_\~?yuKAuEj7j79 $9)B[[3<>[\~?[Ī[[[[BZYY i) O [\~?[[[[[BZYY i) [ ]~?[꼪[[[[BZYY i) "% elevatorAngleAction: 0.075966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743033826.263273F (some fields omitted in printout)A@AA@AQ]~? AիA,%"AAksNA"AZAbAjArAzAAA幣>'R3@A6gtAl@A5GAGA.?A4?A7?Ai<*Aa:?2ANֽ:AMBAa:?JANֽRAMYr>.?y4FٓH{?P.@%?B? jE?|"?)r> I٘i)I9l@Y)G J<J.JJJuE&Kv> Y]~?y7LA.?!uE777$97B)ЯBE[[ݖ?[$]~?[[[[[BZYY i) N5 elevatorAngleAction: 0.075966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033827.523308F (some fields omitted in printout)A(ܝ@A#@A8 ^~? AȫA(%"AAHtNA"AZAbAjArAzAAAhN4@AS$tA;n@Aq<ArϒA>?Aj?A?A6<*A^I~,S]x%AAzG@A($-@A"^~? AīA%"AAitNA"AZAbAjArAzAAA*Z4@A8tAn@AQ<A_AfC?A@$?A;k?A)͖<*AKP:?2Aֽ:A BAKP:?JAֽRA ٘i)I9n@YIG JT<JJJJuE&K Y*h]~?yNA7uEb77O$$9)B[[5?[!]~?[[[[[BZYY i=) 1sy%AJ"J*J2J:JBJnJvJA3333@A!K@A7^~? AKA%"AAӉtNA"AZAbAjArAzAAAG4@A tA8o@AlA\AAH?A;?A@`,?A<*AI:?2A,Lֽ:A\BAI:?JA,LֽRA\Y?;H?ySA걺ٓHࡗ?`i?;?`]? -V`]?)? I٘i)I98o@YG JҚ<J)JJJuE&Kv> Y'|]~?yŐjNAH? elevatorAngleAction: 0.085221< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033828.783293F (some fields omitted in printout)AQ@Aϻ@AkL^~? AcA2<%"AAtNA"AZAbAjArAzAAA+4@A` tA9o@A2^6AA M?A`R?A?A<*A>:?2A^,ֽ:A{BA>:?JA^,ֽRA{٘i)I9o@YG J<JJJJuE&K Y$]~?yNABuE77{7y+$9/B)BE[[%?[]~?[[[[[BZYY i)  elevatorAngleAction: 0.085221"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0005002J dt: 0.420002:JBJ2 time: 1743033830.043285nJF (some fields omitted in printout)vJA{Ga@A1G@A^~? A窫Asf%"AAuNA"AZAbAjArAzAAALdH5@A>ƛtAZqq@AfAעA]?A?A`?A<<*A :?2A'׽:ABA :?JA'׽RA٘i)I9qq@YG Jۭ<JJJJ vE&K Y]~?ywPARuE96$9)B[[$7?[]~?[z[[[[BZYY i) R Y]~?yqrPAb?WuE779$9,B)BE[['=?[E^~?[S[[[[BZYY i) & elevatorAngleAction: 0.085221< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743033831.303286F (some fields omitted in printout)Aq= ף@A@A^~? ANA%"AA]uNA"AZAbAjArAzAAA\?A=6@Ax.zsA0s@A2qN<AAxm?A`?Av?A}<*A:?2Av׽:ABA:?JAv׽RA٘i)I90s@YG J<JJJJvE&K Y^~?yrcPQAbuE{7j7@$9'B)BE[[JI?[>^~?[kv[[[[BZYY i) 0v elevatorAngleAction: 0.085221< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743033832.563271F (some fields omitted in printout)Affff梼@ALO̢@Ag^~? AAt%"AAUuNA"AZAbAjArAzAAA ח6@ABPsA&u@ArsgAԼA|?A 6?A}?A<*A29?2Arֽ:A BA29?JArֽRA YyD?}?y@UhٓH و?'@`? ?rO? /?)yD? I٘i)I9&u@Y4G JP<JovJJJ)vE&Kx> Y4^~?ywNRA}?ruE)7b7K$9B)uBE[[ץ[?[F|^~?[a[[[[BZYY i) mz%AAQ@A,7@A_~? AAXq%"AAuNA"AZAbAjArAzAAA)37@AiMsAOu@A]cA~޳A+?A%}?A`)?AH<*AU9?2Aֽ:A0BAU9?JAֽRA0٘i)I9u@YG J<B=JJJJ.vE&K YZD^~?yGSAwuEj7Z7OO$9)pB[[a?[ӏ^~?[Z[[[[BZYY i)  ~?))~?~?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033833.023165 s, next control iter: 1743033833.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033833.403165 s.&^I~,Yz%AJ"J*J2J:JBJnJvJA ףp@A[@A6_~? A_|AW%"AA9uNA"AZAbAjArAzAAAЄ-nF7@Aw^4sAbv@A!лA(A?A?A0?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9v@YG J<C=JJJJ4vE&K YS^~?y?SA}uE{7R$9B)iB E[[7g?[^~?[S[[[[BZYY i) ( elevatorAngleAction: 0.085221< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743033833.823290F (some fields omitted in printout)A\(@A@A~)_~? AvAic%"AA=uNA"AZAbAjArAzAAAC7w7@A)*ZsAnCw@AP;AMA1g?A v?A`#~?Aj<*A9?2A`׽:ABA9?JA`׽RAmI٘i)I9Cw@Y~G JW<JJJJ9vE&K Yac^~?yo8TAuE777zV$9)cB[[e'n?[{^~?[K[[[[BZYY i)  vE&K Yr^~?y1TAuE77{7Z$9B)\BE[[]t?[^~?[C[[[[ZZZZ¸>BZYY i¸>K$)  o<AᶽAz?Am?A?A<*A9?2A}׽:A/BA9?JA}׽RA/Y _??yܶp<ٓHu?@d"ݜC?? \Ӷ??|?) _? I٘i)I9x@YWG J<JǝJJJDvE&Kx> Y^~?yK)UA?uE777]$9B)TB E[[3z?[^~?[;[[[[ZZZZBZYY i) =C=JJJJOvE&K Y^~?yUAuE7d$9B)EBE[[?[^~?[+[[[[ZZZZBZYY i) ְB[[Q?[ _~?[t#[[[[ZZZZBZYY i) ;ƤGA%"AAvNA"AZAbAjArAzAAAB-o}8@ABsA4|@AA89ҼAg?A`4l?AX?Ar<*A9?2A]ֽ:Av:BA9?JA]ֽRAv:Yy?X?y6ҼٓHK?@`,z??Ԕ F?LV ?)y? I٘i)I9|@YG J<B=J>JJJ_vE&Kqw> Y^~?yWA?uE{7o$9)/B[[R?['_~?[q[[[[ZZZZBZYY i_) Fd9@AMsA}@A@H<AX =A1?A@?A@`=?A Y:*A9?2A}ֽ:Ab<BA9?JA}ֽRAb<٘i)I9}@YnG JC;JJJJtvE&K Yh^~?yWAuE}$9)!B[[?[Z_~?[[[[[BZYY i) BGJ{%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743033838.863306F (some fields omitted in printout)A33333@A`@Ax_~? AG#A%"AAvNA"AZAbAjArAzAAA`EgI_9@A_ ,үsA}@A B;A-3=AY?A4.?Ap?AM*A9?2Aֽ:A&<BA9?JAֽRA&JJJzvE&K%x> Y%^~?yةaWA?uEz$9B) BE[[Ļ?[d_~?[[[[[BZYY i~ph) ~x9QsA|@AYA(=A ?A`;?A%?A*A9?2Aֽ:A P=BA9?JAֽRA P=٘i)I9|@YG JLsJJJJvE&K Y_~?ypVAuE777Џ$9)&B[[`t?[_~?[T[[[[BZYY i) X{;IF?i{u y@))y@y@;ȪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743033840.563165 s, next control iter: 1743033840.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7339, header.stamp.nsec: 00 temperature: 13.562615* salinity: 33.375572, density: 1025.000000* values[0]: 0.584461F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033840.963165 s.v_I~,=|%AJ"J*J2J:J?BJ?nJ5vJAL@A'2@A_~? AA%"AA=wNA"AZAbAjArAzAAAszi9@A`֘sA`)|@A޼;AH@=A?Ar?AL?A<*A9?2A]ֽ:A=BA9?JA]ֽRA=YÍ??y?=d;ٓH@H?v ?`k? f?v?w כw? Y_~?y VA?uEb77f$9B)E[[?[_~?[Ѷ[[[[BZYY i) t5;IF?i¿y @))@@KѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033840.983165 s, next control iter: 1743033841.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033841.383165 s._I~,/X|%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066036< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033841.383279F (some fields omitted in printout)AQ@A_=@Am`~? AA%"AAaJwNA"AZAbAjArAzAAAIm:@AF/$sA{@A6Q\<A[Q=A?A ?AVq?A&]*A9?2A-ֽ:AL=BA9?JA-ֽRAL=٘i)I9{@Y&G J梼C=JJJJvE&K Y_~?y[UAuE)7ŧ7$9)*B[[ϯ?[_~?[>[[[[BZYY i) ;IF?iĿlz @))@@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033841.423165 s, next control iter: 1743033841.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7340", header.stamp.nsec: 0"0 temperature: 13.562790"* salinity: 33.375580", density: 1025.000000"* values[0]: 0.583946"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033841.803165 s.}A_I~,gs|%AJ"J*J2J:J}?BJ}?nJ5vJAq= #@At] @A`~? A0A%"AA VwNA"AZAbAjArAzAAA#Yg:@AJ'jsA {@Af<A J=A孷?A?A?A*A9?2AJֽ:AB=BA9?JAJֽRAB=٘i)I9 {@YG JJJJJvE&K Y_~?y=UAuE777$9).B[[?[H_~?[[[[[BZYY i) <;IvF?ijĿj{ ) @))) @) @٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033841.843165 s, next control iter: 1743033842.203182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743033842.223165 s.g#_I~,H|%AA(\@AGUDu@A`~? AfA(I%"AA`wNA"AZAbAjArAzAAA֢1:@AsAvz@A;A=A [?A@,?A@?A񰴼*A9?2Aֽ:AP=BA9?JAֽRAP=٘i)I9vz@YpG JlJJJJvE&K Y"_~?yTA zDuES77%$9)3B[[-?[J_~?[황[[[[BZYY i) f;IkF?iÿ'z  @)) @ @[ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033842.263165 s, next control iter: 1743033842.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033842.643165 s.v)_I~,*|%AJ"J*J2J:JS?BJS?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066036< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033842.643292F (some fields omitted in printout)AG@A*଼@A'`~? AުA%"AA kwNA"AZAbAjArAzAAAU@E:@A2sAy@AUA=A?A?A`?A;*A9?2A ׽:A! =BA9?JA ׽RA! =٘i)I9y@YG J^JJJJvE&K Y'_~?yZqTAuE)7ŧ7$9B)6BE[[[?[_~?[:[[[[BZYY i) {*;IlF?i¿Xx P @))P @P @p٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033842.663165 s, next control iter: 1743033843.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7341, header.stamp.nsec: 00 temperature: 13.563029* salinity: 33.375591, density: 1025.000000* values[0]: 0.583302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033843.063165 s.0_I~,V |%AAfffff@AjTQL@A`~? A֪Az%"AA^twNA"AZAbAjArAzAAAw W:@Ac0sArIy@Ae&GA_=Aÿ?A`3?A?À*A 9?2A[K׽:A(=BA 9?JA[K׽RA(=Y똣?:?yh=˻GٓH`²?`_z?@?ں? 䈿`u?)똣? I٘i)I9Iy@YG J{Jg;JJJvE&Kex> Y)_~?yTA?uE77P$9):B[[쉼?[_~?[~[[[[BZYY i) :IWF?iÿ\z {@)){@{@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033843.083165 s, next control iter: 1743033843.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033843.483165 s.~_7_I~,|%AJ"J*J2J:J<?BJ<?nJ|5vJAѭ@AY;۷@A`!`~? AΪA&"AA|wNA"AZAbAjArAzAAADg:@A=?|sAx@A[pA=A e?A@VQ?A@" ?A*A9?2AD׽:A=BA9?JAD׽RA=٘i)I9x@Y`G JJJJJvE&K Y+_~?yySAuE777$9)?B[[?[_~?[|[[[[BZYY i) EI:IoBF?iĿ{ r@))r@r@CժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033843.503165 s, next control iter: 1743033843.883185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7342, header.stamp.nsec: 00 temperature: 13.563281* salinity: 33.375587, density: 1025.000000* values[0]: 0.582595F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033843.903165 s.=_I~,|%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066036< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198892 time: 1743033843.903296F (some fields omitted in printout)A ףp=@A*]#@A4&`~? AƪA&"AAwNA"AZAbAjArAzAAA35u:@AdfwsA$x@AqAܘ=A&?Aq?A?Aܭ*A9?2AX׽:A=BA9?JAX׽RA=٘i)I9$x@YG JJJJJvE&K Y-_~?yq5SAvEb77{$9)DB[[?[_~?[r[[[[BZYY i) \Ih-F?iÿKz @))@@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033843.943165 s, next control iter: 1743033844.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033844.323165 s.tD_I~,}%AJ"J*J2J:JBJnJvJA\@A"8.㎮@A*`~? AᾪAK&"AAwNA"AZAbAjArAzAAAei:@ArsAQw@A+:A[=Au?Ag'?A@3?A*A<9?2A ֽ:A3=BA<9?JA ֽRA3=٘i)I9w@YG JmJJJJvE&K Y 0_~?y=hRAvE77$9B)EBE[[?[_~?[*i[[[[BZYY i) IIF?i{7x Ƙ@))Ƙ@Ƙ@`ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033844.343165 s, next control iter: 1743033844.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7343., header.stamp.nsec: 0.0 temperature: 13.563518.* salinity: 33.375587., density: 1025.000000.* values[0]: 0.581935.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033844.743165 s.WK_I~,m/}%AAGz@A g@AN.`~? A㶪A&"AAʑwNA"AZAbAjArAzAAAlw:@AdmsA-v@Ak*<A<=A?A(j?AE?AI*A9?2Acֽ:A=BA9?JAcֽRA=٘i)I9v@YTG J*JJJJvE&K Y2_~?yv_cRA vE{7$9)IB[[A?[_~?[g_[[[[BZYY i) VIF?i;t ,@)),@,@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033844.763165 s, next control iter: 1743033845.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033845.163165 s.x}R_I~,qJ}%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066036< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743033845.163315F (some fields omitted in printout)A@A6ve@A1`~? AޮA+&"AA.wNA"AZAbAjArAzAAADc:@A¯hsAmv@Ap<A=A?A?A2U?A*A9?2A^ֽ:A =BA9?JA^ֽRA =Y? ?y=Yq<ٓHݜ?7?@ޛ4?@?@?)? I٘i)I9mv@YG JﭼJ]JJJvE&KFx> YR1_~?yVRA?vEj7j7;$9)NB[[n?[_~?[U[[[[BZYY i) >I_E?iٿu @))@@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033845.183165 s, next control iter: 1743033845.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033845.583165 s.X_I~,Re}%AAR민@A#qpѯ@AT4`~? AզA&"AAțwNA"AZAbAjArAzAAA;:@AcsAu@At7<Aq =A40?Aֱ?A`mb?AP*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9u@YG JLJJJJvE&K Y0_~?yMQAvES77к$9B)QBE[[ ?[]_~?[K[[[[BZYY i)  8|IE?ieXt O@))O@O@êYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033845.603165 s, next control iter: 1743033845.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7344, header.stamp.nsec: 00 temperature: 13.563779* salinity: 33.375622, density: 1025.000000* values[0]: 0.581242F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033846.003165 s. `_I~,j4}%AJ"J*J2J:JBJnJvJAp= W@A<@A6`~? AȞA&"AAwNA"AZAbAjArAzAAA Br:@A*<^sA5Wu@A4H:AQ=Ap?A?A`w@Aa9`~? AA&"AAwNA"AZAbAjArAzAAA|:@AaUsA]t@AlAon=A;?A@?A z?A*A9?2AU׽:A4w<BA9?JAU׽RA4w<٘i)I9]t@YG JŐJJJJvE&K Y!._~?ys3|PA(vE{7$9)^B[[c?[_~?[.[[[[BZYY i) pڻI}E?ik  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033846.863165 s, next control iter: 1743033847.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033847.263165 s.t_I~,'}%AA@A b@A9`~? AA&"AAwNA"AZAbAjArAzAAA?^`:@Ai )PsAs@AFPA=A?A@}?A }?ASe*A(9?2A -׽:A,A<BA(9?JA -׽RA,ACJJJvE&K?x> Yv*_~?y*"PA?.vE7)7&$9B)aBE[[rD?[ѡ_~?[%[[[[BZYY i) :IÊE?iZj 8@))8@8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033847.303165 s, next control iter: 1743033847.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 73462, header.stamp.nsec: 020 temperature: 13.5642492* salinity: 33.3756032, density: 1025.0000002* values[0]: 0.5800572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033847.683165 s.lz_I~,}%AJ"J*J2J:J~?BJ~?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743033847.683331F (some fields omitted in printout)AQ@Ag^뱼@A:`~? Az~Av3&"AAwNA"AZAbAjArAzAAA-a(:@A=r%:KsATus@AtA3=Ap[?AuA}?A*A9?2Amֽ:A֠<BA9?JAmֽRA֠<٘i)I9us@Y-G JKC=JJJJvE&K Y&_~?y!OA3vESI7SI7$9)dB[[em?[Ŝ_~?[}[[[[BZYY i) 4 I4wE?ih + @))+ @+ @y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033847.683165 s, next control iter: 1743033848.083177 s, wait time: 0.400012 s&_~?)! rAdjusting time to match Gazebo time: 1743033848.103165 s._I~,~%AA= ףp@AV@A9`~? AfvAD&"AAtwNA"AZAbAjArAzAAAD?԰:@AqKFsAr@Ak;AH=A!?ALA {?A,*A9?2AJֽ:Az=BA9?JAJֽRAz=٘i)I9r@YG J͋JJJJvE&K Y"#_~?y?mOA8vE777P$9)hB[[?[_~?[[[[[BZYY i) oIcE?i~e !@))!@!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033848.123165 s, next control iter: 1743033848.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033848.523165 s._I~,{!~%AJ"J*J2J:JBJnJvJA(ܲ@AT²@A8`~? ARnAo&"AAowNA"AZAbAjArAzAAA:@A]AsAUr@A`<A`=ASj?A}ءAMv?ACt*A9?2AZֽ:A1=BA9?JAZֽRA1=٘i)I9r@YG JJJJJvE&K Yw_~?yOA>vE{7{7$9)lB[[?[v_~?[}[[[[BZYY i) :d+IPE?iNRa sO#@))sO#@sO#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033848.543165 s, next control iter: 1743033848.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7347, header.stamp.nsec: 00 temperature: 13.564465* salinity: 33.375610, density: 1025.000000* values[0]: 0.579512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033848.943165 s.[d_I~,O]<~%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743033848.943299F (some fields omitted in printout)AzG@AW-@A37`~? AAfA &"AAwNA"AZAbAjArAzAAA4og:@ApE?i}a[ $@))$@$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033848.983165 s, next control iter: 1743033849.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033849.363165 s._I~,>W~%AJ"J*J2J:JF?BJF?nJz5vJA3333@Aap@A/5`~? A3^A&"AAwNA"AZAbAjArAzAAA2K:@A!7sAq@A.;Auӌ=A?AYA`Ce?Af*AG9?2A2ֽ:A=BAG9?JA2ֽRA=Y??yҌ= H;ٓH4[ͿH% Hタ?@ ^Ϳ ҃?ǖ8{?`t?)? I٘i)I9q@YG J J;JJJwE&KEx> YN_~?y5YNA?HvE)7ŧ7$9)sB[[a?[@_~?[[[[[BZYY i) jJI:,E?iCY o&@))o&@o&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033849.403165 s, next control iter: 1743033849.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7348&, header.stamp.nsec: 0&0 temperature: 13.564682&* salinity: 33.375603&, density: 1025.000000&* values[0]: 0.578913&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033849.783165 s.Z_I~,r~%AAQ@A()@A2`~? A(VACG &"AAwNA"AZAbAjArAzAAA]?Ȑ:@Ap2sApq@AA=Ae?AlA X?Ax*AM9?2A!׽:A=BAM9?JA!׽RA=lI٘i)I9q@YG JB=JJJJwE&K Y_~?yMANvEj7j7$9B)xBE[[?[x_~?[[[[[BZYY i) YI(E?iAW S'@))S'@S'@`ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033849.803165 s, next control iter: 1743033850.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033850.203165 s._I~,~%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743033850.203307F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@AiA'p@A/`~? A"NA &"AAVwNA"AZAbAjArAzAAAR8:@ASa ޷-sAp@ACTLAܐ=A?A DA I?Aq*Au9?2AU׽:AX=BAu9?JAU׽RAX=٘i)I9p@YsG JiC=JJJJ wE&K YR_~?yMASvE777;$9B){BE[[>?[(o_~?[a[[[[BZYY i) FiIvE?iR )@)))@)@LǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033850.223165 s, next control iter: 1743033850.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033850.623165 s.X_I~,a~%AA)\@Ab۴@A+`~? A"FA &"AAKwNA"AZAbAjArAzAAAu}C:@A](sA&p@A*lAy1=A?AAZ8?A*A9?2AE׽:AQ=BA9?JAE׽RAQ=٘i)I9&p@Y)G JJJJJwE&K Y_~?y>MAYvEb77$9)B[[HZ?[e_~?[Vڨ[[[[BZYY i) xI:D?iJ,M +@))+@+@yʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033850.643165 s, next control iter: 1743033851.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7349, header.stamp.nsec: 00 temperature: 13.564929* salinity: 33.375587, density: 1025.000000* values[0]: 0.578335F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033851.043165 s._I~,~%AJ"J*J2J:JBJnJvJA{Ga@A3G@A'`~? A(>A &"AAtwNA"AZAbAjArAzAAAE_z:@AP@#sAZo@A8XAa=AA?AӿA4$?An͖*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9o@YG J듼JJJJwE&K YU^~?yܨLA^vE7f$9)B[[q?[fZ_~?[lѨ[[[[BZYY i) ID?i䚿CF J,@))J,@J,@$ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033851.063165 s, next control iter: 1743033851.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033851.463165 s.X_I~,~%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743033851.463274F (some fields omitted in printout)A̵@A |E@A'#`~? A66A &"AAՇwNA"AZAbAjArAzAAARdśl:@A_sA(o@A/:AQ4=A5?AA ?A*A9?2Aeֽ:A=BA9?JAeֽRA=Y??yF4=:ٓHԿ ^< r n&? Կ3?!eX??)? I٘i)I9(o@YG J Jk<JJJwE&Kx> Y^~?yԨxLA?cvE7$9)B[[?[N_~?[Ȩ[[[[BZYY i) EI$D?iϘ՘C >8.@))>8.@>8.@yꗬҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033851.483165 s, next control iter: 1743033851.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7350, header.stamp.nsec: 00 temperature: 13.385926* salinity: 33.391609, density: 1025.000000* values[0]: 0.699483F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033851.883165 s.J y_I~"J*J2J,Q~%A:J3?BJ3?nJ;5vJAQ8@AG3@A`~? AK.AS &"AAnwNA"AZAbAjArAzAAA\:@APmHsAYn@Aڿ4<A%=A9F?A`7ÿA@?Al*A9?2A@ֽ:AO=BA9?JA@ֽRAO=٘i)I9n@Y;G JJJJJ wE&K Y^~?yJ̨LAivEb77$9B)B E[[?[B_~?[Ϳ[[[[BZYY i) *I D?iu? f/@))f/@f/@$תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033851.903165 s, next control iter: 1743033852.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033852.303165 s.W_I~,{g%AAq= ף@A'@AO`~? Ai&AI &"AAAxwNA"AZAbAjArAzAAAVK:@AxsA+n@Aӏr<A'=A?AbvſA?Aڭ*A.9?2A6ֽ:A1=BA.9?JA6ֽRA1=٘i)I9n@YG JiJJJJ&wE&K Y^~?yèKAnvE{7{7&$9)B[[@[*6_~?[-[[[[BZYY i)  IgD?iJ: jP1@))jP1@jP1@c۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033852.323165 s, next control iter: 1743033852.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7351*, header.stamp.nsec: 0*0 temperature: 13.386154** salinity: 33.391651*, density: 1025.000000** values[0]: 0.698323*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033852.723165 s._I~,H.%AJ"J*J2J:J2?BJ2?nJt;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033852.723302F (some fields omitted in printout)A(\@AN@A`~? AA؆ &"AALowNA"AZAbAjArAzAAAl8:@A[]VsA}m@A`1<Av=A}?A@RǿA>?A6;*A9?2Awֽ:A=BA9?JAwֽRA=٘i)I9}m@YG JB=JJJEJ+wE&K YV^~?yDKAsvE77$9)B[[e@[(_~?[[[[[BZYY i) ?DIND?i\x3 2@))2@2@PߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033852.743165 s, next control iter: 1743033853.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033853.143165 s.W/_I~, *I%AAGz@A`@Aj `~? AA&"AAewNA"AZAbAjArAzAAA8ԟ$:@AapH sA l@A/:A/=A2?A/ɿA ӛ?AUu*A[9?2Aֽ:A==BA[9?JAֽRA==٘i)I9l@Y/G JC=JJJJ0wE&K Y^~?yVJAyvE77Q$9B)BE[[@[_~?[^[[[[BZYY i) ϩID?i,+ f4@))f4@f4@ YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743033853.163165 s, next control iter: 1743033853.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033853.563165 s._I~,R d%AJ"J*J2J:JBJnJvJAffff淼@A'Q̷@A1`~? AA&"AA[wNA"AZAbAjArAzAAAL:@ArL0sAQl@A A=At@A` ˿A x?Aﲳ*A9?2A2׽:AN=BA9?JA2׽RAN=Y?h@y=ٓH@ڿ*`楿? ۿ?%?)? I٘i)I9Ql@YG JB=J<JJJ6wE&KRx> Y/^~?y\lJAh@~vE77$9B)BE[[s@[q _~?[[[[[BZYY i) ^*IĊD?iOX( f5@))f5@f5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033853.583165 s, next control iter: 1743033853.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7352, header.stamp.nsec: 00 temperature: 13.386438* salinity: 33.391644, density: 1025.000000* values[0]: 0.697114F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033853.983165 s._I~,~%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743033853.983292F (some fields omitted in printout)AQ@A (7@At_~? ANAN&"AAOwNA"AZAbAjArAzAAAagD9@AU{sAk@AJmA=A@A̿AtS?A*Aߡ9?2AE׽:A=BAߡ9?JAE׽RA=٘i)I9k@YwG JC=JJJJ;wE&K  %9YG^~? %9ybIAvE{7{7|%9)B[[X@[N^~?[[[[[BZYY i) 5I}D?i~# v7@))v7@v7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033854.003165 s, next control iter: 1743033854.383185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743033854.403165 s.&_I~,͙%AJ"J*J2J:JBJnJvJA ףp@AyY@A6_~? AA&"AACwNA"AZAbAjArAzAAAeF9@AGrAk@AnIALF=A@A@ұοA` ,?Aߖ*A!9?2Az ׽:Al=BA!9?JAz ׽RAl=٘i)I9k@YG JѹJJJJAwE&K Y_^~?yhIAvE777%9B)BE[[~@[^~?[[[[[BZYY i) ݿIoD?iu  8@)) 8@ 8@YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743033854.423165 s, next control iter: 1743033854.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7353", header.stamp.nsec: 0"0 temperature: 13.386705"* salinity: 33.391655", density: 1025.000000"* values[0]: 0.695853"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033854.823165 s._I~,2%AA\(@Ar@Ay_~? A Ay&"AA6wNA"AZAbAjArAzAAADq9@AR+rA{j@AmAQ=AU@AP<пA ?AkNƼ*Aɚ9?2Aֽ:A$=BAɚ9?JAֽRA$=٘i)I9{j@YG JMB=JJJJFwE&K Yu^~?ymIAvEŧ7b7 %9)B[[| @[r^~?[3[[[[BZYY i) 8ǼIYcD?i>iF  :@)) :@ :@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033854.843165 s, next control iter: 1743033855.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033855.243165 s._I~,q%AJ"J*J2J:J1?BJ1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033855.243327F (some fields omitted in printout)AGz@AzCnz@A?_~? AA &"AA<)wNA"AZAbAjArAzAAAݳ̧9@AFarA*i@A+;A4c=A>@AѿA Z?AB ϼ*Aޗ9?2A5ֽ:A=BAޗ9?JA5ֽRA=٘i)I9i@YNG JOʼC=JJJJKwE&K Y^~?ysHAvE777< %9B)BE[[ @[^~?[~[[[[BZYY i) [μIWD?ir[q  <@)) <@ <@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033855.263165 s, next control iter: 1743033855.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033855.663165 s._I~,q%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7354, header.stamp.nsec: 00 temperature: 13.387023* salinity: 33.391678, density: 1025.000000* values[0]: 0.694534F (some fields omitted in printout)A@Aɐc幼@A_~? AAb&"AAwNA"AZAbAjArAzAAAeY9@ALrA i@Ac<A=A@A}ѿA?A[ռ*A[9?2A ֽ:A}=BA[9?JA ֽRA}=٘i)I9 i@Y G J<ҼJJJJQwE&K Y^~?yz9HAvE77%9B)BE[[ @[^~?[ w[[[[BZYY i) )ռILD?iK[ O=@))O=@O=@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033855.683165 s, next control iter: 1743033856.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033856.083165 s.D`I~, S%AJ"J*J2J:JBJnJvJARk@AYnQ@AV_~? AA2&"AA wNA"AZAbAjArAzAAAp8dok9@A? elevatorAngleAction: 0.082200< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033857.763286F (some fields omitted in printout)A@A3@A_~? AĩAk&"AAUvNA"AZAbAjArAzAAA_+8@A{yrAme@AqmAJ=A @A LֿA /?A*A'9?2A ׽:A<BA'9?JA ׽RA?Eq @yE=lnٓH `O? @?B ܭ?)>? I٘i)I9me@Y G JJᔼJJJlwE&KE> Y-E^~?y\FAq @vE)7b7"%9 B)BE[[$A@[`^~?[T[[[[ZZBZYY i) IA%D?i⾉M E@))E@E@y= ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033857.803165 s, next control iter: 1743033858.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033858.183165 s."`I~,c%AAQ@A\pk@A)_~? AA&"AAvNA"AZAbAjArAzAAAޤ 8@A'wrA>d@A A elevatorAngleAction: 0.082200< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033859.023299F (some fields omitted in printout)A(\@AB@Ay_~? AA&"AA3vNA"AZAbAjArAzAAA j8@A.O"rAY:c@A(<A$<A;W@A@|ؿA@?Ay*A9?2Aֽ:A Y_BA9?JAֽRA Y_٘i)I9:c@YK G JüJJJJ|wE&K Y^~?yOGDAvE77|-%9)B[[%@[$^~?[A[[[[ZZBZYY i) ID?iGE ]H))\HYpI@^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033859.043165 s, next control iter: 1743033859.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033859.443165 s.:6`I~,J]܀%AJ"J*J2J:Jq0?BJq0?nJ95vJAzǽ@A+Kt@Ak_~? A⨩A&"AAnyvNA"AZAbAjArAzAAA#O@8@A)d+rAb@A~^<A "<AO@A`ٿA ?A3*Au9?2A ֽ:ABAu9?JA ֽRA٘i)I9b@Y G JJJJJwE&K Y^~?y?@wDAvE)7b71%9B)BE[[p @[[^~?[;[[[[ZZBZYY i) ~IXD?iuL 7G))7GJ@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033859.483165 s, next control iter: 1743033859.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7358, header.stamp.nsec: 00 temperature: 13.388381* salinity: 33.391724, density: 1025.000000* values[0]: 0.688601F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033859.863165 s.+=`I~,>%AA33333@AX7@AK]_~? A*A&"AAcvNA"AZAbAjArAzAAAά8@A@HrARb@Aڿ<AȻA@A@McڿA@cc?A7*Aث9?2Aֽ:APpBAث9?JAֽRAPpY@@yȻ<ٓH@S/? )?y]?y?7?@|?)@ I٘i)I9Rb@Y G JjJ/DJJJwE&Kw> Y]~?y9DA@vEŧ74%9B)BE[[|@[]~?[5[[[[ZZBZYY i|=) kID?i'Q %E))%E_L@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033859.903165 s, next control iter: 1743033860.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033860.283165 s.4RD`I~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743033860.283283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A,'@AwN_~? AAu&"AAMvNA"AZAbAjArAzAAA7@AӋrAb@AsACA;@A*ۿA`?A d*A9?2AUֽ:AvBA9?JAUֽRAv٘i)I9b@Y G J|JJJJwE&K Y]~?y73DAvEj7j7<8%9)B[[W@[6]~?[/[[[[ZZBZYY i+t=)  YIQD?i$Һ )ID)))IDM@{)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033860.323165 s, next control iter: 1743033860.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7359., header.stamp.nsec: 0.0 temperature: 13.388569.* salinity: 33.391754., density: 1025.000000.* values[0]: 0.687794.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033860.703165 s.ٺJ`I~,-%AAףp= @ATr3@A5?_~? AA &"AA7vNA"AZAbAjArAzAAAU-u7@AerAGa@AwAL3 A@A@yۿA_?A*AS9?2A.ֽ:A3ϼBAS9?JA.ֽRA3ϼ٘i)I9a@Y G JSB=JJJJwE&K Yv]~?y,DAvEŧ77;%9B)BE[[[@[6]~?[l*[[[[BZYY i) *FI D?iὉp B))BLO@6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033860.723165 s, next control iter: 1743033861.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033861.123165 s.6Q`I~,XG%AJ"J*J2J:J0?BJ0?nJ85vJA)\u@A[@A/_~? AAˑ&"AAvNA"AZAbAjArAzAAA7@A[ɸrA b@AOmA4A*@A@;ܿAe?A;*A9?2Aս:AuBA9?JAսRAu٘i)I9 b@Y G J:C=JJJJwE&K Y^]~?y0&DAvE{7j7g?%9)[[@[]~?[%[[[[BZYY i) K3I D?inU c^A))c^ARP@y7=q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033861.143165 s, next control iter: 1743033861.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033861.543165 s.IX`I~,b%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072487< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743033861.543289F (some fields omitted in printout)A{Gῼ@An½2ǿ@An_~? A;A&"AAvNA"AZAbAjArAzAAAUpY7@A{rA4b@AǴAA^XA@A ^qݿAC?Ahg<*A9?2A$ֽ:A mBA9?JA$ֽRA m٘i)I94b@Y G Jt;JJJJwE&K YB]~?yDAvEb7b7B%9B)E[[P/!@[]~?[[[[[BZYY i) i IE D?i9Z< 9 %?))%?4R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033861.583165 s, next control iter: 1743033861.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7360, header.stamp.nsec: 00 temperature: 13.388616* salinity: 33.391739, density: 1025.000000* values[0]: 0.687636F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033861.963165 s.z^`I~,}%AJ"J*J2J:JBJnJvJAL@AY2@A_~? AAu&"AAuNA"AZAbAjArAzAAAnV'7@A VrAtb@AsJA5vAn@A/޿A?Ab 2<*AZ9?2A|ֽ:A BAZ9?JA|ֽRA Yk @q@yvJٓH`!`UN ?@XC?`(̮?@yNi?)k @ I٘i)I9tb@Y G J<JJJJwE&Kw> Y*]~?yDAq@ {DvE{7j7F%9B)E[[p"@[]~?[[[[[BZYY iPi=) I D?i#V=C : uy>))uy>@S@Ц*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033862.003165 s, next control iter: 1743033862.363178 s, wait time: 0.360013 s*]~?) rAdjusting time to match Gazebo time: 1743033862.383165 s.e`I~,+%AAQ@A7:@A^~? A{A<&"AAuNA"AZAbAjArAzAAAn6@Aby_rAb@Ax;A͇A@A H޿A?AfZ<*A9?2ALֽ:A` BA9?JALֽRA` ٘i)I9b@Y G JE<JJJJwE&K Yx]~?yFEAvEZ7SI7'J%9)B[[\$@[s]~?[[[[[BZYY i) IXD?i=3: =))=U@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033862.423165 s, next control iter: 1743033862.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7361", header.stamp.nsec: 0"0 temperature: 13.388569"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.687965"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033862.803165 s.~Al`I~,g%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056962J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000500*J2J dt: 0.419991:JBJnJ2 time: 1743033862.803285vJF (some fields omitted in printout)Aq= #@Az @A^~? AuAx&"AAuNA"AZAbAjArAzAAA5O<6@A)nrAo,c@Ak\<AbVA@A`)߿AR?AR<*A9?2A]ֽ:ALQ BA9?JA]ֽRALQ ٘i)I9,c@YB G Jo<B=JJJJwE&K Yb]~?yEAvE777M%9B)E[[j%@[4\]~?[x[[[[BZYY i) viIpD?i>w: ;));*V@P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033862.823165 s, next control iter: 1743033863.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033863.223165 s.gs`I~,H΁%AA(\@AnEu@A^~? AoAo&"AA2uNA"AZAbAjArAzAAA!`6@ArzrArc@AvO<AsA-h@AA+A?As<*AT9?2AXֽ:Ae BAT9?JAXֽRAe ٘i)I9c@Y G J<C=JJJJwE&K YM]~?y6EAvEb77RQ%9B)BݹE[[&@[D]~?[ [[[[BZYY i'͇=) ܝI^D?iZ>' ; *:))*:W@yi=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033863.243165 s, next control iter: 1743033863.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033863.643165 s.xy`I~,*%AJ"J*J2J:JBJnJvJAG@A-@A^~? A&jA_&"AAuNA"AZAbAjArAzAAAmhR6@AFrA&d@AŨ;AA-@A{A?A~<*Aۢ9?2A4ֽ:A BAۢ9?JA4ֽRA ٘i)I9&d@Y G J<JJJJwE&K Y8]~?yX?FAvE77{7T%9)B[[.(@[--]~?[[[[[BZYY i) СI<D?iϏ>8; 8))8bY@yhi=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033863.663165 s, next control iter: 1743033864.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7362, header.stamp.nsec: 00 temperature: 13.388422* salinity: 33.391735, density: 1025.000000* values[0]: 0.688661F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033864.063165 s.`I~,R %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743033864.063299F (some fields omitted in printout)Afffff¼@A+OL¼@Ad^~? AwdA&"AAejuNA"AZAbAjArAzAAAAa6@AdrAd@A}AnA @AhAU?A],<*AM9?2A6ֽ:A BAM9?JA6ֽRA Y@ @y%ٓH@N@?ڶ?` |?)t!?)@ I٘i)I9d@Y2 G Jn<JJJJwE&Kw> Y!]~?y.FA @wEŧ7b7}X%9!B)BڹE[[)@[]~?[[[[[BZYY i) ÃID?i>*7S; Q7))Q7Z@yN)=}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033864.083165 s, next control iter: 1743033864.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033864.483165 s.|_`I~,%AJ"J*J2J:JBJnJvJA¼@Aӷ¼@A^~? A^A=&"AA'NuNA"AZAbAjArAzAAAc5@A0걛rALe@ALOAA0"@A*A@?A9]<*Ay9?2A ֽ:A:? BAy9?JA ֽRA:? ٘i)I9Le@Y G J<JJJJwE&K Y ]~?yGA wE777\%9"B)B׹E[[*@[\~?[[[[[BZYY i)  sKI D?i>s; 5))59\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033864.503165 s, next control iter: 1743033864.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7363, header.stamp.nsec: 00 temperature: 13.388226* salinity: 33.391758, density: 1025.000000* values[0]: 0.689599F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033864.903165 s.ȍ`I~,9%AA ףp=ü@A6Ea#ü@A\^~? AuYAz&"AA\1uNA"AZAbAjArAzAAA TT5@A^rA>e@At5^A#嚽AO}#@A5}A@I?ARJ<*A9?2A:(ֽ:A BA9?JA:(ֽRA ٘i)I9e@Y G JU<B=JJJJwE&K Y3\~?yyGAwEb77_%9)B[[kT,@[\~?[[[[[BZYY i) VI&D?in>ˋ; {4)){4]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033864.923165 s, next control iter: 1743033865.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033865.323165 s.w`I~,)T%AJ"J*J2J:J0?BJ0?nJB95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033865.323303F (some fields omitted in printout)A\ü@ACގü@A|^~? A"TA&"AAuNA"AZAbAjArAzAAA yl5@A|F%rAk}f@AZ/AzA$@A`A`u?A"<*A˲9?2A{ֽ:ABA˲9?JA{ֽRA٘i)I9}f@YG G J7<C=JJJJwE&K YW\~?yGAwEj7j7=c%9%B)BӹE[[-@[=\~?[d[[[[BZYY i) ЊIb-D?i>[; 3))3 _@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033865.343165 s, next control iter: 1743033865.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7364*, header.stamp.nsec: 0*0 temperature: 13.387996** salinity: 33.391750*, density: 1025.000000** values[0]: 0.690663*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033865.743165 s.W`I~,uo%AAGzļ@AVfü@Ah^~? ANAy&"AA%tNA"AZAbAjArAzAAA%ĩ/5@ArA=g@A5;AkȖA,&@AzA ?A<*A9?2Afֽ:ABA9?JAfֽRAkI٘i)I9g@Y G J<JJJJwE&K Yy\~?yKHAwEb77f%9'B)BйE[[ /@[س\~?[[[[[BZYY i) ^I5D?i!?W5; ګ1))ګ1s`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033865.763165 s, next control iter: 1743033866.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033866.163165 s.y}`I~,q%AJ"J*J2J:J0?BJ0?nJ95vJAļ@ATrNeļ@AT^~? AIA&"AAtNA"AZAbAjArAzAAAE] [4@AڎrAtg@AL;<AA'@A@slA?A<*A;9?2A׽:AwBA;9?JA׽RAwYp@w'@y#;<ٓHGr@??޳g 卲?ti? ?)p@ I٘i)I9g@Y G JL<J#<JJJwE&K2x> Y \~?yHAw'@wE{7Z7hj%9)B)B͹E[[wh0@[\~?[[[[[BZYY i) :I^=D?i,?X; ;E0));E0za@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033866.183165 s, next control iter: 1743033866.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033866.583165 s.`I~,R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033866.583270F (some fields omitted in printout)ARļ@Ahoļ@A@^~? ADA?&"AAָtNA"AZAbAjArAzAAA:RG4@A(֋rA)h@Ag<AA(@AA_R?A<*Aj9?2A׽:AsBAj9?JA׽RAs٘i)I9)h@YL G Jǣ<JJJJwE&K Y\~?yߧIA$wE7777m%9)B[[1@[\~?[[[[[BZYY i) Z1:IXFD?i'?; m.))m.H@c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033866.603165 s, next control iter: 1743033866.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7365, header.stamp.nsec: 00 temperature: 13.387819* salinity: 33.391777, density: 1025.000000* values[0]: 0.691686F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033867.003165 s.J "J *J 2J :J 1?BJ 1?nJ 95vJ `I~,z4%AAp= Wż@A¤<ż@A3+^~? A@A&"AAntNA"AZAbAjArAzAAAb t4@AXrA/h@A<AA*@AA@?A<*AH9?2A`ֽ:A?iBAH9?JA`ֽRA?i٘i)I9h@Y G J<JJJJwE&K Y)}\~?yKۧvIA*wE7q%9*B)BʹE[[3@[ i\~?[[[[[BZYY i) J;IPD?i5?; z-))z--d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033867.023165 s, next control iter: 1743033867.403186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743033867.423165 s.u`I~,ۂ%AA(\ż@Avż@A^~? Ap;A&"AAytNA"AZAbAjArAzAAAHGU44@Ar0 rA7i@A`AA^+@A GA[?A<*A9?2A4ֽ:ABA9?JA4ֽRA٘i)I97i@Y G J<JJJJwE&K Yd\~?y֧IA/wE77{7'u%9,B)BǹE[[#s4@[P\~?[*[[[[BZYY i) B_\;IZD?iF?n; ,)),f@*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743033867.443165 s, next control iter: 1743033867.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7366, header.stamp.nsec: 00 temperature: 13.387615* salinity: 33.391762, density: 1025.000000* values[0]: 0.692641F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033867.843165 s.ݼ`I~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743033867.843294F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.Ƽ@A~Ƽ@A~^~? A6AV&"AA5YtNA"AZAbAjArAzAAA/!3@Ag!FrAvi@AAČA,@A`5A`?A4<*Ab9?2AFֽ:ABAb9?JAFֽRA٘i)I9i@YBG J#<JJJJwE&K YJL\~?ywҧ=JA4wEx%9-B)߯BĹE[[5@[*7\~?[[[[[BZYY i) ;IbfD?i:X?b < *))*jg@տ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033867.863165 s, next control iter: 1743033868.243192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743033868.263165 s.`I~,%AAƼ@Ax"Ƽ@A]~? A|2A&"AAj8tNA"AZAbAjArAzAAA!8/ 3@Aѯ1rA.Ej@AfA]A-@A@A 6?AA<*A9?2A@ֽ:A BA9?JA@ֽRA Y @/-@yضgٓH-$Vڿ=?@9?Y) ~Ф`vS?@Ҍ@g?) @ I٘i)I9Ej@YG JX<J;<JJJwE&K x> Y2\~?yΧJA-@:wE777S|%9.B)ܯB¹E[[7@[\~?[J[[[[BZYY i=) ;IrD?ic?< S)))S)h@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033868.283165 s, next control iter: 1743033868.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 73672, header.stamp.nsec: 020 temperature: 13.3874442* salinity: 33.3917472, density: 1025.0000002* values[0]: 0.6935542F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033868.683165 s.l`I~,^+%AJ"J*J2J:J1?BJ1?nJ,:5vJAQǼ@A Ƽ@A]~? A6.At &"AA/tNA"AZAbAjArAzAAA3?n3@A:/}rAj@A3A6A;/@AAg?Ax<*A9?2Avֽ:A~BA9?JAvֽRA~٘i)I9j@YG JϜ<JJJJwE&K Y\~?y<˧JA?wESI7SI7%90B)ٯBE[[r8@[r\~?[[[[[BZYY i) ;ID?ip?< '))',j@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033868.683165 s, next control iter: 1743033869.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033869.103165 s.`I~,F%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033869.103272F (some fields omitted in printout)A= ףpǼ@A,gVǼ@AA]~? A*AT &"AAsNA"AZAbAjArAzAAAO*3@APdt{rA*Fk@A AmAM0@AMA4?A'<*AD9?2Aֽ:ATGBAD9?JAֽRATG٘i)I9Fk@Y1G J)<JJJJwE&K Y[~?yǧUKADwE77}%91B)ׯBE[[9@[[~?[[[[[BZYY i) U;IKD?i?#< G&))G&nk@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033869.123165 s, next control iter: 1743033869.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033869.523165 s.`I~,{a%AJ"J*J2J:J1?BJ1?nJL:5vJA(Ǽ@Af?Ǽ@A]~? A&A &"AAtsNA"AZAbAjArAzAAA2@AwnyrAk@A "<A~A1@A A`ѻ?A;<*A9?2AH׽:A^BA9?JAH׽RA^٘i)I9k@YyG Jd<JJJJxE&K YB[~?yçKAJwE%93B)կBE[[;@[[~?[Cߧ[[[[BZYY i)  E%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743033870.363323F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333ȼ@A&Bȼ@Ay]~? AA5:!&"AAsNA"AZAbAjArAzAAA-Z2@A]ktrAKl@AI<AAB4@A@A``?A;Ň<*A9?2AZ׽:A BA9?JAZ׽RA Yqw&@}4@yΑo9J<ٓH@J *Կ#k?6,?@^N?`58? ?)qw&@ I٘i)I9l@YG J1<J`09JJJ xE&K x> Y[~?ylLA}4@UwEj7=%9)ϯB[[=@[)[~?[ܧ[[[[BZYY i) S?# elevatorAngleAction: 0.076143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033871.623289F (some fields omitted in printout)A)\ɼ@Ajɼ@A2]~? A[A-"&"AAm#sNA"AZAbAjArAzAAA31@A1nrA n@A Y)[~?yDNA;@owE77{7(%9:B)¯BE[[',D@[y [~?[ ק[[[[BZYY i) lp elevatorAngleAction: 0.076143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743033872.883295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8˼@AKF˼@A5\~? A Aٷ"&"AAصrNA"AZAbAjArAzAAA@A hA@ ?A<*A9?2AG!׽:A) BA9?JAG!׽RA) ٘i)I9p@YsG JN<JJJJ8xE&K Y@Z~?y̪qOAwEj7Z7%9=B)BE[[/H@[Z~?[է[[[[BZYY i)  elevatorAngleAction: 0.085583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743033874.143289F (some fields omitted in printout)AGz̼@AԜ`̼@A\~? AA0N#&"AAErNA"AZAbAjArAzAAAg] /@A(}?drA (q@AY<AAPA@@A@%A`?A[T<*A9?2A1ֽ:A BA9?JA1ֽRA ٘i)I9(q@YG J<JJJJ=xE&K YZ~?yਧOAwE{7j7}%9)BE[[AI@[#Z~?[է[[[[BZYY i) ?A}<*A9?2Aqֽ:AuIBA9?JAqֽRAuIYH}3@kA@yN."ٓH@@J%?`?@脿 ?եQ@C?)H}3@ I٘i)I9q@YG J <J=JJJCxE&Kw> YZ~?yק@PAA@wEZ7SI7%9>B)BE[[J@[ Z~?[֧[[[[BZYY i)  4=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033874.603165 s, next control iter: 1743033874.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7373, header.stamp.nsec: 00 temperature: 13.386383* salinity: 33.391735, density: 1025.000000* values[0]: 0.698860F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033874.983165 s./aI~,쾄%AAQͼ@At%7ͼ@Am\~? AA$#&"AAqNA"AZAbAjArAzAAA%\.@A ŲarAEr@A,)AAaB@ABA2k?A<*A{9?2A$ֽ:A&sBA{9?JA$ֽRA&s٘i)I9Er@YtG J­<JJJJHxE&K YZ~?yΦPAwEŧ7b7%9?B)BE[[oK@[Z~?[B֧[[[[BZYY i) X elevatorAngleAction: 0.085583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743033875.403275F (some fields omitted in printout)A ףpͼ@AKXͼ@AoT\~? AA#&"AAqNA"AZAbAjArAzAAA -@Ah?`rA[r@A0hA@A D@AA?A%<*A9?2Aֽ:AOBA9?JAֽRAO٘i)I9r@YG J<JJJJMxE&K YgZ~?yťQAwE777>%9@B)BE[[ M@[_qZ~?[֧[[[[BZYY i)  elevatorAngleAction: 0.085583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743033876.663271F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7375, header.stamp.nsec: 00 temperature: 13.385962* salinity: 33.391743, density: 1025.000000* values[0]: 0.701019F (some fields omitted in printout)Aϼ@A Yμ@A\~? ApA'$&"AA_qNA"AZAbAjArAzAAAܦc+@A[]rAt@A^S <AڶA^H@A`4(Axʽ?Ay <*A[9?2A׽:ABA[9?JA׽RAY:@H@yNL <ٓH *@ꎏ`4x?dq?``|?`:p?^*??):@ I٘i)I9t@YG J<JnJJJ]xE&KSx> YQZ~?y_RAH@wE77{7%9)B[[P@['Z~?[ا[[[[BZYY i) C elevatorAngleAction: 0.085583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743033877.923299F (some fields omitted in printout)A(\Bм@A:(м@A[~? AQAi$&"AApNA"AZAbAjArAzAAASz*@A\L`[rABv@A y;AAx+FA@UAm?A<*A9?2A`ֽ:A<BA9?JA`ֽRA<٘i)I9v@YG J,<B=JJJJnxE&K YY~?y"SAwEj7SI7%9)BE[[9{T@[Y~?[(ܧ[[[[BZYY i) + Y_Y~?yTACwE77%9)BE[[qV@[IY~?[ߧ[[[[ZZZZ¸>BZYY i¸>5) iAA{mA`TUAwE{7j7%9DB)xByE[[]Y@[pY~?[[[[[ZZZZBZYY i) P%9)jBvE[[k[@[SY~?[[[[[ZZZZBZYY i) 77%AA33333Ӽ@A<Ӽ@A[~? AA$&"AA{oNA"AZAbAjArAzAAA Ӥi%@AyZrA{@A(v<A^/A3>A~A06A)<*A:?2AŽ:ABA:?JAŽRAYE@=>yCz/4w<ٓHŃO? YX~?y;VA=>wEZ7Z7%9)eBsE[[\@[RaI~nJ=5vJ,R%AAQӼ@Ag'Ӽ@AZ~? A%A$&"AAoNA"AZAbAjArAzAAAq1%@A{gx%[rA{|@A+b<AҼA=A`|A`7A<*A+:?2A<Ƚ:A\3;BA+:?JA<ȽRA\3;٘i)I9|@YG Jp<JJJJxE&K Y5X~?yWAwEb7b7i%9)`BpE[[1^@[.&Y~?[0[[[[ZZZZBZYY i) ꤎWA |DwE7)7%9EB)\BmE[[d_@[Y~?[[[[[ZZZZBZYY i) ڃ,@*y< 5w))5w@Ԉ@`Z)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033881.723165 s, next control iter: 1743033882.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033882.123165 s.9aI~,e⇆%AJ"J*J2J:JBJnJvJA)\uԼ@Ay[Լ@AZ~? AKA{$&"AA aoNA"AZAbAjArAzAAAKH(#@A[rA&w}@A<3A ;A:A pA氿AĄ8<*A:?2Aͽ:Ao<BA:?JAͽRAo<jI٘i)I9w}@YDG Jd<JJJJxE&K YqX~?yyWAwE7777%9)YBjE[[>`@[X~?[8[[[[ZZZZBZYY ic) 9"rJJJxE&K_p> YBoX~?yWA7wE77%9DB)VBeE[[b@[[X~?[[[[[BZYY il) &KH?i>@V< ))*̋@yMhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033883.843165 s, next control iter: 1743033884.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033884.223165 s.gaI~,H%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067719< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033884.223295F (some fields omitted in printout)A(\ּ@AeQEuּ@A5Z~? AA$&"AAnNA"AZAbAjArAzAAA @Ah=_rACj}@A,v<A7%y=A{4A@AA4B*A>:?2APQԽ:AZC =BA>:?JAPQԽRAZC =٘i)I9j}@Y<G J!#JJJJxE&K YcX~?yVAxEb7&9)YB_E[[f@[ώX~?[[[[[BZYY i) 6 YW~?yqVAN1xEj7Z7 &9)_BYE[[hh@[eX~?[[[[[BZYY i;m) ~`;I$H?iH@= ))/@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033885.083165 s, next control iter: 1743033885.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033885.483165 s.y_aI~,^%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057918< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743033885.483275F (some fields omitted in printout)A׼@A1]շ׼@A4Y~? AA#&"AA)nNA"AZAbAjArAzAAA;ާ/@AbqbrA-|@AwA>=A4/AA`4ǿAܒ*A!0:?2Aֽ:A=BA!0:?JAֽRA=٘i)I9-|@Y|G J+JJJJxE&K YtW~?y9VAxE77?&9)bBVE[[ j@[QX~?[ [[[[BZYY i) ;IH?iK@"]= k))k뿩$@}ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033885.503165 s, next control iter: 1743033885.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7384, header.stamp.nsec: 00 temperature: 13.384686* salinity: 33.391647, density: 1025.000000* values[0]: 0.707839F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033885.903165 s.aI~,y%AA ףp=ؼ@A.Ue#ؼ@AY~? A+AՏ#&"AAnNA"AZAbAjArAzAAAx@AXcrA;{@Ah'iA/=Ar.A֮A ɿAZ4*A2:?2A#׽:A1 =BA2:?JA#׽RA1 =٘i)I9{@Y.G JB=JJJJxE&K Y W~?ykçUAxE77{7&9)gB[[9.k@[=X~?[ [[[[BZYY i)  ;II?iN@rt=  [)) [鿩@mժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033885.943165 s, next control iter: 1743033886.303182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743033886.323165 s.aI~,W%AJ"J*J2J:JBJnJvJA\ؼ@A.Yؼ@AY~? AgAe#&"AAmNA"AZAbAjArAzAAAGEa@AjyerAE#{@AIYA=AL-A@A|ʿA**A4:?2A-׽:A8 =BA4:?JA-׽RA8 =٘i)I9#{@YG JNC=JJJJxE&K YИW~?yƧNUA xEi&91B)XBSE[[iVl@[ *X~?[C[[[[BZYY i) d;IiR@7=  )) 翩0M@yrmתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033886.343165 s, next control iter: 1743033886.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7385*, header.stamp.nsec: 0*0 temperature: 13.384894** salinity: 33.391651*, density: 1025.000000** values[0]: 0.706921*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033886.743165 s.WaI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057918< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743033886.743339F (some fields omitted in printout)AGzټ@A8aؼ@AY~? AA8#&"AAmNA"AZAbAjArAzAAA'@ArfrAz@AAœ=A3,A hA̿A*A6:?2AKֽ:A =BA6:?JAKֽRA =٘i)I9z@YG JJJJJxE&K Y~W~?yɧTA&xE7b7&9)]BPE[[|m@[X~?[[[[[BZYY i) qkc;IiV@y^ = ))俩[@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033886.783165 s, next control iter: 1743033887.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033887.163165 s.J "J *J z}aI~2J:J4?,qʇ%ABJ4?nJ=5vJAټ@A?leټ@A@Y~? AV A#&"AAmNA"AZAbAjArAzAAA9_s@A߼hrAy@A0;AҚ=A\*AOBAοA]\*A9:?2A ֽ:AT=BA9:?JA ֽRAT=YZY@*y Қ=;ٓHe,?@ձݿY{B[Uv?|?)ZY@ I٘i)I9y@Y$G JǴJC<JJJxE&Ky> Y_eW~?yͧTA*+xEj7Z7&9)aBME[[n@[X~?[[[[[BZYY i) =';IiX@ = k))k⿩t@CժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033887.183165 s, next control iter: 1743033887.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033887.583165 s.aI~,R%AARټ@Ammټ@AlY~? A A"&"AAkmNA"AZAbAjArAzAAA|iWI@A3PޢirA^y@A.Y<Av=A)AA*пAc*A!=:?2ATֽ:A-=BA!=:?JATֽRA-=٘i)I9^y@YG JJJJJxE&K Y?LW~?yѧTA0xEj7)!&9)fBKE[[o@[W~?[[[[[BZYY i )  :Ii[@z = ))࿩@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033887.623165 s, next control iter: 1743033887.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7386, header.stamp.nsec: 00 temperature: 13.385190* salinity: 33.391647, density: 1025.000000* values[0]: 0.705828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033888.003165 s.x bI~,L4%AJ"J*J2J:J4?BJ4?nJx=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201272 time: 1743033888.003402F (some fields omitted in printout)Ap= Wڼ@A]<ڼ@ABTY~? AA"&"AAFmNA"AZAbAjArAzAAAg5^!@AbVykrAx@AJg<A=A1(A`AjѿAٳ*AT@:?2A,ֽ:AL=BAT@:?JA,ֽRAL=٘i)I9x@YhG JJJJJxE&K Y3W~?yէSA6xE77{7$&9)kB[[sp@[$W~?[ [[[[BZYY i) ';:Ii^@7g= ݿ))ݿ5@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033888.043165 s, next control iter: 1743033888.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033888.423165 s.ubI~,%AA(\ڼ@A7Ӂڼ@A :?2Au׽:A/<BA,>:?JAu׽RA/<٘i)I9w@YG J:C=JJJJxE&K YW~?yݧRAAxE)7ŧ7+&9)sBEE[[ٿ))7>ٿM@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033888.883165 s, next control iter: 1743033889.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033889.263165 s.bI~,4P%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033889.263284F (some fields omitted in printout)Aۼ@A|ʄۼ@A= Y~? A`Ac!&"AAlNA"AZAbAjArAzAAAPL@A!CqrA)w@AEA=A'$A@y]A`ӿAᒼ*AV<:?2A׽:A <BAV<:?JA׽RA Y-V~?yRA5$FxE7777/&90B)wBBE[[bt@[7W~?[,[[[[BZYY i) Iig@== ?ֿ))?ֿKS@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033889.303165 s, next control iter: 1743033889.663183 s, wait time: 0.360018 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 73882, header.stamp.nsec: 020 temperature: 13.3856952* salinity: 33.3916442, density: 1025.0000002* values[0]: 0.7037682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033889.683165 s.lbI~,Zk%AJ"J*J2J:JBJnJvJAQܼ@Aۼ@AX~? AAI!&"AAlNA"AZAbAjArAzAAA'(@A6_asrAX~? A7$Ac!&"AAAnlNA"AZAbAjArAzAAA MRg@AuYwrAu@A=9A=AK A@]AMMֿA j*A5:?2A׽:A) <BA5:?JA׽RA) <٘i)I9u@YG JnB=JJJJyE&K YV~?ywQAVxE77j7?:&9)B=E[[w@[tW~?[j:[[[[BZYY iŚ) GIio@X~= [п))[п@ǵYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033890.543165 s, next control iter: 1743033890.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7389, header.stamp.nsec: 00 temperature: 13.385936* salinity: 33.391636, density: 1025.000000* values[0]: 0.702940F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033890.943165 s.Vd.bI~,:]%AAzGݼ@A0-ݼ@AfX~? A(A &"AAmKlNA"AZAbAjArAzAAA9rC8@A0DzrAROu@A)<A*=ACA}A !׿Afō*A2:?2A$ֽ:A<BA2:?JA$ֽRA<٘i)I9Ou@YMG JC=JJJJyE&K YfV~?yQA[xEŧ7b7=&9)B:E[[(x@[LdW~?[?[[[[BZYY i) %bIiRs@= /Ϳ))/Ϳ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033890.963165 s, next control iter: 1743033891.343177 s, wait time: 0.380012 s&fV~?)& rAdjusting time to match Gazebo time: 1743033891.363165 s.5bI~,>׈%AJ"J*J2J:JBJnJvJA3333ݼ@AQg!ݼ@AјX~? A+,A1 &"AA(lNA"AZAbAjArAzAAAwm} @A@d|rA_t@AGr<A=AA @A<׿A*A1,:?2Aֽ:A<BA1,:?JAֽRA YatV~?ydPAaxE77j7jA&9)B[[[z@[SW~?[C[[[[BZYY i) ߻Iiu@2= ǔ˿))ǔ˿*@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033891.403165 s, next control iter: 1743033891.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7390&, header.stamp.nsec: 0&0 temperature: 13.386123&* salinity: 33.391617&, density: 1025.000000&* values[0]: 0.702096&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033891.783165 s.\;bI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033891.783285F (some fields omitted in printout)AQ޼@A~޼@AX~? A[0A3 &"AAlNA"AZAbAjArAzAAAWc @A5a6JrAet@AgY;<A=AkAA ؿA*A&:?2A0ֽ:AȄ=BA&:?JA0ֽRAȄ=٘i)I9et@YG JpC=JJJJyE&K Y`^V~?ylPAfxEb77D&9/B)B7E[[{3{@[CW~?[H[[[[BZYY i) >.Iiw@"= Pɿ))Pɿ@y<!YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033891.803165 s, next control iter: 1743033892.183183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033892.203165 s.CbI~, %AJ"J*J2J:JBJnJvJAףp=޼@AY$p޼@AzlX~? A4A&"AAVkNA"AZAbAjArAzAAAv M@A3rAs@A'P;A=A$AIAՖٿAM*A:?2AvM׽:A|=BA:?JAvM׽RA|=٘i)I9s@Y{G JJJJJ$yE&K Y_HV~?ypPAkxEŧ7b7H&9)B4E[[T|@[O4W~?[M[[[[BZYY i) HIiy@= wǿ))wǿ=L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033892.223165 s, next control iter: 1743033892.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033892.623165 s.`IbI~,'%AA)\޼@AI޼@AVX~? A&9A&"AA(kNA"AZAbAjArAzAAAbɆ?=@AKrA=s@AѷA=AA xA eڿA *A:?2A׽:AS=BA:?JA׽RAS=٘i)I9s@Y8G J6JJJJ*yE&K Y\2V~?y OAqxE{7j7*L&9)B[[Tt}@[$W~?[R[[[[BZYY i) Ii\|@ł!= Ŀ))Ŀ%ܗ@ѹYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033892.643165 s, next control iter: 1743033893.023187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7391, header.stamp.nsec: 00 temperature: 13.386332* salinity: 33.391621, density: 1025.000000* values[0]: 0.701295F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033893.043165 s.PbI~,B%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743033893.043288F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga߼@AI5G߼@APAX~? A=A2&"AAnkNA"AZAbAjArAzAAAy6@AyrAs@AkA=AeA@1A 0ۿAӁ*A:?2AĪ׽:AA=BA:?JAĪ׽RAA=٘i)I9s@YG JB=JJJJ/yE&K YXV~?y}eOAvxE77O&9)B1E[[В~@[ W~?[W[[[[BZYY i) ߮.Ii@#= ߑ¿))ߑ¿ck@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033893.063165 s, next control iter: 1743033893.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033893.463165 s.TWbI~,ߤ]%AA߼@A 9߼@A1,X~? ABAx&"AA,kNA"AZAbAjArAzAAAAG5@AR]rAXr@AJbQADnj=AA mAۿAdž*A:?2AJ{׽:A@=BA:?JAJ{׽RA@=YCl@Q'yRČ=)QٓH@@ۄ?@crNc,`?)Cl@ I٘i)I9r@YG JC=J<<JJJ4yE&Kx> YDV~?yOA'|xE{7{7US&9)B.E[[#@[FW~?[][[[[BZYY i) >Iiz@Ws$= 7Q))7Q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033893.483165 s, next control iter: 1743033893.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7392, header.stamp.nsec: 00 temperature: 13.386539* salinity: 33.391621, density: 1025.000000* values[0]: 0.700547F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033893.883165 s.y]bI~,/x%AJ"J*J2J:JBJnJvJAQ8@AemS<@AcX~? A^GAy&"AAbckNA"AZAbAjArAzAAA/M=@A4WrAU9r@A&AՏ=AAA ܿA*A:?2AZ׽:A=BA:?JAZ׽RA=٘i)I99r@YlG JJJJJ:yE&K Y.U~?yNAxE7ŧ7V&9)B[[fi@[V~?[Bb[[[[BZYY i) MIi\@%= ))a@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033893.903165 s, next control iter: 1743033894.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033894.303165 s.WdbI~,{g%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743033894.303283F (some fields omitted in printout)Aq= ף@AGÉ@AX~? A^LAt&"AADkNA"AZAbAjArAzAAAn(?A"] YU~?y?7&MAxE77@e&9.B)B&E[[ɤ@[xV~?[w[[[[BZYY i) {Ii@+= [$))[$ƛ@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033895.603165 s, next control iter: 1743033895.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7394, header.stamp.nsec: 00 temperature: 13.386955* salinity: 33.391594, density: 1025.000000* values[0]: 0.698830F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033895.983165 s.bI~,%AAQ@A87@AdW~? AaA&"AAjNA"AZAbAjArAzAAA?Lp?Arm]rAHo@AatA0=A}NAbA@*A*A9?2AU׽:AT=BA9?JAU׽RAT=٘i)I9o@YG JLJJJJUyE&K YU~?y >LAxEZ7Z7h&9)B[[v3@[V~?[y}[[[[BZYY i)  Iih@t ,= 鲿))鲿qU@ysժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033896.003165 s, next control iter: 1743033896.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033896.403165 s.&bI~,%AJ"J*J2J:J2?BJ2?nJs;5vJA ףp@A3FY@AW~? A>gAB&"AAEjNA"AZAbAjArAzAAAwjX?A! ̠rAo@AJA=A A`tAA*A9?2A?׽:A =BA9?JA?׽RA =٘i)I9o@YG J̟JJJJZyE&K YU~?yDYLAxE77j7jl&9)B#E[[@[1V~?[[[[[BZYY i) 𘔼IiS@7-= O))O@'٪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033896.423165 s, next control iter: 1743033896.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7395, header.stamp.nsec: 00 temperature: 13.387202* salinity: 33.391563, density: 1025.000000* values[0]: 0.697883F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033896.823165 s.bI~,)4%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743033896.823281F (some fields omitted in printout)A\(@At @ARW~? AlAx&"AA)jNA"AZAbAjArAzAAA;ǷM?A%LrAƖn@As mAb[=A0 A@Q_AA$*A9?2Ax׽:A=BA9?JAx׽RA=٘i)I9n@Y6G J=JJJJ`yE&K YpU~?yKKAxE777p&9)B[[O@[V~?[ˈ[[[[BZYY i) R(Iil@e.= x))xq@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033896.843165 s, next control iter: 1743033897.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033897.243165 s.bI~,qO%AJ"J*J2J:J2?BJ2?nJ6;5vJAGz@ADbz@A\}W~? ArAn3&"AAwjNA"AZAbAjArAzAAA_cXX?A?/ާrA8 n@A(MAŤ=A^ AaA8-A,g*Am9?2A""׽:AF=BAm9?JA""׽RAF=٘i)I9 n@YG JJJJJeyE&K Y*^U~?ylRKAxE{7{7s&9)B!E[[܄@[UV~?[[[[[BZYY i) Ii@D0= C))C@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033897.263165 s, next control iter: 1743033897.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033897.663165 s.bI~,qj%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7396, header.stamp.nsec: 00 temperature: 13.387437* salinity: 33.391552, density: 1025.000000* values[0]: 0.696907F (some fields omitted in printout)A@AWt@AkW~? AxA6&"AA\jNA"AZAbAjArAzAAA@պ>bA]rAsm@AP:AK=A A`Y߿A~A_*AM9?2Aֽ:Ac=BAM9?JAֽRAc=Y@y@T yA=s:ٓH?:Χ[D" U?v?)@y@ IiI٘i)I9sm@YG JȱJQ<JJJjyE&K.x> YNU~?yYKA xEj7j7+w&9-B)¯BE[[j@[؅V~?[W[[[[BZYY i) eIi@0=  )) @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033897.683165 s, next control iter: 1743033898.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033898.083165 s.DbI~,S%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743033898.083282F (some fields omitted in printout)ARk@AeoQ@AZW~? A~AJ&"AANBjNA"AZAbAjArAzAAA2kXʿA6rA l@Ae2<A¢=AA޿AA*A9?2AZֽ:A$=BA9?JAZֽRA$=٘i)I9l@Y$G J㻼JJJJpyE&K Y>U~?yaJAxEb7b7z&9)ǯB[[@[zV~?[5[[[[BZYY i) 8kIi@z1= ԧ))ԧ@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033898.103165 s, next control iter: 1743033898.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033898.503165 s.bI~,74%AAp= @A@AIW~? A Ap&"AA(jNA"AZAbAjArAzAAAWٿA(|rAM1l@A>r<A=AA ݿAAFǼ*A9?2AzNֽ:A=BA9?JAzNֽRA=٘i)I91l@YG J)ļJJJJuyE&K YC/U~?yeh:JAxEZ7SI7U~&9)˯BE[[,@[oV~?[[[[[BZYY i) ĹIig@o2= Ϟ))Ϟ'@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033898.543165 s, next control iter: 1743033898.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7397, header.stamp.nsec: 00 temperature: 13.387692* salinity: 33.391525, density: 1025.000000* values[0]: 0.695864F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033898.923165 s.=bI~,%AJ"J*J2J:J$2?BJ$2?nJ:5vJA(\B@A|E{(@Aq9W~? APAY&"AAajNA"AZAbAjArAzAAAF|s'A|жrAk@A72<A/`=ABA(ݿA@gAxɼ*A-9?2Aqֽ:A2=BA-9?JAqֽRA2=٘i)I9k@YYG JȼB=JJJJzyE&K YU~?yoIAxE{7j7&9)ѯB[[N@[zeV~?[[[[[BZYY i) NIiV@r3= Gj))GjI5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033898.963165 s, next control iter: 1743033899.323182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743033899.343165 s. YU~?y~HAxEj7Z7&9+B)گB[[ -@[QV~?[#[[[[BZYY i) ϼIi@mV5= S))SO@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033899.783165 s, next control iter: 1743033900.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033900.183165 s.bI~,V %AAQ@Ak@A W~? AA&"AAiNA"AZAbAjArAzAAA`MfAu%rAi@A\mA_=A5A@ڿADAʼ*A&9?2Ab׽:A*=BA&9?JAb׽RA*=٘i)I9i@Y$G JVɼJJJJyE&K YT~?ykHAxE777&9)߯B[[@[4HV~?[@[[[[BZYY i) ּIi@d5= GϜ))GϜ ܡ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033900.223165 s, next control iter: 1743033900.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033900.603165 s.;4bI~,&%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033900.603284F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AR@A6V~? AlA:`&"AA0iNA"AZAbAjArAzAAA0_3-AhrAh@AP_KAY=AAڿAeA]Tμ*A9?2A(׽:Ac=BA9?JA(׽RAc=٘i)I9h@Y G J˼B=JJJJyE&K YT~?ycGAxE@&9*B)BE[[F@[?V~?[h[[[[BZYY i) (޼Ii@6= ))h@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033900.643165 s, next control iter: 1743033901.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7399 , header.stamp.nsec: 0 0 temperature: 13.388274 * salinity: 33.391525 , density: 1025.000000 * values[0]: 0.693496 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033901.023165 s.ZbI~,{A%AA(\@A wB@AV~? A/A$&"AAIiNA"AZAbAjArAzAAAm^AigrA1h@AbyA|=ASA;ٿAAԼ*A89?2Aֽ:Aj=BA89?JAֽRAj=٘i)I91h@YQ G J*ѼC=JJJJyE&K YZT~?y*}GAxE7)7֓&9)BE[[[Ӊ@[h6V~?[Ĩ[[[[BZYY iϿ) FcIii@ 7= j))jV@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033901.063165 s, next control iter: 1743033901.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033901.443165 s.9bI~,F]\%AJ"J*J2J:Ja1?BJa1?nJ95vJAz@AAJ@A;V~? AAVX&"AA iNA"AZAbAjArAzAAAo15zAࣟrA|g@AT;Aoz=AAmؿA0 A6ۼ*A)9?2AQֽ:A=BA)9?JAQֽRA=٘i)I9|g@Y G J׼JJJJyE&K Y1T~?yGA }DxE77k&9)BE[[r_@[ .V~?[ʨ[[[[ZZ¸BZYY i¸Ơ=) fټIi[@r8= 9))9m@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033901.483165 s, next control iter: 1743033901.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7400, header.stamp.nsec: 00 temperature: 13.388550* salinity: 33.391499, density: 1025.000000* values[0]: 0.692273F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033901.863165 s.+bI~,>w%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082338< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033901.863283F (some fields omitted in printout)A33333@A۞ @AV~? AA&"AA{qiNA"AZAbAjArAzAAA74;3AJrA9f@A b<A6=APA׿AMFAݼ*A9?2A:!ֽ:AC=BA9?JA:!ֽRAC=Y@=(yG2=c<ٓH׿@??@gؿ2³@X??)@ I٘i)I9f@Yr G JܼB=J;JJJyE&Kx> YT~?yFA(xEZ7Z7&9)B[[@[&V~?[Ѩ[[[[ZZBZYY i) WͼIif@!8= )) @XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033901.903165 s, next control iter: 1743033902.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033902.283165 s.:RbI~,%AJ"J*J2J:JBJnJvJAQ@Al#@A V~? AAI&"AA]iNA"AZAbAjArAzAAA M?qA枒rA3e@A^<A=AQAMֿAAa*A9?2AcBֽ:A<BA9?JAcBֽRA<٘i)I9e@Y G JC=JJJJyE&K YT~?y@FAxEb7b7&9)B[[jx@[UV~?[hר[[[[ZZBZYY i) IIi@9= Ց))Ցe@y-=NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033902.303165 s, next control iter: 1743033902.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7401., header.stamp.nsec: 0.0 temperature: 13.388874.* salinity: 33.391495., density: 1025.000000.* values[0]: 0.690939.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033902.703165 s.ֺbI~,%AAףp= @A"2@AV~? AȩA:&"AApJiNA"AZAbAjArAzAAAO)-QA elevatorAngleAction: 0.082338< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033903.123286F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@As,[@AV~? A;ϩA5&"AA7iNA"AZAbAjArAzAAA uEACFrA\?d@A䡻A /r=AwUAտAOA>*A9?2Aֽ:A^<BA9?JAֽRA^<٘i)I9?d@Y G JSC=JJJJyE&K YT~?yEAxE&9)B[[ΐ@[ V~?[#[[[[ZZBZYY i) *-Ii@f:= Gt))Gtɲ@ŨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033903.163165 s, next control iter: 1743033903.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033903.543165 s.IbI~,%AA{G@A1@ABV~? Ay֩Ax&"AA9&iNA"AZAbAjArAzAAAH{A=\vٱrAc@A_Au.=AA9ԿA:)Aȼ*AF9?2A ֽ:Aء;BAF9?JA ֽRAء;٘i)I9c@Yx G J*߼JJJJyE&K YmT~?yƨDAxEb7b7V&9) B[[@[n V~?[[[[[ZZBZYY i) Iif@d;= +E))+E>@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033903.583165 s, next control iter: 1743033903.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7402, header.stamp.nsec: 00 temperature: 13.389241* salinity: 33.391479, density: 1025.000000* values[0]: 0.689408F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033903.963165 s.ybI~,%AJ"J*J2J:JBJnJvJAL@A%2@AGV~? AݩAe&"AA0iNA"AZAbAjArAzAAA9&A~(rAb@A)}A<AA \ӿA]AHW*AG9?2Aֽ:A+.?BAG9?JAֽRA+.?YXÆ@%y8~<}ٓHѿ?@ ?4ѿϮ@ OO?)XÆ@ I٘i)I9b@Y G JJ<JJJyE&Kw> YT~?y0ϨDA%yE{7{7&9)B[[,@[$V~?[[[[[ZZBZYY i=) ͒IiE@9;= ))'˦@]YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033904.003165 s, next control iter: 1743033904.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033904.383165 s.cI~,Y%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068239< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743033904.383311F (some fields omitted in printout)AQ@A7:@AnjV~? A,A&"AAiNA"AZAbAjArAzAAAVlo%At}rAjb@AVAN<AmA@|ҿA6A;w}*A9?2A:ֽ:AlBA9?JA:ֽRAl٘i)I9jb@Y G JuJJJJyE&K YT~?yר\DAyE7777&9(B)BE[[5@[6U~?[[[[[ZZBZYY iS=) K}IiR@K;= ))W@7hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033904.403165 s, next control iter: 1743033904.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7403", header.stamp.nsec: 0"0 temperature: 13.389498"* salinity: 33.391483", density: 1025.000000"* values[0]: 0.688271"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033904.803165 s.}A cI~,g3%AJ"J*J2J:JBJnJvJAq= #@AB @AĂV~? AA$&"AAMhNA"AZAbAjArAzAAA%FA6rARb@Ao :AûAAѿA`At/*A9?2Aֽ:A>tBA9?JAֽRA>t٘i)I9b@Y G JS\JJJJyE&K ÝT~?y$9DA yE77&9)B[[DŽ@[U~?[ [[[[ZZBZYY i) lY|Ii@;= o))o?@|(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033904.823165 s, next control iter: 1743033905.203182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033905.223165 s.gcI~,HN%AA(\@AMGu@A>yV~? A"Ah&"AAxhNA"AZAbAjArAzAAAfg+AxrAa@AS3<AAJA`пA`JA ֻ*A9?2Aֽ:AsBA9?JAֽRAs٘i)I9a@Yo G J}JJJJyE&K YyT~?yDAyE77{7&9)B[[N@[qU~?[[[[[ZZBZYY i) gIi@$<= |))|p@yǞ=k)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033905.243165 s, next control iter: 1743033905.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743033905.643165 s.qcI~,)i%AJ"J*J2J:J 0?BJ 0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033905.643297F (some fields omitted in printout)AG@A@A8pV~? AA&"AAchNA"AZAbAjArAzAAA"8YAHlrAְa@A܃p<A_AA`3ϿAAB *A9?2Aֽ:AqļBA9?JAֽRAqļ٘i)I9a@Y[ G J+JJJJyE&K Y rT~?yCAyEb77A&9)BE[[ڏ@[U~?[- [[[[BZYY i) uSIi@<= WL))WL@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033905.663165 s, next control iter: 1743033906.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7404, header.stamp.nsec: 00 temperature: 13.389678* salinity: 33.391472, density: 1025.000000* values[0]: 0.687701F (some fields omitted in printout) rT~?) rAdjusting time to match Gazebo time: 1743033906.063165 s. cI~,[ %AAfffff@ARL@AgV~? AVAp@&"AAhNA"AZAbAjArAzAAAkʨAV@ sAa@A&+<A22AnAͿA @AW!;*A9?2A#ֽ:ABA9?JA#ֽRAY@U$y/2/P+<ٓH ƿj{?!ad`sƿ5ݦ?&D?d?`?)@ I٘i)I9a@Y J!J(JJJyE&Kw> YlT~?y.DA$yE7777־&9'B)BE[[f@[!U~?[[[[[BZYY if=) CBIiJ@<= 7|))7|@)o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033906.083165 s, next control iter: 1743033906.463175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033906.483165 s.x_'cI~,잌%AJ"J*J2J:J0?BJ0?nJ85vJA@A׷@A_V~? A A&"AAyhNA"AZAbAjArAzAAA"%k AG,sAa@A]:AYAˋݿA̿A`fAO;*A9?2Abֽ:A]BA9?JAbֽRA]٘i)I9a@Ym G J;JJJJyE&K YgT~?yrjDA"yE{7k&9)B[[H@[U~?[f[[[[BZYY iD=) q1Ii,@ea<= w))wC@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033906.503165 s, next control iter: 1743033906.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7405, header.stamp.nsec: 00 temperature: 13.389644* salinity: 33.391445, density: 1025.000000* values[0]: 0.687693F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033906.903165 s.-cI~,͹%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033906.903279F (some fields omitted in printout)A ףp=@AlX#@A#XV~? AA&"AAhNA"AZAbAjArAzAAA=" AZ;{ sA b@A{n!At4yAۿA 0;ʿA AcP?<*AN9?2Aֽ:AnC BAN9?JAֽRAnC ٘i)I9 b@Y G J3<JJJJyE&K YbT~?y DA'yE{7j7&9)B[[@[DU~?[ [[[[BZYY i)  Ii=@)w<= rs))rs@*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743033906.923165 s, next control iter: 1743033907.303175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033907.323165 s.z4cI~,6Ԍ%AJ"J*J2J:JBJnJvJA\@A~u@AQV~? AAL}&"AAhNA"AZAbAjArAzAAAuC A:sAhb@AQxA)函AxؿAhȿAfAr<*A9?2AQս:A!BA9?JAQսRA!٘i)I9hb@Y G J.X<JJJJyE&K Y]T~?yDA,yEŧ7b7&9)BE[[ @[U~?[%[[[[BZYY i) Ii}@3<= uo))uo-@y=I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033907.343165 s, next control iter: 1743033907.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7406*, header.stamp.nsec: 0*0 temperature: 13.389546** salinity: 33.391430*, density: 1025.000000** values[0]: 0.688241*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033907.743165 s.W;cI~,%AAGz@Ae@AJV~? AU"A &"AAFhNA"AZAbAjArAzAAA-tFGj AJsA'b@A(NAL2AsտAƿA`&A<*A9?2A1ֽ:ABA9?JA1ֽRA٘i)I9b@Y G J<JJJJyE&K YXT~?yzEA2yEb77,&9)B[[◒@[U~?[b,[[[[BZYY i) Ii@iW== j))jݹ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033907.763165 s, next control iter: 1743033908.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033908.163165 s.y}BcI~,q %AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743033908.163282F (some fields omitted in printout)A@Ae,e@ADV~? A1*AL &"AAhNA"AZAbAjArAzAAA=Q AsݼsAPc@A{-cAA'ӿA`îĿAAk<*Aq9?2Aֽ:AHBAq9?JAֽRAHYD@lӿycٓH ~?܂?j*2?꺲?el?)D@ I٘i)I9Pc@YX G J<JJJJyE&Kw> YxVT~?yA%EAӿ7yE77&9) B[[#@[:U~?[3[[[[BZYY i) 0߻Iir@<= ]Qf))]QfE@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033908.183165 s, next control iter: 1743033908.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033908.583165 s.'HcI~,CS%%AAR@AЖs@A?V~? A2A\ &"AAhNA"AZAbAjArAzAAAuB A`2tsAc@A ;AؙAqпA ¿A@A<*A\9?2AQֽ:A`" BA\9?JAQֽRA`" ٘i)I9c@Y G JК<JJJJyE&K YATT~?y.EA=yE)7b7W&9)B[[@[U~?[9[[[[BZYY i) 4Ii(@\<= =a))=aѬ@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033908.623165 s, next control iter: 1743033908.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7407, header.stamp.nsec: 00 temperature: 13.389348* salinity: 33.391434, density: 1025.000000* values[0]: 0.689179F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033909.003165 s. PcI~J"J,4@%A*J2J:Jn0?BJn0?nJ85vJAp= W@AW<<@A%:V~? A:A &"AAhNA"AZAbAjArAzAAAQu Acs!sAYd@A4Qk<A<A<ͿAA`Aң<*A9?2A)׽:Ah BA9?JA)׽RAh ٘i)I9Yd@Y G J<JJJJyE&K Y RT~?y6LFAByEb77&9)BE[[;@[U~?[x@[[[[BZYY i) עIi @x9<= ]))]]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033909.023165 s, next control iter: 1743033909.403189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743033909.423165 s.uVcI~,[%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743033909.423298F (some fields omitted in printout)A(\@Ax@A5V~? AAA| &"AA{hNA"AZAbAjArAzAAA;7Od A>O&sAd@Am#a<AbA+˿AAv+A<*A*9?2A׽:A BA*9?JA׽RA ٘i)I9d@YO G JϦ<JJJJzE&K YOT~?y?FAGyE77&9&B)B E[[ǔ@[}U~?[0G[[[[BZYY i) zIi @BR<= E0Y))E0Y@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033909.463165 s, next control iter: 1743033909.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7408, header.stamp.nsec: 00 temperature: 13.389122* salinity: 33.391399, density: 1025.000000* values[0]: 0.690279F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033909.843165 s.\cI~,u%AJ"J*J2J:JBJnJvJAHz.@A9&@A1V~? AIA: &"AAuhNA"AZAbAjArAzAAA4=+ A;Jm.+sAcwe@A;AeA#ȿA CA=A<*A9?2A"ֽ:Az BA9?JA"ֽRAz ٘i)I9we@Y G J"<JJJJzE&K YMT~?y\HGAMyE7{7&9)B[[S@[PU~?[M[[[[BZYY i) ;LIib@<= mT))mTu@q*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743033909.863165 s, next control iter: 1743033910.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033910.263165 s.dcI~,ؐ%AA@As~@Ah.V~? AQA E &"AAphNA"AZAbAjArAzAAARAO0sA f@AOAWA%ƿA tAMAS<*A9?2AVֽ:A@ BA9?JAVֽRA@ Y@ƿyWʥٓH@??j?P?L??ܩt ?)@ I٘i)I9 f@Y G J-<B=J`JJJ zE&Kw> YANT~?y*Q~GAƿRyE)7)7&9'B)BE[[ߕ@[U~?[T[[[[BZYY i) %Ii@~;= qP))qP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033910.303165 s, next control iter: 1743033910.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7409., header.stamp.nsec: 0.0 temperature: 13.572332.* salinity: 33.375000., density: 1025.000000.* values[0]: 0.569116.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033910.683165 s.ljcI~,^%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420029J"J2 time: 1743033910.683320*JF (some fields omitted in printout)2J:JBJnJvJAQ@A;s @A+V~? AYA &"AA6khNA"AZAbAjArAzAAAXD[A4sAf@A ZATXAÿA@ŲA`0[A<*A9?2A}'ֽ:A BA9?JA}'ֽRA ٘i)I9f@Ya G JX<C=JJJJzE&K YNT~?yYGAWyEb7b7A&9)B[[k@[U~?[_[[[[[BZYY i) 4IiE@9;= UL))UL@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033910.683165 s, next control iter: 1743033911.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033911.103165 s.qcI~,ƍ%AA= ףp@AUV@A/)V~? AbA &"AA7ghNA"AZAbAjArAzAAAŻ|A9sAAg@AnAꟗAA@PAfA.t<*A9?2A(Aֽ:AdBA9?JA(AֽRAd٘i)I9Ag@Y G Jk<JJJJzE&K YOT~?ybPHA]yE{7{7&9)B[[_ȿ[U~?[b[[[[BZYY i) }Ii@r:= G))GG*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033911.123165 s, next control iter: 1743033911.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033911.523165 s.wcI~,{%AJ"J*J2J:J?BJ?nJ5vJA(@Asg&@A['V~? AjAn&"AAdhNA"AZAbAjArAzAAAɠA}|>sA;g@A"AAZAMAoA<*A9?2Aֽ:AvBA9?JAֽRAv٘i)I9g@Y G Jϲ<JJJJzE&K Y7PT~?ykHAbyEj7l&9(B)BE[[q.ƿ[MU~?[h[[[[BZYY i) ]:Ii@:= MC))MCMC*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033911.543165 s, next control iter: 1743033911.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7410, header.stamp.nsec: 00 temperature: 13.572044* salinity: 33.374969, density: 1025.000000* values[0]: 0.569795F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033911.943165 s.Xd~cI~,B]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033911.943303F (some fields omitted in printout)AzG@Ab -@A&V~? A&rA&"AAahNA"AZAbAjArAzAAA FAv9CsAgh@A*;A,|AA (A2vA<*A9?2A@ֽ:A4BA9?JA@ֽRA4٘i)I9gh@Yr G JĪ<B=JJJJ!zE&K YPT~?y]t"IAgyE)7ŧ7&9)BE[[ ÿ[U~?[o[[[[BZYY i)  3:Ii@:= ;>));>;>[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033911.983165 s, next control iter: 1743033912.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033912.363165 s.cI~,>%AJ"J*J2J:J?BJ?nJ 5vJA3333@A@AO%V~? A9zAy3&"AA `hNA"AZAbAjArAzAAA׋۔AqHsAh@AcrD<AƎAA\A zAD<*A9?2A4׽:A2BA9?JA4׽RA2Yȓ@wyĎD<ٓH տ??@\?@N?Ա?%?`?)ȓ@ I٘i)I9h@Y G J<C=JV<JJJ&zE&K_x> YdTT~?y}IAmyE77&9)B[['[U~?[Wv[[[[BZYY i) ;Ii&@W9= s:))s:s:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033912.403165 s, next control iter: 1743033912.763181 s, wait time: 0.360016 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7411&, header.stamp.nsec: 0&0 temperature: 13.571791&* salinity: 33.375011&, density: 1025.000000&* values[0]: 0.570479&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033912.783165 s.WcI~,2%AAQ@A @@A%V~? AMA&"AAE_hNA"AZAbAjArAzAAA+4MAE'qCMsAqi@A:w<AAcSAҁ[?A^{A4<*A79?2Ah2׽:AIBA79?JAh2׽RAI󼙘٘i)I9qi@YG J<JJJJ,zE&K YWT~?yօIAryE7,&9)ܯB[[[mU~?[}[[[[BZYY i) [;Ii@8= S'6))S'6S'6z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033912.823165 s, next control iter: 1743033913.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033913.203165 s.cI~,?M%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743033913.203286F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@A^(p@Ag%V~? AaA&"AAN_hNA"AZAbAjArAzAAA@N^WA;珂RsA.i@AvO(<AAóA ?A`zAV*<*A>9?2A-ֽ:ABA>9?JA-ֽRA󼙘٘i)I9i@YaG J˖<JJJJ1zE&K Yo[T~?yAJAxyE777&9,B)[[i[7U~?[҃[[[[BZYY i) M;Ii@-d8= O1))O1O1ܼ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033913.243165 s, next control iter: 1743033913.603186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743033913.623165 s.TcI~,Pg%AA)\@A`;@A=&V~? AtAGZ&"AA$`hNA"AZAbAjArAzAAAmdJATpWsATnj@A48A㈽A?A<?A 6vA3<*A9?2Aֽ:ABA9?JAֽRA٘i)I9nj@YG J+<JJJJ7zE&K Y^T~?yPJA}yE{7{7W&9)ٯBE[[5[`U~?[[[[[BZYY i=) ;Iiȏ@ 8= [-))[-[-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033913.663165 s, next control iter: 1743033914.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7412 , header.stamp.nsec: 0 0 temperature: 13.571557 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.571085 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033914.043165 s.cI~,Â%AJ"J*J2J:J2?BJ2?nJL5vJA{Ga@A0G@A'V~? AA&"AAahNA"AZAbAjArAzAAA_ѰZA<]\sAj@A'@&A|8AA@b?ApA3<*A9?2AZֽ:A\iBA9?JAZֽRA\ihI٘i)I9j@YG J<JJJJ elevatorAngleAction: 0.075060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033914.463282F (some fields omitted in printout)A@AhX@A{)V~? AA/&"AA/dhNA"AZAbAjArAzAAAEvGA7HasAjk@AuAdAj)A`+?AgA(<*A9?2APֽ:AN BA9?JAPֽRAN Y} @/ y|vٓHc?`./?2?+?a?d?)} @ I٘i)I9jk@YGG JC<B=JB'<JJJAzE&Kx> YhT~?y[KA yE{7j7'9)ѯB[[ж[U~?[[[[[BZYY i) 0 ;Ii@}6= $))$$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033914.503165 s, next control iter: 1743033914.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7413, header.stamp.nsec: 00 temperature: 13.571310* salinity: 33.374985, density: 1025.000000* values[0]: 0.571677F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033914.883165 s.J "J *J 2J :J Y?BJ Y?nJ u5vJ zcI~,%AAQ8@A@@A+V~? AA&"AAgghNA"AZAbAjArAzAAA>.uRA!@1fsA?k@A-DAβAA d?A[AJe<*AU9?2Aֽ:A +BAU9?JAֽRA +٘i)I9k@YG J<JJJJGzE&K Y.oT~?y8KAyEb77 '9)ͯBE[[/[U~?[[[[[BZYY i) % elevatorAngleAction: 0.075060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743033915.723327F (some fields omitted in printout)A(\@AE@AL2V~? AApH&"AA?phNA"AZAbAjArAzAAA^t] AosAl@A <AAm$A ?A<A<*Ah9?2A/׽:ABAh9?JA/׽RA٘i)I9l@YG J<JJJJQzE&K Y{T~?yb©iLAyE77{7B'9)ǯB[[13[U~?[[[[[BZYY i) ^# YZT~?yMө!MAyEb7b7l'9.B)BE[[Cɫ[U~?[Z[[[[BZYY i) oB%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743033916.983300F (some fields omitted in printout)AQ@Ah7@A?V~? AҪAu&"AAhNA"AZAbAjArAzAAAn Aˁ|~sAn@A;AsAp[A /?AA<*A9?2A~ֽ:A@BA9?JA~ֽRA@٘i)I9n@YG JP<JJJJbzE&K YwT~?y۩MAyE77{7'9/B)BE[[[U~?[[[[[BZYY i) xQ elevatorAngleAction: 0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033918.243294F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AJ#fz@ARV~? AA\%"AA՝hNA"AZAbAjArAzAAA A sAyo@AskA1A޷A0?AAi<*A9?2AKֽ:AOwBA9?JAKֽRAOw٘i)I9o@YG J(<C=JJJJrzE&K YЯT~?yNAyEŧ77&'9)BE[[ꢿ[V~?[ө[[[[BZYY i)  YT~?yNAyEj7Z7W*'90B)B E[[[JV~?[4ک[[[[BZYY i)  elevatorAngleAction: 0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743033919.503282F (some fields omitted in printout)Ap= @AC@AhV~? A?A%"AA hNA"AZAbAjArAzAAAPAsAV.q@ACI<A흽AA dI~,<0%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743033920.763333F (some fields omitted in printout)A@AY@A1V~? AA%%"AAPhNA"AZAbAjArAzAAAALsAr@AuQAA-A`?AAҶ<*A9?2Aoֽ:ABA9?JAoֽRAYϠ@y*RٓH-?͓?` {z;?@1??@.Jh?)Ϡ@ I٘i)I9r@YG Jر<JWJJJzEJ"J*J2J:J\?BJ\?&Kw>nJ5vJ YT~?y;$QAyEZ7Z7B<'9)B'E[[[4V~?[R[[[[BZYY i) P elevatorAngleAction: 0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743033922.023319F (some fields omitted in printout)A(\@A wB@AV~? A .As%"AA"iNA"AZAbAjArAzAAAXDA#HisA;t@A;A5=AuzAl`?A A7<*Aē9?2APLֽ:AGBAē9?JAPLֽRAG٘i)I9t@YG JX<C=JJJJzE&K Y#U~?y:ZRAyEŧ77G'9)B[[E֎[PV~?[& [[[[BZYY i) z\%AA33333@A 6u@AdV~? Aq<A,Y%"AA8iNA"AZAbAjArAzAAAA<2sAYv@A? <AAoA?A 'A<*A69?2A׽:ABA69?JA׽RAY@oy񂰽^<ٓH??@? o?` ?`ٺ?H?)@ I٘i)I9v@YG JZ<JJJJzE&K>x> YCU~?yIASAoyEj7Z7-N'9)B[[W[dV~?[x[[[[BZYY i)  elevatorAngleAction: 0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033923.283282F (some fields omitted in printout)AQ@Aaۢ@AV~? ACA%"AAKiNA"AZAbAjArAzAAA\EAd؍~sAv@Ao<AA2PjA?A tA]<*A&9?2A-׽:A=BA&9?JA-׽RA=٘i)I9v@Y.G J<JJJJzE&K YSU~?yPSAyE{7{7Q'97B)B2E[[[VoV~?[[[[[BZYY i) -BZYY i¸>) q YØU~?ylUAUzE7{7`'98B)lB8E[[~[V~?[n7[[[[ZZZZBZYY i) 4L1ؿAK sA }@Aہ<AA4;A ?AnAt<*A9?2ANJֽ:A3#<BA9?JANJֽRA3#JJJzE&K w> YU~?yoWA;(zE7)7r'9)RBBE[[4g[fV~?[T[[[[ZZZZBZYY iJ2) ]?AhVqpsAf}@AߌAp~<Aol1An?A` iA4;*A"9?2A2ֽ:AP<BA"9?JA2ֽRAP<٘i)I9}@YiG J<JJJJzE&K Y#V~?yVWA3zE7-y'9=B)PBFE[[g][@V~?[_[[[[ZZZZBZYY i) W^B)OBIE[[RY[D W~?[jd[[[[BZYY i) ӠJzE77X'9)[[צT[W~?[i[[[[BZYY i) |6JJJzE&Kw> YidV~?y_XWA!CzEj7SI7'9)QBLE[[oP[3*W~?[n[[[[BZYY ig) @&~[[[[BZYY i) Y;IiE@c>< <))<<ygǪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033930.443165 s, next control iter: 1743033930.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7429, header.stamp.nsec: 00 temperature: 13.566851* salinity: 33.375099, density: 1025.000000* values[0]: 0.581235F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033930.843165 s.ݬdI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743033930.843294F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@A@AW~? AA!A%"AAkNA"AZAbAjArAzAAA_H;?AK"tRtA_/|@AS<A:=AEy A?A@Q ޿A/j*A9?2A,tս:A=BA9?JA,tսRA=٘i)I9/|@Y}G JʗJJJJ{E&K YV~?y65VAYzE{7j7C'9BB)`BVE[[G=[ElW~?[1[[[[BZYY i) 0;IiB@ < <=))<=<=y_ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033930.863165 s, next control iter: 1743033931.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033931.263165 s.dI~,В%AA@AU@A4X~? AA%"AA!&kNA"AZAbAjArAzAAAn? ?AL οp tA {@As;An=A'AGS?AOݿAN*Aʧ9?2Aս:AOs=BAʧ9?JAսRAOs=Y @yWn=o|t;ٓH?9??x+*?3)`yn??) @ I٘i)I9{@Y*G JJW=JJJ{E&Kv> YV~?yªUA^zE7ؕ'9)eBZE[[?8[r}W~?[[[[[BZYY i) ;IiV>@< =))R==ӪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033931.303165 s, next control iter: 1743033931.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7430., header.stamp.nsec: 0.0 temperature: 13.567028.* salinity: 33.375114., density: 1025.000000.* values[0]: 0.580723.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033931.683165 s.ldI~,V%AJ"J*J2J:JBJnJvJAQ@Ag @AX~? AAhy%"AADkNA"AZAbAjArAzAAArH]v@Az tA {@AaA5=AA?AXܿAQ*Ai9?2Aֽ:A =BAi9?JAֽRA =٘i)I9{@YG JtJJJJ{E&K YSV~?y"ǪgUAdzESI7SI7n'9CB)jB]E[[W3[W~?[[[[[BZYY i) ];Ii|:@<  <=))  <= <=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033931.683165 s, next control iter: 1743033932.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033932.103165 s.(dI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200792 time: 1743033932.103350F (some fields omitted in printout)A= ףp@AGV@Ax.X~? AA\%"AA"dkNA"AZAbAjArAzAAA0n@AAHfptAOz@AbpA(=AA`?AۿAa*A׿9?2Aս:A=BA׿9?JAսRA=٘i)I9z@YG JJJJJ#{E&K YW~?y˪UAizE{7j7'9)nB[[,/[W~?[`[[[[BZYY i) _`;Ii7@oE< =))==֪YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743033932.123165 s, next control iter: 1743033932.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743033932.523165 s.dI~,{!%AJ"J*J2J:JBJnJvJA(@AKr@ACX~? ABƫAܻ%"AAkNA"AZAbAjArAzAAAHo@A3!JQtAz@A{hAߛ=AA@2?AIۿA]*A9?2Axս:A=BA9?JAxսRA=٘i)I9z@Y)G JϩJJJJ({E&K Y!W~?yЪTAnzE{7'9DB)tBaE[[sj*[WW~?[[[[[BZYY i) 1$;Ii3@W< @+=))@+=@+=֪YB-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033932.543165 s, next control iter: 1743033932.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7431, header.stamp.nsec: 00 temperature: 13.567198* salinity: 33.375118, density: 1025.000000* values[0]: 0.580147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033932.943165 s.WddI~,>]<%AAzG@A>&R-@AYX~? AʫA`%"AAkNA"AZAbAjArAzAAAyv@AtApy@AͻA=A Azv?A@?ڿAꇯ*A9?2A8ս:A=BA9?JA8սRA=٘i)I9py@YG JBJJJJ.{E&K YY9W~?yԪ2TAtzE77.'9EB)yBdE[[%[W~?[s[[[[BZYY i) <:IiH1@<  >)) > >rժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033932.963165 s, next control iter: 1743033933.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033933.363165 s.dI~,}>W%AJ"J*J2J:Jq?BJq?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033933.363300F (some fields omitted in printout)A3333@A9@AnX~? ALϫA%"AAkNA"AZAbAjArAzAAAk?@A_tAx@Ahm;A!t=AܾA?AyٿA]9*AV9?2AUuս:ARj=BAV9?JAUuսRARj=YD@ܾys=g;ٓH?Y? ?ڿ?`!P)Mt? ?)D@ I٘i)I9x@YvG JkJ&7JJJ3{E&Ku> YRW~?y1تSAܾyzE77{7ç'9)~BgE[[W [W~?[ɞ[[[[BZYY i) !-:Ii,@oG<  >))| > >WӪYFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743033933.383165 s, next control iter: 1743033933.763178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7432", header.stamp.nsec: 0"0 temperature: 13.567348"* salinity: 33.375118", density: 1025.000000"* values[0]: 0.579548"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033933.783165 s.UdI~,r%AAQ@AM@AX~? AӫA%"AAkNA"AZAbAjArAzAAA3NN @A=wtACx@A]<A3=AҾA?AؿA1*A9?2Asս:AUU=BA9?JAsսRAUU=٘i)I9Cx@YG JJJJJ9{E&K YlW~?y۪dSA~zE777Y'9)B[[![W~?[ [[[[BZYY i) fÈIi(@G"< P3>)) P3>P3>HЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033933.803165 s, next control iter: 1743033934.183174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743033934.203165 s.dI~,%AJ"J*J2J:JH?BJH?nJ|5vJAףp=@AH'p@AX~? A׫A_%"AAYlNA"AZAbAjArAzAAA^ @AmtAYw@A2u<A.s=AlȾA[;?A {׿A*A9?2A3LԽ:A=BA9?JA3LԽRA=٘i)I9w@YG J:JJJJ>{E&K YPW~?yߪRAzE{7Z7'9FB)BjE[[wT[W~?[9[[[[BZYY i) &ꚺIi:%@p~< F>))F>F>̪YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743033934.223165 s, next control iter: 1743033934.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033934.623165 s.RdI~,H⧓%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033934.623284F (some fields omitted in printout)A)\@A,@AX~? A۫AJ%"AAL)lNA"AZAbAjArAzAAAJH`@Ap{ tAw@A <A⁑=ASAbw?A@ ׿A䩼*A9?2AoԽ:A)=BA9?JAoԽRA)=٘i)I9w@YeG J0B=JJJJC{E&K YW~?y8RAzE77'9)BmE[[[~X~?[O[[[[BZYY i)  Ii"@\< @AZ>))@AZ>@AZ>ȪYeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033934.663165 s, next control iter: 1743033935.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7433 , header.stamp.nsec: 0 0 temperature: 13.567530 * salinity: 33.375153 , density: 1025.000000 * values[0]: 0.578896 F (some fields omitted in printout).W~?).8 rAdjusting time to match Gazebo time: 1743033935.043165 s.dI~,“%AJ"J*J2J:J2?BJ2?nJe5vJA{Ga @An1G @AQX~? A߫A%"AAKlNA"AZAbAjArAzAAA/`;@AuT "tAv@A"!As=A+QAJ?AK:ֿAʠ*A 9?2Aʇս:A<BA 9?JAʇսRA<٘i)I9v@YG J C=JJJJI{E&K YW~?y/RAzE77j7'9)BpE[[ ['X~?[L[[[[BZYY i) G2FIi-@U< Ьm>))Ьm>Ьm>ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033935.083165 s, next control iter: 1743033935.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033935.463165 s.UdI~,ݓ%AA @A毐 @A^X~? A|Av%"AA`nlNA"AZAbAjArAzAAA,tӘ@A'%tA v@AFA_=AJA]?AJbտA*A9?2Aֽ:A<BA9?JAֽRAyJJJN{E&Kt> Y]W~?yQAzE{7{7'9GB)BsE[[[))Vtys>s>mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033935.503165 s, next control iter: 1743033935.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7434, header.stamp.nsec: 00 temperature: 13.567704* salinity: 33.375164, density: 1025.000000* values[0]: 0.578328F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033935.883165 s.ydI~,M%AJ"J*J2J:J ?BJ ?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243608@ elevatorAngleAction: -0.074861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033935.883304F (some fields omitted in printout)AQ8 @A pA @AX~? AA.%"AA|lNA"AZAbAjArAzAAA^\@AQg['tAu@Ac|AI=ABA "?AԿA#*A9?2AUֽ:A?<BA9?JAUֽRA?<٘i)I9u@YsG JC=JJJJS{E&K YW~?ysQAzEŧ7b7D'9)B[[O[PX~?[ݶ[[[[BZYY i) 㠻Iix@< #>)) #>#>ھYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033935.923165 s, next control iter: 1743033936.283182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743033936.303165 s.[eI~,g%AAq= ף @AVa3 @A4Y~? AA%"AAlNA"AZAbAjArAzAAAQ]@A 2Cx)tA8u@A#r.A|=AA@tY?AӿAꀐ*A:?2AԽ:AM<BA:?JAԽRAM<٘i)I9u@Y)G JJJJJY{E&K Y X~?yuQAzE'9)BvE[[<[eX~?[[[[[BZYY i) KIi@˻< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033936.343165 s, next control iter: 1743033936.703180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7435*, header.stamp.nsec: 0*0 temperature: 13.567846** salinity: 33.375168*, density: 1025.000000** values[0]: 0.577802*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033936.723165 s. eI~,H.%AJ"J*J2J:JBJnJvJA(\ @AJ @A%Y~? AAV%"AAlNA"AZAbAjArAzAAA6j@A=>}+tAΙt@A}A|=AOKA`"?A%ҿAՑ*A:?2A<Խ:A<BA:?JA<ԽRA<٘i)I9t@YG JJJJJ^{E&K Y$X~?yPPAzE77o'9IB)BzE[[i[@{X~?[ [[[[BZYY i) ޻Ii]@< >))>>y@LYDYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033936.743165 s, next control iter: 1743033937.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033937.143165 s.^/eI~,(*I%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743033937.143291F (some fields omitted in printout)AGz @A` @A=Y~? A Ag%"AAlNA"AZAbAjArAzAAAkX@AgGl-tAt@A'<A=AC`A)?AѿA*A9:?2AXԽ:Am=BA9:?JAXԽRAm=٘i)I9t@YG JJJJJd{E&K Y=?X~?y+XPAzEŧ7ŧ7'9)B}E[[[X~?[w[[[[BZYY i) Iil @< !>))!>!>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033937.163165 s, next control iter: 1743033937.543184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743033937.563165 s.eI~,[ d%AJ"J*J2J:JBJnJvJAffff @A!6X @AVY~? AA?+%"AA`!mNA"AZAbAjArAzAAAՍ8@AOE/tAGs@AI|<Auڊ=A^lA@?AѿA<*A9?2AYԽ:Au=BA9?JAYԽRAu=Yd@iLky<֊=|<ٓH@[?G?@?`RͿ@%?s/`WЈ?5?)d@ I٘i)I9s@YGG JB=J4JJJi{E&Kt> YZX~?y,OALkzE)7'9)BE[[[X~?[Ī[[[[BZYY i) AIi@<ǭ< Y>))}wY>Y>!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033937.583165 s, next control iter: 1743033937.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7436, header.stamp.nsec: 00 temperature: 13.567947* salinity: 33.375179, density: 1025.000000* values[0]: 0.577344F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033937.983165 s.eI~,~%AAQ @A}^7 @AnnY~? AA%"AAFmNA"AZAbAjArAzAAAQm_@A@1tA#s@A@GL<A݋=ARWA@?A8пAf*A9?2Azս:A},=BA9?JAzսRA},=٘i)I9#s@YG JC=JJJJn{E&K YAvX~?y.OAzE.'9JB)BE[[U־[ԼX~?[Ǫ[[[[BZYY i) fIi@|U< a1>))҅a1>a1>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033938.023165 s, next control iter: 1743033938.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033938.403165 s.&&eI~,͙%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261372@ elevatorAngleAction: -0.074861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743033938.403296F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp @A6X @AY~? AA%"AA'kmNA"AZAbAjArAzAAAkaS]@AHи2tAKr@A99B;A%=AHBA@@;?A`OοAuj*A9:?2ARԽ:A`=BA9:?JARԽRA`=٘i)I9r@YG JJJJJt{E&K YX~?y/@OAzEj7Z7'9)BE[[;[HX~?[ʪ[[[[BZYY i) 8-IiS?h< ->)) ->->ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033938.443165 s, next control iter: 1743033938.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7437, header.stamp.nsec: 00 temperature: 13.568089* salinity: 33.375172, density: 1025.000000* values[0]: 0.576812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033938.823165 s.,eI~,!%AA\( @A" @AY~? A3AL%"AAxmNA"AZAbAjArAzAAAj@Aۙ=4tAL-r@AoA<̎=AJ-A``?AU̿A*A:?2A'Խ:A4H=BA:?JA'ԽRA4H=٘i)I9-r@YeG J7JJJJy{E&K YDX~?y1NAzEj7Y'9)B[[þ[X~?[ͪ[[[[BZYY i) C))>>yĪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033938.863165 s, next control iter: 1743033939.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033939.243165 s.3eI~J"J,yϔ%A*J2J:J?BJ?nJ5vJAGz @A/dz @AY~? AAV%"AA mNA"AZAbAjArAzAAApcl@A*`c5tAq@AsA͐=A2EAy?A˿A**A- :?2Aҁս:A0=BA- :?JAҁսRA0=٘i)I9q@YG JʏJJJJ~{E&K YX~?y2NAzEb77'9)BE[[[/Y~?[Ъ[[[[BZYY i) 0LIih?$< #>))#>#>.ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033939.283165 s, next control iter: 1743033939.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033939.663165 s.:eI~,q%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743033939.663296F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7438, header.stamp.nsec: 00 temperature: 13.568182* salinity: 33.375202, density: 1025.000000* values[0]: 0.576319F (some fields omitted in printout)A@A~ @AY~? AA )%"AAmNA"AZAbAjArAzAAAl>@AN{7tA;:q@AQaA=AA@?A@6ɿA) *A:?2Aս:Au=BA:?JAսRAu=Y@yb=aٓHu?@h?I?}@?@r?b[)"?)@ I٘i)I9:q@YG JJ!<JJJ{E&Kft> YX~?yV#NAzE77'9)BE[[ [3Y~?[IӪ[[[[BZYY i) Tt[Ii?< >))Hv>>.ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033939.683165 s, next control iter: 1743033940.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033940.083165 s.DAeI~,R%AJ"J*J2J:J?BJ?nJ5vJARk@AeoQ@AY~? AAu%"AAnNA"AZAbAjArAzAAA?0dC@AdB\8tAep@APA=A޽A`4?AofǿA'*A:?2Aս:A=BA:?JAսRA=٘i)I9p@YG JJJJJ{E&K YY~?yyMAzEj7j7'9RB)ͯBE[[ [/Y~?[ժ[[[[BZYY iP) jIiS?ܑ< !>))>D!>!>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033940.123165 s, next control iter: 1743033940.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033940.503165 s.GeI~,Y4 %AAp= @A@@A Z~? AA%"AA(nNA"AZAbAjArAzAAA6G(}1v@AUv9tA6p@A!;A=AmⷽA?A ſAm5*A:?2Aӽ:Ap =BA:?JAӽRAp =٘i)I96p@Y2G JJJJJ{E&K YY~?y^MAzE77'9)ѯBE[[[EGY~?[0ت[[[[BZYY i) yIi?< -,>)) -,>-,>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033940.543165 s, next control iter: 1743033940.903181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7439, header.stamp.nsec: 00 temperature: 13.568298* salinity: 33.375214, density: 1025.000000* values[0]: 0.575833F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033940.923165 s.BNeI~J"J*J2J,;%A:Ji?BJi?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033940.923312F (some fields omitted in printout)A(\B@Az(@AvZ~? AA%"AANnNA"AZAbAjArAzAAA!̺->U @A#t:tAo@Ac<A=AېA9?AÿA*A:?2ATӽ:A=BA:?JATӽRA=٘i)I9o@YG J䤼JJJJ{E&K Y8Y~?yLA DzEŧ7b7D'9)կBE[[ ʐ[J_Y~?[qڪ[[[[BZYY i) Ii?< Ԫ?))Ԫ?Ԫ?ѪY@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033940.963165 s, next control iter: 1743033941.323185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743033941.343165 s.?))>?>?y5ԪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033941.383165 s, next control iter: 1743033941.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7440&, header.stamp.nsec: 0&0 temperature: 13.568455&* salinity: 33.375225&, density: 1025.000000&* values[0]: 0.575280&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033941.763165 s.<[eI~,4p%AJ"J*J2J:JBJnJvJA@A@APZ~? A Ar%"AAڛnNA"AZAbAjArAzAAA}%d!@Aw YqY~?y%/LAzE77j7o'9)ݯBE[[x[Y~?[ު[[[[BZYY i) fIi?7x<  ?))eu ? ?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033941.783165 s, next control iter: 1743033942.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033942.183165 s.beI~,k%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240053@ elevatorAngleAction: -0.083650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199192 time: 1743033942.183280F (some fields omitted in printout)AQ@Ayk@ARjZ~? A A}W%"AAnNA"AZAbAjArAzAAA*<K'"@AO=tAn@Ax*HA}=A%A=?A`?dA1*A:?2Aս:A'=BA:?JAսRA'=٘i)I9n@YG JJJJJ{E&K Y:Y~?ygKAzE77'9)B[[;d[9Y~?[R[[[[BZYY i) @Ii??m<  ?))0 ? ?O۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033942.223165 s, next control iter: 1743033942.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033942.603165 s.94ieI~,%AJ"J*J2J:J?BJ?nJD5vJA= ף@A@AZ~? A4 A?%"AAnNA"AZAbAjArAzAAA%Dž]"@A>tArm@AKApZ=A)@<A@P?A pAh*A:?2AƒԽ:A-=BA:?JAƒԽRA-=٘i)I9rm@YG JJJJJ{E&K YsY~?y\KAzE{7{7'9)BE[[O[Y~?[[[[[BZYY i) Iii?c< ,?)) ,?,?bߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033942.643165 s, next control iter: 1743033943.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7441 , header.stamp.nsec: 0 0 temperature: 13.568577 * salinity: 33.375233 , density: 1025.000000 * values[0]: 0.574694 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033943.023165 s.ZpeI~,|%AA(\@AYfB@AZ~? A. A*%"AAoNA"AZAbAjArAzAAAj `#@AU_>tA(l@AyAX=A7=A^?AnƴA*A\:?2AԽ:A=BA\:?JAԽRA=٘i)I9l@Y,G JJJJJ{E&K YY~?yJAzEb77/'9QB)BE[[ N;[Y~?[[[[[BZYY i) ?Iim?k%Z< X<?))X<?X<?0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033943.063165 s, next control iter: 1743033943.423185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743033943.443165 s.5veI~,5]ܕ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743033943.443286F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A *@AZ~? A A%"AA)8oNA"AZAbAjArAzAAA#@AI)A?tALl@A#AN=AxQ=Ai?A`RA@F*A :?2AVԽ:A v=BA :?JAVԽRA v=٘i)I9Ll@YG JJJJJ{E&K YY~?y.JAzE7777'9)BE[[z&[fY~?[[[[[BZYY i) FIiL?NR<  q?)) q? q?=Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033943.483165 s, next control iter: 1743033943.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7442, header.stamp.nsec: 00 temperature: 13.568727* salinity: 33.375259, density: 1025.000000* values[0]: 0.574140F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033943.863165 s.+}eI~,>%AA33333@A[ %@AZ~? AAZ %"AAy_oNA"AZAbAjArAzAAAw8$@Aԣp?tA;k@A? :A=Al=Ar?A`٪A*࿼*A:?2AԽ:A=BA:?JAԽRA=YN@=y= :ٓH@(?@ WM?`?`?u? vXA?x?)N@ I٘i)I9k@YqG JdB=J<JJJ{E&Ks>  (9Y Y~? (9yJA=zE7ŧ7Z(9)BE[[[ Z~?[[[[[BZYY i) 'IiК?)F< $?))\!v$?$?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033943.883165 s, next control iter: 1743033944.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033944.283165 s.7ReI~,%AJ"J*J2J:J?BJ?nJ5vJAQ@A䠄@AZ~? A)A%"AAنoNA"AZAbAjArAzAAAh8%@Aؗ?tA k@AO1<A=ApK=ALy?A@nA;ȼ*A9?2AuԽ:AJ =BA9?JAuԽRAJ =٘i)I9 k@Y G JļC=JJJJ{E&K Y-Z~?yIA{E77(9PB)BE[[fH[%Z~?[([[[[BZYY i) ]Ii.?;< )?))Q)?)?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033944.303165 s, next control iter: 1743033944.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7443., header.stamp.nsec: 0.0 temperature: 13.568905.* salinity: 33.375259., density: 1025.000000.* values[0]: 0.573468.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033944.703165 s.ӺeI~,-%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260389@ elevatorAngleAction: -0.083650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199392 time: 1743033944.703269F (some fields omitted in printout)Aףp= @A@+0@A[~? AA{%"AAGoNA"AZAbAjArAzAAA շ%@A{@tAs`j@A^U|<Aë=A-=A@U?A@AAμ*A:?2AQӽ:A_=BA:?JAQӽRA_=٘i)I9`j@YG J˼B=JJJJ{E&K YU6Z~?yQ1IA {Eb7(9)BE[[hн[?Z~?[[[[[BZYY i) ǼIie?I&1< /?)) /?/?NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033944.723165 s, next control iter: 1743033945.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033945.123165 s.8eI~,aG%AJ"J*J2J:J?BJ?nJ5vJA)\u@AI[@A[~? AAM%"AAoNA"AZAbAjArAzAAA(׭t&@AC@tAױi@AHB<A|=AF>A?A`0/AU`м*A:?2AEӽ:A6=BA:?JAEӽRA6=٘i)I9i@Y;G JϼC=JJJJ{E&K YwRZ~?yHA{Eŧ7b7 (9OB)BE[[F[}YZ~?[[[[[BZYY i) IμIi|?SM(< G4?))G4?G4?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033945.143165 s, next control iter: 1743033945.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033945.543165 s.IeI~,b%AA{G@A4@A:[~? AA<%"AA:oNA"AZAbAjArAzAAA^b'@Azp"@tAi@Au;A=A">Aj?Ay?Aϼ*A :?2A:Խ:ABG=BA :?JA:ԽRABG=٘i)I9i@Y G JмJJJJ{E&K YnZ~?yKHA{E7777(9)B[[w[sZ~?[`[[[[BZYY i) KּIiz? < ”9?))”9?”9?YwYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033945.563165 s, next control iter: 1743033945.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7444, header.stamp.nsec: 00 temperature: 13.569101* salinity: 33.375278, density: 1025.000000* values[0]: 0.572739F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033945.963165 s.{eI~,}%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092556< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743033945.963302F (some fields omitted in printout)AL@A,2@AT[~? AAY%"AA$pNA"AZAbAjArAzAAA'@Aeir @tAUh@A$ Ai`=A/>A@?A?A9ͼ*A:?2Aս:A=BA:?JAսRA=YP@.>y^=>ٓH |j?ſ`Gq?`?@d?ї?$ ?)P@ IfI٘i)I9Uh@Yg G JhμJ;JJJ{E&Kt> YiZ~?yGA.>{E7E(9) BE[[ #[wZ~?[[[[[BZYY i) ݼIih?_< >?)) w>?>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033945.983165 s, next control iter: 1743033946.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033946.383165 s.إeI~,%AAQ@AԻx?@An[~? A<A%"AA,LpNA"AZAbAjArAzAAA۞;~xN(@A|?tANg@A?tAr=AgE>A z?At?A%˼*Aq9?2AW4ֽ:AG=BAq9?JAW4ֽRAG=٘i)I9g@Y G J˼JJJJ{E&K Y6Z~?y]GA{E77(9)BE[[B[Z~?[[[[[ZZ¸BZYY i¸ή=) ѼIiW?k < D?))D?D?}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033946.423165 s, next control iter: 1743033946.783200 s, wait time: 0.360035 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7445", header.stamp.nsec: 0"0 temperature: 13.569293"* salinity: 33.375305", density: 1025.000000"* values[0]: 0.572027"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033946.803165 s.|AeI~,g%AJ"J*J2J:Jp?BJp?nJ5vJAq= #@At] @A[~? AAD%"AAspNA"AZAbAjArAzAAAd_)(@Avu(?tAf@AZA=AuWY>As?AHU?Aμ*A:?2A]Խ:A=BA:?JA]ԽRA=٘i)I9f@Y G JZ̼JJJJ{E&K YZ~?yFA%{Eŧ7ŧ7p(9NB)BE[[:[Z~?[[[[[ZZBZYY i) żIiG?; .sI?)) .sI?.sI?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033946.843165 s, next control iter: 1743033947.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033947.223165 s.geI~,HΖ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743033947.223278F (some fields omitted in printout)A(\@AeQEu@A[~? AA%"AApNA"AZAbAjArAzAAA)@AA9,?tA;f@A6hAN=Al>A7g?A ?Af *Ar:?2AԽ:AU<BAr:?JAԽRAU<٘i)I9;f@Y G JJJJJ{E&K YZ~?yoFA*{E777(9MB)BE[[)=<[lZ~?[[[[[ZZBZYY i) CIi':?G; N?))N?N?y=_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033947.243165 s, next control iter: 1743033947.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033947.643165 s.vйeI~,*%AJ"J*J2J:J@?BJ@?nJZ5vJAG@A,( @A[~? AR A%"AALpNA"AZAbAjArAzAAA-&*@A>tAm_e@A;A=A9>AmZ?Ah?Ap*A|!:?2AԽ:A<BA|!:?JAԽRA<٘i)I9_e@Y G J;JJJJ{E&K YZ~?yEA/{E77!(9)"BE[[2=[Z~?[[[[[ZZBZYY i) _Iib.?36; z9T?))z9T?z9T?y=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033947.663165 s, next control iter: 1743033948.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7446, header.stamp.nsec: 00 temperature: 13.569510* salinity: 33.375309, density: 1025.000000* values[0]: 0.571292F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033948.063165 s.eI~, %AAfffff@APL@A[~? A^ A%%"AApNA"AZAbAjArAzAAACx*@A?>tA̅d@A_<A¯w=A\>AL?A`?A}*Ag':?2AԽ:Az<BAg':?JAԽRAzyԩw=Z`<ٓH@s?ѿ ?`??Huh?f?`C?)T= I٘i)I9d@Y G JJ~JJJ{E&KWt> Y[~?y>EAɊ>5{Ej7j7/%(9LB)(B¹E[[-=[[~?[G[[[[ZZBZYY i) sGIi?7; Y?))xY?Y?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033948.083165 s, next control iter: 1743033948.463185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743033948.483165 s.w_eI~,%AJ"J*J2J:J?BJ?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243034> elevatorAngleAction: 0.083341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743033948.483305F (some fields omitted in printout)A@AX׷@A[~? AA A9%"AAqNA"AZAbAjArAzAAAr^(_+@A!m=tAc@A`<A:2=A͔>A 9A+?A>?A[*AA:?2AԽ:A|BAA:?JAԽRA|٘i)I9c@Y7 G JƼJJJEJ{E&K YJK[~?yDA?{E77Z,(9)3B[[z=[F[~?[[[[[ZZBZYY i) һIi> ; pd?))pd?pd?YFFF]Waiting for Gazebo time sync: latest Gz time: 1743033948.943165 s, next control iter: 1743033949.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033949.323165 s.reI~,T%AJ"J*J2J:JBJnJvJA\@AN@A"\~? AA;k%"AA^qNA"AZAbAjArAzAAAܽ:,@A] ;tA?b@AAg<AiM>A@?A?Az~*Ad<:?2AhԽ:ApBAd<:?JAhԽRAp٘i)I9b@Y G J㙼B=JJJJ|E&K Yf[~?y*DAE{E777/(9KB)6BȹE[[z>[a[~?[[[[[ZZBZYY i) sIi>><; i?))i?i?gY)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033949.343165 s, next control iter: 1743033949.723175 s, wait time: 0.380010 sf[~?)*.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7448., header.stamp.nsec: 0.0 temperature: 13.569983.* salinity: 33.375336., density: 1025.000000.* values[0]: 0.569657.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033949.743165 s.WeI~,~o%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743033949.743298F (some fields omitted in printout)AGz@AHi@A<\~? AA%"AAnqNA"AZAbAjArAzAAA1$)#2-@A:tA=b@AkaAٻA>A$?Az?A%*A~2:?2APԽ:A>BA~2:?JAPԽRA>٘i)I9=b@Y G J!YC=JJJJ|E&K Y[~?yXDAJ{Eb773(9HB)ʹE[[>[|[~?[[[[[ZZBZYY i) /_jIi> ; so?))so?so?(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033949.783165 s, next control iter: 1743033950.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743033950.163165 s.|}eI~,q%AJ"J*J2J:JBJnJvJA@A qe@AU\~? A2A%"AAqNA"AZAbAjArAzAAA8$ށi-@A}N9tAb@AδA;٬Axҽ>A@e?A)P?A⪻*A%:?2A[ս:AwBA%:?JA[սRAwYŘ>>yӬ`ٓH@?`b/׿ 왿@3?{? A|??D-?)Ř> I٘i)I9b@Y G J>JFJJJ |E&Ks> Y"[~?yuDA>O{EZ7Z77(9GB)7B͹E[[x/>[[~?[S[[[[ZZBZYY iq=) fRXIi>ӗQ; t?))޼{t?t?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033950.183165 s, next control iter: 1743033950.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033950.583165 s.eI~,"S%AAR@Abm@AHo\~? AJA%"AAqNA"AZAbAjArAzAAAMe.@AN8tAa@AEA] AM>A?A*)?A%l*A:?2Adս:A.ڼBA:?JAdսRA.ڼ٘i)I9a@Y G J ZJJJJ|E&K Y[~?yhDAU{E{7j7:(9FB)йE[[E>[][~?[[[[[BZYY i"=) DFIir>@(; tz?)) tz?tz?9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033950.603165 s, next control iter: 1743033950.983187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7449, header.stamp.nsec: 00 temperature: 13.569986* salinity: 33.375355, density: 1025.000000* values[0]: 0.569357F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033951.003165 s.x eI~,L4%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069891< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743033951.003306F (some fields omitted in printout)Ap= W@A?4<@Az\~? A8Ah%"AAqNA"AZAbAjArAzAAA̘¿.@ACgfL7tAZa@Aո:A8Ap>A@ѫ?A?Aq;*A$%:?2AԽ:AXBA$%:?JAԽRAX켙٘i)I9a@Y G J:JJJJ|E&K Y[~?y4DAZ{Ej7E>(9)6BӹE[[[>[J[~?[ [[[[BZYY i) 64IiM>Q; ?))??v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033951.023165 s, next control iter: 1743033951.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033951.423165 s.ueI~,ۗ%AA(\@ArOWw@A\~? AAH%"AArNA"AZAbAjArAzAAAX/@A;5tAfb@AY:<A*>\A :>A`?A?AZ;*A:?2Aaս:ABA:?JAaսRA٘i)I9b@Y G J;JJJJ|E&K YF[~?yDA`{EA(9)5B[[Dr>[E[~?[ߪ[[[[BZYY i) ("Ii>/`: Ђ?))Ђ?Ђ?yB=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033951.463165 s, next control iter: 1743033951.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7450, header.stamp.nsec: 00 temperature: 13.569855* salinity: 33.375340, density: 1025.000000* values[0]: 0.569452F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033951.843165 s.eI~,%AJ"J*J2J:J?BJ?nJ5vJAHz.@ARX@Ar\~? AA0J%"AADrNA"AZAbAjArAzAAA޸ 0@A4i{4tAVb@AV2x<AzA>Af?A +?A.*<*A}:?2A;ս:AKBA}:?JA;սRAK٘i)I9Vb@Y G J <JJJJ |E&K Y\~?yߪDAe{E777pE(9EB)2BֹE[[i>[D\~?[ܪ[[[[BZYY i) Ii=': ^?))^?^?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033951.863165 s, next control iter: 1743033952.243183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743033952.263165 s.fI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069891< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033952.263272F (some fields omitted in printout)A@A؜@A1\~? AAz%"AAvjrNA"AZAbAjArAzAAA]/a0@A%= 2tA}b@Ae1<A㉽A>A@@?A`v?A~t`<*Ag:?2Aս:A BAg:?JAսRA YY>0>yች1<ٓHp?` ݿ@'? ~? `8?,??)Y> I٘i)I9b@Y G J-C<JbJJJ%|E&Kwu> Y\~?y۪FEA>j{Ej7j7I(9DB)/BٹE[[>[\~?[ڪ[[[[BZYY i9i=) Ii1=|}9 1l?))\ 1l?1l?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033952.303165 s, next control iter: 1743033952.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7451., header.stamp.nsec: 0.0 temperature: 13.569616.* salinity: 33.375381., density: 1025.000000.* values[0]: 0.569826.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033952.683165 s.l fI~,^+%AJ"J*J2J:J?BJ?nJ5vJAQ@Aq @A\~? A_A %"AAڏrNA"AZAbAjArAzAAA?. j0@A"mI1tAc@A9:AA>A@C?A?An<*AM:?2Atս:A*BAM:?JAtսRA*٘i)I9c@Y1 G Jw<JJJJ+|E&K Y7\~?yתEAp{EZ7L(9CB)*BܹE[[oК>[g8\~?[8ت[[[[BZYY i) ~*II?iH/ n6?)) n6?n6?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033952.683165 s, next control iter: 1743033953.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743033953.103165 s.fI~,F%AA= ףp@AV@A,]~? AA%"AArNA"AZAbAjArAzAAAVd0@A+/tAc@A1!A~(Aq?A%?AS?A͡<*A":?2A8Խ:ABA":?JA8ԽRA٘i)I9c@Y~ G JR<JJJJ0|E&K Y%Q\~?yӪEAu{Ej70P(9BB)&B߹E[[o%>[S\~?[ժ[[[[BZYY i)  &ûII?i}6 ?))??w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033953.123165 s, next control iter: 1743033953.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033953.523165 s.fI~,{a%AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743033953.523320F (some fields omitted in printout)A(@Ay@Ac]~? AA%"AArNA"AZAbAjArAzAAA?1@A z-tAd@AyA/(AB?A@~?A?A<*A%:?2AԽ:ABA%:?JAԽRA٘i)I9d@Y G J<JJJJ5|E&K YOj\~?yϪ\FAz{E77{7S(9:B)B޹E[[>[m\~?[Ҫ[[[[BZYY i) :!I I?i뽉n >Đ?))>Đ?>Đ?ytj=*Y2,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033953.543165 s, next control iter: 1743033953.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7452, header.stamp.nsec: 00 temperature: 13.569298* salinity: 33.375393, density: 1025.000000* values[0]: 0.570451F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033953.943165 s.XdfI~,B]|%AAzG@A4c-@Ai4]~? AbAW%"AAirNA"AZAbAjArAzAAA/oiŢ1@A +tAUd@A2OAppA. ?Aړ?A7?A<*AM*:?2Aaս:A!BAM*:?JAaսRA!٘i)I9d@Y1 G J<JJJJ;|E&K Yy\~?y˪FA{Eb7b7[W(99B)BE[[>["\~?[Ϫ[[[[BZYY i=) I I?i=Ⱥ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033953.983165 s, next control iter: 1743033954.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033954.363165 s.%fI~,}>%AJ"J*J2J:JBJnJvJA3333@Ac"@A9L]~? AA_%"AA"sNA"AZAbAjArAzAAA\1@A"*)tAnNe@AaAA?A@Lb?AB?Aڵ<*A.:?2A3ֽ:A2< BA.:?JA3ֽRA2< YH>Ĥ?yA6bٓHp?OV@NҰ@PK?s? v jr?1lG?)H> I٘i)I9Ne@Y G Jf<B=J멼JJJ@|E&KTv> Y5\~?yǪ!GA?{Eŧ77Z(9)BE[[d>[1\~?[K̪[[[[BZYY i) NII?i^i V?))V?V?O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033954.383165 s, next control iter: 1743033954.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7453", header.stamp.nsec: 0"0 temperature: 13.568885"* salinity: 33.375408", density: 1025.000000"* values[0]: 0.571229"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033954.783165 s.W+fI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252128> elevatorAngleAction: 0.066374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743033954.783280F (some fields omitted in printout)AQ@AIӠ@Ac]~? AA%"AAFsNA"AZAbAjArAzAAAw2[2@Aa3į'tAe@A[;AAA?A-?A@|?AY{<*AY.:?2A&ֽ:A<BAY.:?JA&ֽRA<٘i)I9e@Y G J<C=JJJJE|E&K Y\~?y?ªGA{E777^(98B) BE[[_>[6\~?[Ȫ[[[[BZYY i) I7I?iQ3 ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033954.823165 s, next control iter: 1743033955.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033955.203165 s.3fI~,͘%AJ"J*J2J:JBJnJvJAףp=@Ak)p@A,{]~? A A%"AA4jsNA"AZAbAjArAzAAA5,_2@A5ۨ}%tA8uf@Ap<A䖽AO?A?A_?A<*A;:?2A,&ֽ:A9BA;:?JA,&ֽRA9٘i)I9uf@YB G J<JJJJK|E&K Y\~?yzGA{E{7j7b(9)B[[d>[,\~?[-Ū[[[[BZYY i) کIH?iJS ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033955.243165 s, next control iter: 1743033955.603174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743033955.623165 s.Z9fI~,i%AA)\@A /@AK]~? AMALd%"AAqsNA"AZAbAjArAzAAAxD2@AQ|4#tAg@ANf<AAp"?A ?A`4?A<*A;:?2A:ֽ:A$BA;:?JA:ֽRA$٘i)I9g@Y G J}<JJJJP|E&K Y`\~?y[HA{Eŧ7b7e(97B)BE[[>[\~?[O[[[[BZYY i) ͹IH?iZo Ş?))Ş?Ş?yO=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033955.663165 s, next control iter: 1743033956.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7454, header.stamp.nsec: 00 temperature: 13.568478* salinity: 33.375416, density: 1025.000000* values[0]: 0.572020F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033956.043165 s.@fI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743033956.043276F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@Ae2G@A*]~? AjܫA%"AAPsNA"AZAbAjArAzAAA(2@A/ tAg@Ax ;AorAMy'?AB?A?Aɥ<*AW;:?2A!ֽ:A pBAW;:?JA!ֽRA p٘i)I9g@Y G J<JJJJV|E&K Y\~?yﳪHA{Eb7Fi(96B)BE[[>[ ]~?[<[[[[BZYY i) s :I=H?i̾炻 "?))"?"?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033956.083165 s, next control iter: 1743033956.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033956.463165 s.UGfI~,%AA@A@Aɿ]~? AcثA%"AAsNA"AZAbAjArAzAAALX1/3@Aގ_tAh@A,jA]8A!z,?AYI?A?Am<*AJ::?2Azֽ:ABAJ::?JAzֽRAY<>,?y7ԧٓHL? ȭ`??o ,??t?)<> I٘i)I9h@YB G J<J1[<JJJ[|E&Kv> Y,]~?yp$IA,?{E{7j7l(92B)BE[[!?["]~?[[[[[BZYY i) :IH?in뾉 q?))q?q?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033956.503165 s, next control iter: 1743033956.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7455, header.stamp.nsec: 00 temperature: 13.568121* salinity: 33.375435, density: 1025.000000* values[0]: 0.572772F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033956.883165 s.yMfI~,48%AJ"J*J2J:JBJnJvJAQ8@AO=@A$]~? A8ԫAK%"AAsNA"AZAbAjArAzAAAqr3@AStAh@A^A⍽A1?A# ?A`e?A<*A9:?2Aֽ:ABA9:?JAֽRA٘i)I9h@Y G J'<JJJJ`|E&K Y=&]~?yIA{E777pp(9)B[[3?[;]~?[[[[[BZYY i) ;IH?i=  H?)) H? H?j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033956.923165 s, next control iter: 1743033957.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033957.303165 s.XTfI~,gS%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743033957.303281F (some fields omitted in printout)Aq= ף@A,D@A9]~? AϫAE%"AAtNA"AZAbAjArAzAAAW)^3@Ayo3tA-i@AptAzA@6?AU?A |t?Ag<*A7:?2ACֽ:ABA7:?JACֽRA٘i)I9-i@Y G J<JJJJf|E&K YM<]~?yrIA{Ej7j7t(91B)BE[[ ?[T]~?[[[[[BZYY i) |Z;I-H?i϶ %?))%?%?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033957.343165 s, next control iter: 1743033957.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7456., header.stamp.nsec: 0.0 temperature: 13.567746.* salinity: 33.375439., density: 1025.000000.* values[0]: 0.573517.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033957.723165 s.[fI~,Hn%AJ"J*J2J:JBJnJvJA(\ @AF@A^~? Ax˫A%"AA7tNA"AZAbAjArAzAAA@L73@AX|tAܲi@AAB3A elevatorAngleAction: 0.066374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201162 time: 1743033958.563407F (some fields omitted in printout)Affff @AS @A,^~? A+«AT%"AAytNA"AZAbAjArAzAAA%kfy4@ADYtAӨj@AYG<AAF?A?A?A3<*A2:?2Aw׽:ABA2:?JAw׽RAY?F?y3H<ٓH ?{o g^?|?`'髿`?? ?)? I٘i)I9j@YG J[<J!C<JJJv|E&Kx> Y|]~?yGKAF?{E{7{7~(9/B)گBE[[Ƙ?[]~?[۠[[[[BZYY i=) O;IH?iv.P߻ в?))в?в?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033958.583165 s, next control iter: 1743033958.963183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7457, header.stamp.nsec: 00 temperature: 13.567389* salinity: 33.375439, density: 1025.000000* values[0]: 0.574195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033958.983165 s.ofI~,쾙%AAQ!@A7!@AA^~? AQA%"AAtNA"AZAbAjArAzAAA84@A* tAk@A{<A 7A2L?A@?A`?AW/<*A/:?2A׽:ARBA/:?JA׽RAR9٘i)I9k@YG Jˆ<JJJJ{|E&K Y]~?y[KA{E77[(9+B)үBE[[$?[]~?[v[[[[BZYY i) _ ;IH?i:53 ?))??n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033959.003165 s, next control iter: 1743033959.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033959.403165 s.&vfI~,ٙ%AJ"J*J2J:JBJnJvJA ףp!@AX!@AV^~? AUAc%"AAXtNA"AZAbAjArAzAAAp>4@AzkU tA֋k@A+<AgAUQ?Aa?A ]?A<*A(:?2AVI׽:AeABA(:?JAVI׽RAeA٘i)I9k@Y[G J<JJJJ|E&K Y]~?yKA{Eb77(9)ϯB[[:*?[ ]~?[ܕ[[[[BZYY i) # elevatorAngleAction: 0.077667< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743033959.823294F (some fields omitted in printout)A\("@An"@ATj^~? A9A%"AA@tNA"AZAbAjArAzAAA#{<45@A+UtA9k@Al|8AhɆA aV?A[?A?A8<*A!:?2Aֽ:A,BA!:?JAֽRA,٘i)I9k@YG J<B=JJJJ|E&K Y]~?yLA{E77j7(9*B)ʯBE[[b0?[,]~?[[[[[BZYY i) b YG]~?yrLA`? D{E7(9)B)BE[[Ԏ elevatorAngleAction: 0.077667< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743033961.083294F (some fields omitted in printout)J"J*J2J:JBJnJvJARk#@AcbqQ#@A^~? A%A%"AA0uNA"AZAbAjArAzAAAD5@Ae-sAbm@AJAYAe?A ?A@?A<*A :?2Aֽ:A BA :?JAֽRA ٘i)I9bm@YzG Jq<JJJJ|E&K YP]~?y l$MA{EF(9$B)BE[[B?[&^~?[}[[[[BZYY i) RUB elevatorAngleAction: 0.077667< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743033962.343282F (some fields omitted in printout)AHz$@A\sG$@A-^~? AACG%"AAuNA"AZAbAjArAzAAAuJf6@As[ gsAn@A^r<A_Av?A ?A"?AT<*AP9?2A׽:AC BAP9?JA׽RAC ٘i)I9n@YYG J<JJJJ|E&K Ym'^~?yW Y&7^~?ydPNAz?{E777(9"B)B E[[Z?[z^~?[b[[[[BZYY i)  elevatorAngleAction: 0.077667< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743033963.603289F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף%@Ae%@A_~? AA%"AAuNA"AZAbAjArAzAAA]_"R*7@A׭OsA^p@AAyA?A` ?A?AC<*Ay9?2Aֽ:ABAy9?JAֽRA٘i)I9^p@YKG J%<JJJJ|E&K YV^~?yAoOA{EƩ(9B)B E[[:g?[^~?[S[[[[BZYY i) 7%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743033964.863286F (some fields omitted in printout)A33333'@A%'@A @_~? AlAY%"AAvNA"AZAbAjArAzAAAU-7@Az2sA r@AAAun?A?A`$?AҲ<*A9?2A#ֽ:ABA9?JA#ֽRAYb\??yÈٓH ?>!s*?d?7ి+?ɶI?)b\? I٘i)I9 r@Y]G J~<JE,JJJ|E&Kax> YK^~?y_+PA? |E{7j7(9B)B E[[Jy?[^~?[<[[[[BZYY i)  elevatorAngleAction: 0.087038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743033966.123303F (some fields omitted in printout)A)\u(@AĬ[(@ADl_~? AXA{%"AAcvNA"AZAbAjArAzAAA;9O rw?))rw?rw?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033966.163165 s, next control iter: 1743033966.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033966.543165 s.IfI~,â%AA{G(@A1(@Az_~? AQA %"AA\xvNA"AZAbAjArAzAAA̭_5l8@A&uGsAxt@A!<A髽A ?A@?A?A`^<*A9?2A׽:ABA9?JA׽RA٘i)I9xt@YG JĶ<B=JJJJ|E&K YM^~?yI ZRA!|E77(9B)oBE[[P?[{_~?[A[[[[BZYY i) ^ٓH@y?H@Рن?&?$ӵ? G*?)Fv? I٘i)I9u@Y,G J<C=JR}JJJ|E&KCx> Y^~?y%RA?&|Eŧ7q(9)jB[[l?[$_~?[[[[[BZYY i) ٟ elevatorAngleAction: 0.087038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743033967.383295F (some fields omitted in printout)AQ)@A+<)@At_~? ACA^.%"AAvNA"AZAbAjArAzAAA>ϲ8@A͗sAu@A2A&WA?A@?A{?A[<*Aɷ9?2A&Aֽ:ABAɷ9?JA&AֽRA٘i)I9u@YG J^<JJJJ|E&K Y^~?yESA+|EZ7Z7(9)eB[[H?[2_~?[. [[[[BZYY i) ?A?A& <*Aѭ9?2Arֽ:A, BAѭ9?JArֽRA, ٘i)I9&w@YlG J<JJJJ|E&K Y^~?y/TA6|E772(9B)VBE[[ѕ?[L_~?[[[[[BZYY i) f elevatorAngleAction: 0.087038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033968.643300F (some fields omitted in printout)AG*@A DO*@A_~? A~.A[%"AAvNA"AZAbAjArAzAAAgY)9@A}KsA3w@AA'A?A _?A@#?A<*Ab9?2Aֽ:ABAb9?JAֽRA٘i)I9w@YG J6<JJJJ|E&K Y^~?yTA;|E{7(9)PB[[?[W_~?[[[[[ZZZZ¸>BZYY i¸>TQ) q Ys^~?y ۩ UA?A|E)7b7\(9 B)IBE[[?[b_~?[[[[[ZZZZBZYY i) .^Og  @)) @ @,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033970.363165 s, next control iter: 1743033970.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7469*, header.stamp.nsec: 0*0 temperature: 13.563100** salinity: 33.375572*, density: 1025.000000** values[0]: 0.583272*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033970.743165 s.W+gI~,d%AAGz-@A'd,@A_~? AR Aá%"AA.'wNA"AZAbAjArAzAAAQ9@AgsA_{@AA!57A?AY?A` ?A <*AT9?2A=ֽ:AܻBAT9?JA=ֽRAܻ٘i)I9{@Y>G J^<JJJJ}E&K Y)_~?y` WAV|E{7Z7(9 B)+BE[[g?[·_~?[©[[[[ZZZZBZYY i) dJJJ}E&Kx> YP_~?y2WA?\|E77{7G(9)&B[[H٫?[>_~?[*[[[[ZZZZBZYY i4) ]5:@AoCmsA!}@AaU<A0=AJJJ2}E&Kw> Y91_~?y3WA?v|Ej7Z72(9B)BE[[?[_~?[[[[[BZYY ii) ^7b[[[[BZYY i) b;I6F?id @))@@y|2ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033974.963165 s, next control iter: 1743033975.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033975.363165 s.ugI~,>ם%AJ"J*J2J:JBJnJvJA33331@AҦ1@A-`~? A&A/&"AAАwNA"AZAbAjArAzAAA.;:@AF/O`ksAE'|@Aj.A=A ?A~?A J?AD*Al9?2Arֽ:A =BAl9?JArֽRA =Y敯?5?y=Eo/ٓH@.@?`ɲ?[زޅ N?)敯? I٘i)I9'|@YxG JC=J=JJJM}E&K&x> Y9_~?yVA?|E{7{7)9) B[[?|?[˯_~?[X[[[[BZYY i) ;I~#F?i Ge a@))a@a@hϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033975.383165 s, next control iter: 1743033975.763178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7474", header.stamp.nsec: 0"0 temperature: 13.562592"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.584249&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033975.783165 s.X{gI~,%AAQ2@A72@Ay0`~? A AV&"AAwNA"AZAbAjArAzAAA,:@A LzfsA4{@A AM=A>?A@D?A&"AA!wNA"AZAbAjArAzAAA3#:@AXIF\sAUz@A%o<A=AL?Ac|?A \l?A$*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9z@YvG JJJJJ]}E&K Y/8_~?y>UA|E77)9),B[[?[_~?[;[[[[BZYY i) :^;IzE?id_ .@)).@.@{۪YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743033976.643165 s, next control iter: 1743033977.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7475 , header.stamp.nsec: 0 0 temperature: 13.562823 * salinity: 33.375591 , density: 1025.000000 * values[0]: 0.583664 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033977.043165 s.J "J *J 2J :J k?BJ k?nJ 5vJ gI~,B%AA{Ga3@A]9G3@A,6`~? AA&"AAwNA"AZAbAjArAzAAAXN:@A| SWsAQy@AJ<A=AY?A?A@s?A9*A9?2AKֽ:A0=BA9?JAKֽRA0=٘i)I9y@YG JB=JJJJb}E&K Y7_~?y6TA|Eb7b7s)9)0B[[?[Y_~?[1[[[[BZYY i) D!;IE?i㪿ҼZ (@))(@(@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033977.063165 s, next control iter: 1743033977.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033977.463165 s.YgI~,]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743033977.463292F (some fields omitted in printout)A3@A)嵲3@A7`~? A抪AA&"AA^wNA"AZAbAjArAzAAAqި:@Ay2RsAHy@Aj;A{=AI?AL?Asw?Ai*A9?2Aֽ:A =BA9?JAֽRA =Y?S?yX{=Vk;ٓH @v` w 6?@0 ?tTm?`?)? I٘i)I9Hy@YG J2C=J;JJJh}E&K4x> Y04_~?yJ-?TA?|EZ7Z7 )9B)4BE[[2?[Z_~?[X([[[[BZYY i) G:IE?iRZ 0@))0@0@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033977.503165 s, next control iter: 1743033977.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7476, header.stamp.nsec: 00 temperature: 13.563102* salinity: 33.375595, density: 1025.000000* values[0]: 0.582928F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033977.883165 s.J ygI~"J*J2J,8x%A:J:?BJ:?nJz5vJAQ84@A:4@AT7`~? AӂA&"AAFwNA"AZAbAjArAzAAAΩ:@AgMsA x@AAz=AXV?AUI?A Gy?ASB*A9?2A ׽:A- =BA9?JA ׽RA- =dI٘i)I9x@Y\G JJJJJm}E&K Y0_~?y$SA|E7{7#)9)9B[[ U?[_~?[[[[[BZYY i) t&:IE?i0X @))@@ ֪YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743033977.903165 s, next control iter: 1743033978.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033978.303165 s.WgI~,{g%AAq= ף4@A=e4@A7`~? AzAw|&"AA]wNA"AZAbAjArAzAAAay:@Ao}HsAx@APeAO=Ad?A@KA{x?A\*As9?2A2׽:A3n=BAs9?JA2׽RA3n=٘i)I9x@YG JJJJJr}E&K YS-_~?ylSA|Eŧ7b72')9B)?BE[[u?[ _~?[U[[[[BZYY i) ұIE?iĦ4vU M!@))M!@M!@$ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033978.323165 s, next control iter: 1743033978.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7477*, header.stamp.nsec: 0*0 temperature: 13.563376** salinity: 33.375584*, density: 1025.000000** values[0]: 0.582217*F (some fields omitted in printout)2S-_~?)2 rAdjusting time to match Gazebo time: 1743033978.723165 s.gI~,H%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743033978.723280F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\5@A?Q4@AX6`~? ArA&&"AAwNA"AZAbAjArAzAAA.Ц:@AƆ DsA5w@A_Ac=A?A A@u?A|ک*A9?2A׽:A =BA9?JA׽RA =٘i)I9w@YG JB=JJJJx}E&K Y)_~?ySA|E{7j7*)9)DB[[T?[_~?[ [[[[BZYY i) ZIE?iLQ )"@)))"@)"@ ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033978.743165 s, next control iter: 1743033979.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033979.143165 s.S/gI~,)ɞ%AAGz5@AL`5@A5`~? AjA&"AA"wNA"AZAbAjArAzAAA1؈:@AJ_z?sAv@A'ǻAؔ=Aa$?A=A4o?A'*A9?2AQֽ:A=BA9?JAQֽRA=٘i)I9v@YTG JC=JJJJ}}E&K Yu&_~?yW RA|Eŧ7ŧ7].)9B)GBE[[?[_~?[[[[[BZYY i) ^ IE?i˞BK k$@))k$@k$@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033979.163165 s, next control iter: 1743033979.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033979.563165 s.gI~,A %AJ"J*J2J:JBJnJvJAffff5@ANP5@A>3`~? AbA1U&"AAҝwNA"AZAbAjArAzAAAmHDVh:@AMn.:sAqv@Aߦ;Ax=A?A@%Af?A.*Ag9?2Anֽ:A1=BAg9?JAnֽRA1=Y?԰?yJx=_ ;ٓHqQ̿w4 1?`YY̿? K`r?@?)? I٘i)I9qv@YG J橼JQJJJ}E&K5x> Y2 _~?y6RA?|E7771)9)LB[[?[__~?[T[[[[BZYY i) 6GInE?ijI %@))%@%@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033979.603165 s, next control iter: 1743033979.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7478, header.stamp.nsec: 00 temperature: 13.563792* salinity: 33.375607, density: 1025.000000* values[0]: 0.581202F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033979.983165 s.gI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743033979.983309F (some fields omitted in printout)AQ6@A676@A0`~? AZAn&"AAwNA"AZAbAjArAzAAAW NT:@AZE5sA]u@AmR<A+=A?.?A_ӲAM\?A*A9?2A^Aֽ:A=BA9?JA^AֽRA=٘i)I9u@YG JөJJJJ}E&K Y_~?y,QA|E775)9)PB[[ ?[|_~?[[[[[BZYY i) *IY]E?i_ F '@))'@'@[ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033980.023165 s, next control iter: 1743033980.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033980.403165 s.&gI~,%AJ"J*J2J:JBJnJvJA ףp6@AZ6@A .`~? AzRAd &"AAӖwNA"AZAbAjArAzAAAJ]":@Aʦ[^0sAUu@Apj<AO=A?A %A;O?AvΤ*AO9?2AVֽ:A=BAO9?JAVֽRA=٘i)I9Uu@YQG JtJJJJ}E&K Y_~?yqQA|E7{79)9)TB[[?[r_~?[[[[[BZYY i) !ILE?iıB V)@))V)@V)@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033980.423165 s, next control iter: 1743033980.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7479", header.stamp.nsec: 0"0 temperature: 13.563910"* salinity: 33.375599", density: 1025.000000"* values[0]: 0.580843"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033980.823165 s.gI~,-4%AA\(7@A[^7@A*`~? AxJA, &"AA"wNA"AZAbAjArAzAAAHi:@A &{+sAt@A<AɊ=A{p?A1kA@??At*A]9?2AAֽ:A<BA]9?JAAֽRA<٘i)I9t@YG JáJJJEJ}E&K Yg _~?yQA|Eb77<)9B)ZBE[[?[Ci_~?[ݨ[[[[BZYY iJ) II=E?i͓/= *@))*@*@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033980.863165 s, next control iter: 1743033981.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033981.243165 s.gI~,yO%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075224< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743033981.243286F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz7@Acz7@A&`~? A{BA; &"AAwNA"AZAbAjArAzAAA"Fw:@A,&sALt@AAx=A!#?A`=A J-?AД*A9?2Aֽ:AD<BA9?JAֽRAD<٘i)I9Lt@YG JJJJJ}E&K Y$_~?yjߨPA|E~77H@)9)^B[[)?[^_~?[ը[[[[BZYY i) ݻI-E?iy'^6 ),@))),@),@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033981.283165 s, next control iter: 1743033981.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033981.663165 s.gI~,qj%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7480, header.stamp.nsec: 00 temperature: 13.564170* salinity: 33.375591, density: 1025.000000* values[0]: 0.580219F (some fields omitted in printout)A8@A7@AR"`~? A:Ac &"AAVwNA"AZAbAjArAzAAAIj:@Au-!sAs@A<Ax{=Ax?AA?A\f*A9?2A7׽:AiK<BA9?JA7׽RAiK Y^~?yרQPA?|E77C)9)bB[[??[S_~?[B̨[[[[BZYY i) *IE?ix23 -@))-@-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033981.683165 s, next control iter: 1743033982.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033982.083165 s.DgI~, S%AJ"J*J2J:JBJnJvJARk8@A!oQ8@A[`~? A2A% &"AA=wNA"AZAbAjArAzAAAK۝[:@AIsA`s@AqAt=A3t?Ac¿AS?A̔*A9?2A5׽:A<BA9?JA5׽RA<٘i)I9`s@Y G JJJJJ}E&K Y^~?yΨOA|E777sG)9)eB E[[ S?[H_~?[è[[[[BZYY i) 6IE?iov/ =/@))=/@=/@yպYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033982.123165 s, next control iter: 1743033982.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033982.503165 s.gI~,U4%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075224< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743033982.503312F (some fields omitted in printout)Ap= 8@Ax#8@A`~? A*A &"AAZwwNA"AZAbAjArAzAAAVqcJ:@AU}sAr@A3M'Aш=A?AKĿAA?AԈ*A9?2Aֽ:A <BA9?JAֽRA <٘i)I9r@YG JJJJJ}E&K Y ^~?y`ƨOA|E7K)9B)jB E[[1@[;_~?[躨[[[[BZYY i) }IE?i_* k0@))k0@k0@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033982.523165 s, next control iter: 1743033982.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7481, header.stamp.nsec: 00 temperature: 13.385241* salinity: 33.391628, density: 1025.000000* values[0]: 0.702432F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033982.923165 s.6gI~,%AJ"J*J2J:JBJnJvJA(\B9@A:ǀ(9@A`~? A"A3 &"AAnwNA"AZAbAjArAzAAA 28:@AMcIsAQzr@A=A\w=Ab?A,ƿA?AO*A9?2Aֽ:A*=BA9?JAֽRA*=٘i)I9zr@YG J~B=JJJJ}E&K Y^~?yAOA|E{7j7N)9)nB[[@[._~?[n[[[[BZYY i) 8-ID?iJ!6$ P2@))P2@P2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033982.963165 s, next control iter: 1743033983.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033983.343165 s.ֽ:A=BA9?JA>ֽRA=YDz??y=" r<ٓHNtڿ@]"@?A ?@tڿc?@ռ _.?k?)Dz? I٘i)I9q@YG JB=J;JJJ}E&Kw> YC^~?yNA?|ES77U)9B)xBE[[@["_~?[֡[[[[BZYY i) Z1LID?in [_5@))[_5@[_5@uêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033983.803165 s, next control iter: 1743033984.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033984.183165 s.hI~,V %AAQ:@AwJk:@A_~? A A&"AAPwNA"AZAbAjArAzAAAͰ6h9@A: sA~q@AC<AL=A@A̿Af?A9*A9?2ALsֽ:A =BA9?JALsֽRA =٘i)I9q@YG J헼C=JJJJ}E&K Y^~?y'NA}E77{7^Y)9)|B[[#F@[^_~?[[[[[BZYY i) 2[I[D?iSgB  n6@))n6@n6@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033984.223165 s, next control iter: 1743033984.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033984.603165 s.84 hI~,&%AJ"J*J2J:JM3?BJM3?nJ<5vJA= ף:@A&:@A_~? AA$&"AAQDwNA"AZAbAjArAzAAAԟf9@A7}A[sAp@A'Q>;AE=Ax@AͿA @?AZ*A9?2A<ֽ:Aؼ=BA9?JA<ֽRAؼ=٘i)I9p@YbG J՗JJJJ}E&K Y۶^~?yMA}E77\)9)B[[@[^~?[[[[[BZYY iZ) VjIoD?i]^ >k8@))>k8@>k8@ǪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743033984.643165 s, next control iter: 1743033985.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7483 , header.stamp.nsec: 0 0 temperature: 13.385706 * salinity: 33.391666 , density: 1025.000000 * values[0]: 0.700408 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033985.023165 s.ZhI~, |A%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084273< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743033985.023296F (some fields omitted in printout)A(\;@AB;@AF_~? A0A(&"AA7wNA"AZAbAjArAzAAAl39@AوjrAp@A4A=A+@A`ϿA?A*A9?2A%׽:Ah=BA9?JA%׽RAh=٘i)I9p@YG JRB=JJJJ}E&K Y&^~?yhMA }E777`)9B)BE[[OI @[<^~?[牨[[[[BZYY i) ,czI"D?i*R V9@))V9@V9@IʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033985.063165 s, next control iter: 1743033985.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033985.443165 s.4hI~,1]\%AJ"J*J2J:JBJnJvJAz;@AŸ;@A<_~? AA.&"AA*wNA"AZAbAjArAzAAAMw˪9@A;ǐrA؉o@AlgAl`=Am'@AпA Y?At8*Aw9?2A C׽:A =BAw9?JA C׽RA =٘i)I9o@YG JC=JJJJ}E&K Yr^~?y MA}E7d)9B)BE[[ @[^~?[A[[[[BZYY i) 䄼ID?iDp t;@))t;@t;@cͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033985.463165 s, next control iter: 1743033985.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7484, header.stamp.nsec: 00 temperature: 13.385966* salinity: 33.391651, density: 1025.000000* values[0]: 0.699338F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033985.863165 s.+hI~,>w%AA33333<@Al<@A_~? AAP&"AAwwNA"AZAbAjArAzAAA]a9@AM7}rA< o@A XAᙘ=As@A>ѿA`˾?A:l*A9?2A׽:A =BA9?JA׽RA =Y?pc@yy=XٓH@ xK?-`*{?Kn?)? I٘i)I9 o@Y}G JJfI<JJJ}E&K5x> Y2^~?yLAc@}Eŧ7b7g)9)B[[0G @[^~?[z[[[[BZYY i) psI]D?i= <@))<@<@yѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033985.903165 s, next control iter: 1743033986.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033986.283165 s.6R$hI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084273< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743033986.283291F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ<@A|Y<@A_~? AA&"AA wNA"AZAbAjArAzAAAl/]~o9@AL1rAn@A\Aq*=A@AdҿA@_?A*A9?2Ajֽ:A.=BA9?JAjֽRA.=٘i)I9n@Y-G JJJJJ}E&K Y^~?yi~@))w>@w>@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033986.303165 s, next control iter: 1743033986.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7485., header.stamp.nsec: 0.0 temperature: 13.386198.* salinity: 33.391674., density: 1025.000000.* values[0]: 0.698292.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033986.703165 s.ֺ*hI~,%AAףp= =@A,<@A,_~? ACީAs&"AA*vNA"AZAbAjArAzAAAaCO9@ANIorAm@A;Al=Au@AFgӿA ^?Ao*A9?2APֽ:A=BA9?JAPֽRA=٘i)I9m@YG JB=JJJJ}E&K Yt^~?yvKA"}E77n)9)B[[B@[^~?[l[[[[BZYY i) ID?i)=ٻ ?@))?@?@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033986.723165 s, next control iter: 1743033987.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033987.123165 s.81hI~,aǠ%AJ"J*J2J:JBJnJvJA)\u=@A ګ[=@A2_~? A֩AA&"AAvNA"AZAbAjArAzAAAUf^.9@AhI~,%AJ"J*J2J:Jw2?BJw2?nJ";5vJAL>@Atys2>@AԢ_~? AȩAg&"AAKvNA"AZAbAjArAzAAAq68@AZG*rAs7l@A٬;A!=A @AտA?A*AҚ9?2Aֽ:A=BAҚ9?JAֽRA=Yx? @y=n;ٓH G``)@?`7`4?Ru?/?)x? I٘i)I97l@YG J Jx<JJJ}E&Kx> YG^~?y`JA @2}Ej7Z7y)9 B)BE[[@[Mh^~?[>W[[[[BZYY i) I/wD?iL竻 tD@))tD@tD@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033987.983165 s, next control iter: 1743033988.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743033988.383165 s.EhI~,'%AAQ>@A˂?>@Ap_~? AnAǩ&"AAvNA"AZAbAjArAzAAAӕ8@ARfRrAk@A!=AT=A8@A,ֿA +?A*AI9?2Aֽ:A%3=BAI9?JAֽRA%3=٘i)I9k@YdG JmJJJJ}E&K Y6^~?yfY'JA7}E)7ŧ74})9)B[[$@[T^~?[P[[[[BZYY i) `IpD?i ~E@))~E@~E@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033988.403165 s, next control iter: 1743033988.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7487", header.stamp.nsec: 0"0 temperature: 13.386744"* salinity: 33.391689", density: 1025.000000"* values[0]: 0.695849"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033988.803165 s.|ALhI~,g3%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084273< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743033988.803306F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #?@A? ?@A_~? AjA3&"AAɥvNA"AZAbAjArAzAAAϹ8@AgWrAj@ACA=A@A׿AnB?AƼ*A9?2A.׽:Ab=BA9?JA.׽RAb=٘i)I9j@YG JJJJJ}E&K YE&^~?yKRIA=}Eb77ɀ)9B)BE[[@[|@^~?[+J[[[[BZYY i)  IwjD?iྉ NmG@))NmG@NmG@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033988.843165 s, next control iter: 1743033989.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743033989.223165 s.gShI~,HN%AA(\?@ADmFu?@AA|_~? A|A˻&"AAvNA"AZAbAjArAzAAAl^r8@ARrA \j@A\oA~=A@AxؿA?A{*A9?2A$׽:A-=BA9?JA$׽RA-=٘i)I9\j@YG J^JJJJ}E&K Y^~?y0KEIAB}E7^)9B)BE[[ @[,^~?[C[[[[BZYY i) eȼI-eD?iľ{ H@))H@H@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033989.263165 s, next control iter: 1743033989.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033989.643165 s.yYhI~,*i%AJ"J*J2J:J1?BJ1?nJr:5vJAG?@A?@A|n_~? AAVB&"AAy}vNA"AZAbAjArAzAAAxH8@A3%rAi@AA°=A)@A FٿA`?AIǼ*AP9?2Aֽ:Au=BAP9?JAֽRAu=٘i)I9i@Y>G JeüJJJJ~E&K Y^~?yDHAH}E77j7)9B)ïBE[[}@[a^~?[=[[[[BZYY i) lϼI`D?i%bS G))G"aJ@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7488, header.stamp.nsec: 00 temperature: 13.387040* salinity: 33.391705, density: 1025.000000* values[0]: 0.694563F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033989.663165 s, next control iter: 1743033990.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033990.063165 s.`hI~,k %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084273< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743033990.063285F (some fields omitted in printout)Afffff@@AoKSL@@AE`_~? A㥩A0&"AALhvNA"AZAbAjArAzAAA8@A rA i@A9Ag=Ah@A`ڿA@m?A^}ϼ*A9?2A aֽ:AlL=BA9?JA aֽRAlL=Yc@%i@yg=i9ٓHqQ`8?f?E9??)c@ I٘i)I9 i@Y G JʼJD<JJJ ~E&Kw> Y]~?y=]HAi@M}Ej7)9)ȯB[[@[^~?[7[[[[BZYY i) ּI\D?i󒾉< FF))FFK@2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033990.083165 s, next control iter: 1743033990.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033990.483165 s.w_ghI~,잡%AJ"J*J2J:J1?BJ1?nJF:5vJA@@AԷ@@AQ_~? A9AMJ&"AAwRvNA"AZAbAjArAzAAA;)M7@A_1ErA\\h@Ax2(<AF=A@AڿA`.;?Aּ*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9\h@Yk G JҼJJJJ~E&K YB]~?y7GAR}E7777)9B)ϯBE[[a@[z]~?[2[[[[BZYY i) ݼIoYD?iy WD))WD^PM@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033990.503165 s, next control iter: 1743033990.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7489, header.stamp.nsec: 00 temperature: 13.387355* salinity: 33.391731, density: 1025.000000* values[0]: 0.693245F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033990.903165 s.mhI~,͹%AA ףp=A@A,V]#A@AB_~? AA&"AA;vNA"AZAbAjArAzAAA!47@ALX%jrAg@Aq<A#=A@A@ۿA`?Aڼ*A39?2Aս:A9=BA39?JAսRA9=٘i)I9g@Y G JؼJJJJ~E&K Ye]~?yx0mGAX}EZ7Z7)9B)֯BE[[@[]~?[,[[[[ZZ¸BZYY i¸0ݪ=) ѼIVD?i#F XC))XCN@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033990.923165 s, next control iter: 1743033991.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743033991.323165 s.wthI~,)ԡ%AJ"J*J2J:JI1?BJI1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033991.323274F (some fields omitted in printout)A\A@A&3ގA@A3_~? A-AK&"AA$vNA"AZAbAjArAzAAA7@AMrAf@A[<<AKO=A)A@A^ܿA?A&ۼ*A9?2Ap:ֽ:AS=BA9?JAp:ֽRAS=٘i)I9f@Y G JۼJJJJ~E&K Y]~?y)FA]}E77I)9B)ޯBE[[<@[}]~?['[[[[ZZBZYY i) 6żITD?i α A))A;P@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033991.363165 s, next control iter: 1743033991.723176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7490., header.stamp.nsec: 0.0 temperature: 13.387697.* salinity: 33.391735., density: 1025.000000.* values[0]: 0.691796.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033991.743165 s.W{hI~,u%AAGzB@ApA@A##_~? A͋A&"AA vNA"AZAbAjArAzAAAZd7@AsWrA|$f@A ;A$=A @AݿA]?A*A͑9?2Aǝֽ:Aer<BA͑9?JAǝֽRAer<٘i)I9$f@Y G JoB=JJJJ~E&K Y]~?yc#~FAb}ES77ߙ)9B)BE[[0 @[+]~?[![[[[ZZBZYY i) ^ѹISD?iXX8 p@))p@Q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033991.783165 s, next control iter: 1743033992.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033992.163165 s.s}hI~,q %AJ"J*J2J:J0?BJ0?nJ~95vJAB@A2ReB@A_~? AA D&"AAuNA"AZAbAjArAzAAA e27@AFrAKe@A- AԦ=Ap@AfݿA?Al*AZ9?2Aֽ:Ar<BAZ9?JAֽRAr Y]~?yyFA@h}Ej7j7t)9)B[["@[F]~?[[[[[ZZBZYY i) 3ISD?iԥ  >)) >"S@y==ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033992.183165 s, next control iter: 1743033992.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743033992.583165 s.hI~,R%%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743033992.583282F (some fields omitted in printout)ARB@AnB@A_~? A^A&"AAuNA"AZAbAjArAzAAAhsV7@A9rA}d@AzsAo=AI@AO޿A?A*A9?2A%ֽ:A[Q<BA9?JA%ֽRA[Q<٘i)I9}d@Y G J2JJJJ)~E&K Y|]~?yEAm}E77{7 )9B)BE[[}#@[(|]~?[[[[[ZZBZYY i) 8ISD?i!o< 9 =))=ԔT@榪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033992.623165 s, next control iter: 1743033992.983177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7491 , header.stamp.nsec: 0 0 temperature: 13.388063 * salinity: 33.391727 , density: 1025.000000 * values[0]: 0.690173 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033993.003165 s.y hI~,P4@%AJ"J*J2J:JBJnJvJAp= WC@Ae: :)):0vW@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033993.463165 s, next control iter: 1743033993.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7492, header.stamp.nsec: 00 temperature: 13.388430* salinity: 33.391743, density: 1025.000000* values[0]: 0.688669F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033993.843165 s.ݜhI~,u%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743033993.843326F (some fields omitted in printout)AHz.D@A {D@At^~? AmA&"AAیuNA"AZAbAjArAzAAAm`6@Ala)rA b@AS;A)9 <A"&@A ]A?AZ*A 9?2A[ֽ:AdBA 9?JA[ֽRAd٘i)I9b@Y G JJJJJ9~E&K Y>]~?yDA}}Eŧ7ŧ7ɫ)9B) BݹE[['@[5]~?[N [[[[ZZBZYY i) tIYD?iI>; ';9))';9X@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033993.883165 s, next control iter: 1743033994.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743033994.263165 s.hI~,ؐ%AAD@AٱD@A#^~? AgAw&"AAiquNA"AZAbAjArAzAAAo>m)6@Al rAIb@AP<AAt @A@A`t?AV 9*Ax9?2A޺ֽ:AyBAx9?JA޺ֽRAyYkl@r @yP<ٓH@t??Ylx?}?g?@?)kl@ I٘i)I9Ib@Y G JeB=JCJJJ?~E&Kxx> YE']~?yDAr @}E77_)9!B)BڹE[[)@[]~?[[[[[ZZBZYY i {=) ܟlIg\D?i&t>A; l7))l7ISZ@' )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033994.303165 s, next control iter: 1743033994.663174 s, wait time: 0.360009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7493., header.stamp.nsec: 0.0 temperature: 13.388651.* salinity: 33.391762., density: 1025.000000.* values[0]: 0.687667.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033994.683165 s.lhI~,x%AJ"J*J2J:JBJnJvJAQE@A D@As^~? A3bA.&"AAdUuNA"AZAbAjArAzAAAj =<; ^6))^6[@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033994.683165 s, next control iter: 1743033995.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743033995.103165 s.hI~,Ƣ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743033995.103293F (some fields omitted in printout)A= ףpE@AW횐VE@Ae^~? A\Ai&"AA8uNA"AZAbAjArAzAAA5@Afo[rAa@Aa;A3A #@A\A@݉?A2*A9?2Ayֽ:A ͼBA9?JAyֽRA ͼ٘i)I9a@Y G JzB=JJJJI~E&K Y\~?yDA}E)7ŧ7)9#B)B׹E[[[+@[\~?[7[[[[BZYY i) FIeD?i>W`; 4))4-]@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033995.143165 s, next control iter: 1743033995.503181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743033995.523165 s.hI~,{%AJ"J*J2J:JBJnJvJA(E@AE@A^~? AXWA&"AAuNA"AZAbAjArAzAAA@F#{5@ArADa@A jA9AP$@A A ?A;*A9?2A (ֽ:ABA9?JA (ֽRA٘i)I9a@Y G JO:C=JJJJO~E&K Y\~?yDA}E77j7)9$B)BԹE[[<-@[r\~?[[[[[BZYY i) /4IjD?i>,; r3))r3C^@yL=\y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033995.563165 s, next control iter: 1743033995.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7494, header.stamp.nsec: 00 temperature: 13.388765* salinity: 33.391758, density: 1025.000000* values[0]: 0.687251F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033995.943165 s.\dhI~,S]%AAzGF@Ai-F@A=n^~? ARA|;&"AA tNA"AZAbAjArAzAAA[7?5@A rAw$b@AqJA^A%@A A?A< <*A9?2Aս:AqBA9?JAսRAq٘i)I9$b@Y G J;JJJJT~E&K Y\~?yDA}E)7ŧ7)9'B)BйE[[.@[\~?[[[[[BZYY i) _!I:qD?i>m+; 2))2`@Օ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033995.983165 s, next control iter: 1743033996.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743033996.363165 s.hI~,>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J*J< rudderAngleAction: -0.2617992J> elevatorAngleAction: 0.072156:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJ dt: 0.419984vJ2 time: 1743033996.363292F (some fields omitted in printout)A3333F@A=#F@A&Z^~? ALA֠&"AAtNA"AZAbAjArAzAAAy;75@AdtǜrAib@A-rA{A&@AHA@ c?A5tC<*A9?2A ս:AQ BA9?JA սRAQ Y]@&@y{rٓH)@|J6? Y\~?y,EA&@}EJ)9)B[[:/@[\~?[[[[[BZYY iۼg=) IcxD?i.?y; %0))%0ka@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033996.403165 s, next control iter: 1743033996.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7495&, header.stamp.nsec: 0&0 temperature: 13.388742&* salinity: 33.391792&, density: 1025.000000&* values[0]: 0.687430&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033996.783165 s.UhI~,2%AAQG@A,'G@AE^~? AGA&"AA6tNA"AZAbAjArAzAAA-4@AsErAb@AA4A2(@AsA`T?ADn<*A9?2AC5ֽ:APBA9?JAC5ֽRAP٘i)I9b@Y G J1X<C=JJJJ_~E&K Yg\~?ybEA}E7{7)9(B)B͹E[[~U1@[\~?[[[[[BZYY i) I>D?i+?; L/))L/b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033996.823165 s, next control iter: 1743033997.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743033997.203165 s.hI~J,M%A"J*J2J:J 0?BJ 0?nJ85vJAףp=G@AǙ&pG@A0^~? ACAd&"AA tNA"AZAbAjArAzAAAUFc*4@AM9erA1c@Ac:AVA)@AA3?A<*A89?2Aֽ:AܹBA89?JAֽRAܹ٘i)I91c@YE G J<JJJJd~E&K Y\~?y7ާEA}E77t)9*B)BʹE[[w2@[p\~?[[[[[BZYY i) &ID?i ?,; -))-9d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033997.243165 s, next control iter: 1743033997.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743033997.623165 s.\hI~,qg%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743033997.623284F (some fields omitted in printout)A)\G@AYk(G@A^~? Ac>A&"AA_tNA"AZAbAjArAzAAA LF4@AR`هrA,c@A`)<A2AD*@A'A?A<*A^9?2Aֽ:Ad BA^9?JAֽRAd ٘i)I9c@Y G Ja<B=JJJJj~E&K Yj\~?y٧ FA}E77 )9,B)BǹE[[4@[W\~?[[[[[BZYY i=) ĻIqD?i1?>; ,)),e@yh=&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033997.643165 s, next control iter: 1743033998.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7496 , header.stamp.nsec: 0 0 temperature: 13.388627 * salinity: 33.391766 , density: 1025.000000 * values[0]: 0.688063 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033998.043165 s.J "J *J 2J :J $0?hI~BJ$0?nJ85,Â%AvJA{GaH@A:/GH@A^~? A9A&"AA:btNA"AZAbAjArAzAAAUne~4@A{ rA.d@Ao<AXA6,@A SnA@&K?A<*A@9?2A3׽:ABA@9?JA3׽RA٘i)I9.d@Y G JМ<C=JJJJo~E&K YeR\~?yBէ`FA}E{7j7)9) B[[]5@[>\~?[j[[[[BZYY i)  jID?iC?; )+)))+g@y2h= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033998.063165 s, next control iter: 1743033998.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743033998.463165 s.ShI~,ۤ%AAH@A4H@A]~? AV5Axu&"AAAtNA"AZAbAjArAzAAA?3@AORrA5d@Axr7<AAgA-@A@ƱA?A<*A9?2Aֽ:ABA9?JAֽRAYk@r-@yd7<ٓH@_ڿӲ?? g?/?@?)k@ I٘i)I9d@Y4 G J<J JJJt~E&Kx> Y8\~?yѧFAr-@}Ej74)9-B)BĹE[[6@[s%\~?[[[[[BZYY i) >VID?iWO?)< i)))i)Leh@yb=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033998.483165 s, next control iter: 1743033998.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7497, header.stamp.nsec: 00 temperature: 13.388447* salinity: 33.391769, density: 1025.000000* values[0]: 0.688934F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033998.883165 s.yhI~,@%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065923< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743033998.883285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8I@AYLl>I@A]~? A1AR&"AA tNA"AZAbAjArAzAAAWb23@A-urAIe@AA2:AxA.@A@A?A<*A09?2Agrֽ:A m BA09?JAgrֽRA m ٘i)I9Ie@Y G J@<JJJJz~E&K Y\~?yͧ1GA}E{7{7)90B)BE[[ 8@[ \~?[[[[[BZYY i) PID?i\?0 < sX())sX(Bi@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033998.903165 s, next control iter: 1743033999.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743033999.303165 s.ThI~,ogӣ%AAq= ףI@A=eI@A]~? A,A &"AAsNA"AZAbAjArAzAAAfp=3@A=J!}rAe@Ag AA+0@AU1A?A{̳<*A}9?2An%ֽ:A BA}9?JAn%ֽRA ٘i)I9e@Y G Jm<JJJJ~E&K Yu\~?y6ʧGA}E77_)91B)BE[[a9@[[~?[[[[[BZYY i) y[ID?ik?)< &))&(k@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033999.323165 s, next control iter: 1743033999.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7498., header.stamp.nsec: 0.0 temperature: 13.388261.* salinity: 33.391766., density: 1025.000000.* values[0]: 0.689950.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743033999.723165 s.hI~,H%AJ"J*J2J:J0?BJ0?nJ595vJA(\J@AsEI@A,]~? A(An &"AA9sNA"AZAbAjArAzAAAlm2@AP zrAuf@AiAAH1@AHnA@[?A<*A9?2Aֽ:A\E BA9?JAֽRA\E ٘i)I9uf@YC G JĴ<JJJJ~E&K Y[~?yƧHA}Eb7)92B)BE[[:@[R[~?[ߧ[[[[BZYY i) #dI5D?ig|?ԉ!< %))%l@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743033999.743165 s, next control iter: 1743034000.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034000.143165 s.Y/iI~,* %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065923< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034000.143296F (some fields omitted in printout)AGzJ@AB`J@Ah]~? A$A &"AAsNA"AZAbAjArAzAAAz32@AIHxrA g@ADNAt(Ay2@A`A??A]<*A%9?2ACֽ:ABA%9?JACֽRA٘i)I9 g@Y G J׳<JJJJ~E&K Y+[~?y§jHA D}E{7Z7)9)B[[<@[[~?[ާ[[[[BZYY i)  _ID?ir?^-<  :$)) :$m@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743034000.163165 s, next control iter: 1743034000.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034000.563165 s.iI~,[ $%AJ"J*J2J:JBJnJvJAffffJ@ADQOJ@Ac]~? A !A!&"AABsNA"AZAbAjArAzAAAJɇn2@AB$urAg@AAhA/3@AuAqe?A3<*A 9?2Aֽ:ABA 9?JAֽRAY%@A3@yg#ٓH 2Կ?|?Eh?q?)%@ I٘i)I9g@Y G J<J'<JJJ~E&Kx> Ys[~?yHA3@}Eŧ7b7)94B)BE[[oS=@[~[~?[ܧ[[[[BZYY i) n:ID?iC?4< w"))w">Co@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034000.583165 s, next control iter: 1743034000.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7499, header.stamp.nsec: 00 temperature: 13.388039* salinity: 33.391750, density: 1025.000000* values[0]: 0.691017F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034000.983165 s.iI~,>%AAQK@A7K@Ai]~? AAO!&"AA2usNA"AZAbAjArAzAAA}x\3(2@A)QsrA+h@A^;AxĐA&J5@A3A`i?Aڡ<*A9?2Aֽ:A"BA9?JAֽRA"٘i)I9+h@YM G J<JJJJ~E&K Y[~?y%/IA}Ej7SI7)95B)BE[[>@[[~?[ۧ[[[[BZYY i) :ID?i?Rb=< !))!p@V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034001.003165 s, next control iter: 1743034001.383187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743034001.403165 s.'iI~, Y%AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065923< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034001.403309F (some fields omitted in printout)A ףpK@A6XK@AQ]~? AAҔ!&"AAQsNA"AZAbAjArAzAAAG1@Ao elevatorAngleAction: 0.065923< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034002.663280F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7501, header.stamp.nsec: 00 temperature: 13.387647* salinity: 33.391766, density: 1025.000000* values[0]: 0.692917F (some fields omitted in printout)AM@A~L@A ]~? AAR"&"AAxrNA"AZAbAjArAzAAAݚ=1@AE~krA/j@A:|A MAt:@AA` ?A<*A(9?2Aolֽ:A BA(9?JAolֽRA Y8r,@\x:@yL?}ٓH ̿@k{??@v+ \N&?@•o`?)8r,@ I٘i)I9/j@YG JY<Jt@<JJJ~E&K x> Y 1[~?yJAx:@}Eŧ77 )9)B[[C@[i'[~?[9ק[[[[BZYY i2=) ;IDE?i?e< ))v@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034002.683165 s, next control iter: 1743034003.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034003.083165 s.D1iI~,RŤ%AJ"J*J2J:Jc1?BJc1?nJ:5vJARkM@A3LmQM@A|\~? A A7"&"AArNA"AZAbAjArAzAAAx0@A9$jrAMj@A}JAܳA_;@A A '?A<*AA9?2A<ֽ:AtBAA9?JA<ֽRAt٘i)I9j@YG J%<JJJJ~E&K Y[~?yKA}Eb7)9:B)BE[[>E@[ [~?[֧[[[[BZYY i) Ѡ;I XE?i?m< ɿ))ɿ_w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034003.123165 s, next control iter: 1743034003.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034003.503165 s.7iI~,@4%AAp= M@AξM@A\~? A A"&"AArNA"AZAbAjArAzAAAJH&s0@AGL}hrA-k@AhkAA=@A@3A?Aؒ<*A9?2AAKֽ:A'0BA9?JAAKֽRA'0٘i)I9-k@Y"G J<JJJJ~E&K YZ~?ymKA}Eŧ75)9֧[[[[BZYY i) ;IlE?i3?Lw< [w))[wZx@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034003.543165 s, next control iter: 1743034003.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7502, header.stamp.nsec: 00 temperature: 13.387489* salinity: 33.391762, density: 1025.000000* values[0]: 0.693812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034003.923165 s.:>iI~,%AJ"J*J2J:J1?BJ1?nJ>:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743034003.923334F (some fields omitted in printout)A(\BN@A@w(N@AI\~? AuA("&"AA{vrNA"AZAbAjArAzAAAdUoLO(0@AӾfrA2k@A71AˁAW>@APZA@?AkX<*A9?2Aֽؑ:AnqBA9?JAֽؑRAnq٘i)I9k@YkG JA<JJJJ~E&K  *9YZ~? *9yKA}Eb7*9=B)BE[[G@[Z~?[է[[[[BZYY i) ]B)ޯBE[[H@[Z~?[է[[[[BZYY i)  YZ~?yLA@@ ~Ej7Z7*9@B)ۯBE[[3J@[zZ~?[է[[[[BZYY i) m" elevatorAngleAction: 0.076269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199372 time: 1743034005.183273F (some fields omitted in printout)AQO@Al kO@AKu\~? AA~#&"AA3rNA"AZAbAjArAzAAA.@A7xbrAl@AUn<AlAZB@A@ A!?A؅<*A 9?2A,׽:AABA 9?JA,׽RAA٘i)I9l@Y;G J<C=JJJJ~E&K YZ~?ylLA~Eŧ7b7 *9AB)ٯBE[[\xK@[rZ~?[.֧[[[[BZYY i) 1:AAD@AA@Fn?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9m@YG JY<JJJJ~E&K YRZ~?y5MA~E77*9)үB[[$M@[^Z~?[ק[[[[BZYY i) Q elevatorAngleAction: 0.076269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419981J2 time: 1743034006.443278"JF (some fields omitted in printout)*J2J:JBJnJvJAzP@AAJP@A")\~? A~A#&"AAqNA"AZAbAjArAzAAA;q,@A c_rA8cn@A~AAA&F@A@A@?AG<*Ap9?2A<ֽ:AYs BAp9?JA<ֽRAYs ٘i)I9cn@YG J<JJJJ~E&K Y6Z~?yMA~E77J*9CB)ϯBE[[8O@[FZ~?[ק[[[[BZYY i) E`%AA33333Q@A F%Q@A\~? AA$&"AA]kqNA"AZAbAjArAzAAA{k ,@A^rA n@AڝlAALmG@A R#A o?A4*<*A9?2Ap%ֽ:ABA9?JAp%ֽRAYzx9@~G@y?mٓH@'h?? y8?xJ?)zx9@ I٘i)I9n@YgG J<B=JoJJJ~E&Kw> YZ~?y⤧VNA~G@#~Eb77*9)̯BE[[yP@[-Z~?[ا[[[[BZYY i) o elevatorAngleAction: 0.076269< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743034007.703266F (some fields omitted in printout)Aףp= R@A|/Q@A[~? AA9$&"AAqNA"AZAbAjArAzAAA0ق*@A9L]rAo@AxlA(A HA`QGAhط?A <*A9?2Aصֽ:AF BA9?JAصֽRAF ٘i)I9o@YG J<B=JJJJ~E&K Y%Y~?ysOA.~Ej7 "*9)¯BE[[qR@[\rA q@A1a<A\AIYEAaA'?A<*A<9?2A+2׽:A BA<9?JA+2׽RA ٘i)I9 q@YG J<JJJJ~E&K YY~?yOA9~E{7{75)*9)BE[[jU@[Y~?[8ݧ[[[[BZYY i) AC elevatorAngleAction: 0.085491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034008.963294F (some fields omitted in printout)J"J*J2J:JBJnJvJALS@A̛õ2S@At[~? ASAl$&"AApNA"AZAbAjArAzAAApT#)@AD[rAΐq@AZ<AA DA iA@?Ay<*A 9?2A ׽:AUBA 9?JA ׽RAUY ?@Dy溞t[<ٓH`?@~?'˓?@Gҳ?IY??) ?@ I٘i)I9q@YG J<J-JJJ~E&K"x> YY~?yRPAD>~Eŧ7b7,*9DB)BE[[V@[Y~?[ާ[[[[BZYY i) LDS@A~t[~? AANw$&"AApNA"AZAbAjArAzAAA:t(@Ao[rAr@A;A̡ABAoAF?Aت<*Aߜ9?2Aaֽ:ABAߜ9?JAaֽRA٘i)I9r@Y[G JL<B=JJJJE&K YeqY~?yaPAD~E{7{7`0*9)B[[=W@[Y~?[i[[[[BZYY i) 6 elevatorAngleAction: 0.085491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034010.223293F (some fields omitted in printout)A(\T@ADuT@A@[~? AtA$&"AA1pNA"AZAbAjArAzAAAcl9'@A{U[rAIs@AQA|AfG@A@tA@Mp?A2<*A9?2Aֽ:AjBA9?JAֽRAj٘i)I9Is@YG JǷ<JJJJ E&K Y9Y~?yQAN~ESI7SI77*9)ByE[[NZ@[oY~?[[[[[BZYY i) (*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034010.243165 s, next control iter: 1743034010.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034010.643165 s.yЩiI~,*%AJ"J*J2J:JBJnJvJAGT@AT@A&[~? AAD$&"AA pNA"AZAbAjArAzAAA@*Ǜ&@A 8a[rA[s@AbA-AEU?A`A AO<*AY:?2AJ:A4BAY:?JAJRA4٘i)I9s@YtG JA<JJJJE&K YY~?ykQAT~E77 ;*9)BvE[[͂[@[XY~?[)[[[[BZYY i) lA @A HA<*Ani:?2A+ý:AaBAni:?JA+ýRAaYE@z>y*ͫٓHs??Ŀz?@|?~?)E@ I٘i)I9t@YG J<JJJJE&KV> Y$Y~?yݨpRAz>Y~E77>*9)BsE[[[\@[AY~?[Z[[[[BZYY i)  elevatorAngleAction: 0.085491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034011.483308F (some fields omitted in printout)AU@ASAEշU@AfZ~? AA{$&"AAoNA"AZAbAjArAzAAAM|_%@A"JC[rA4u@A,;AٮAt=A`4AA<*A'm:?2AQŽ:ABA'm:?JAQŽRA٘i)I94u@Y=G J{<JJJJE&K YPX~?yPRA^~E77KB*9)BpE[["]@[+Y~?[[[[[BZYY i) 86 elevatorAngleAction: 0.085491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743034012.743299F (some fields omitted in printout)AGzW@ABiV@AeZ~? AA]$&"AA;EoNA"AZAbAjArAzAAAPd#@Aس\rAN1w@A<ASAM9A`hA`+A<*A Y:?2Aͽ:AjBA Y:?JAͽRAj٘i)I91w@YsG J<JJJEJ+E&K YґX~?y@TAn~E77 M*9)B[[a@[X~?[J[[[[BZYY i)   YvX~?y鰧TAz8t~E{7j7P*9DB)BhE[[b@[)X~?[[[[[ZZZZ¸>BZYY i¸>E) 0 YW~?y VA1~E7b*9)eBYE[[h@[jjX~?[[[[[ZZZZBZYY i[P) 0W%AJ"J*J2J:JBJnJvJA3333[@A5![@AY~? Am A#&"AA"mNA"AZAbAjArAzAAAK @A#hrAc}@A0PA~=AB+AIPA ͿA';*A+*:?2A\*׽:A,E<BA+*:?JA\*׽RA,EJJJfE&Kz> YkW~?yͧWAH+~Ej7Z7vt*9)UBME[[en@[X~?[[[[[BZYY i|\m) JMtkrAK}@A;ͻA Z=A((A"AпA*A:?2Atֽ:A <BA:?JAtֽRA <٘i)I9}@YfG JJJJJqE&K Yg9W~?yoէJWA~Eŧ7b7{*9)KE[[wp@[W~?[%[[[[BZYY i) -'\5*A" :?2AHֽ:A' =BA" :?JAHֽRA' =٘i)I9p}@YAG J-JJJJwE&K Y W~?yd٧WA~E{7j76*9BB)WBHE[[Hq@[W~?[M#[[[[BZYY i)  YV~?yVA$~E{7j7a*9)\BBE[[&t@[իW~?[+[[[[BZYY iYl) ;Iie@2= Kj׿))Kj׿H5@dǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034019.483165 s, next control iter: 1743034019.863183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7518, header.stamp.nsec: 00 temperature: 13.384664* salinity: 33.391628, density: 1025.000000* values[0]: 0.708315F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034019.883165 s. z=jI~,%AJ"J*J2J:JBJnJvJAQ8^@A*A^@AX~? AA!&"AAnlNA"AZAbAjArAzAAAR :?2A ֽ:A|=BA>:?JA ֽRA|=٘i)I92|@Y~G JJJJJE&K Y.V~?y/VA~E777*9)`B[[Ku@[HW~?[W0[[[[BZYY i) K;Iiuh@=  տ)) տǓ@.ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034019.903165 s, next control iter: 1743034020.283194 s, wait time: 0.380029 s rAdjusting time to match Gazebo time: 1743034020.303165 s.TDjI~,og%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057799< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743034020.303262F (some fields omitted in printout)Aq= ף^@A͉^@AX~? A Ak!&"AAlNA"AZAbAjArAzAAA=%d@A9c\urA{@A^AD=A$"AA` տA*AB :?2A&8׽:A}=BAB :?JA&8׽RA}=٘i)I9{@Y-G J؞JJJJE&K YZV~?yUA~Ej7Z7*9AB)dB?E[[ov@[W~?[4[[[[BZYY i) *;IiMk@= kҿ))kҿY@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034020.343165 s, next control iter: 1743034020.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7519*, header.stamp.nsec: 0*0 temperature: 13.384887** salinity: 33.391624*, density: 1025.000000** values[0]: 0.707461*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034020.723165 s.KjI~,H.%AJ"J*J2J:JBJnJvJA(\_@A2F^@AX~? A#A{$!&"AAjxlNA"AZAbAjArAzAAAi'C@A5HwrAm {@A] ,A=A AA <տAD*AQ :?2A'׽:A =BAQ :?JA'׽RA =٘i)I9 {@YG JJJJJE&K YV~?yFlUA~E)77!*90B)WB=E[[w@[2xW~?[u9[[[[BZYY i) #;Iin@W= п))п@yHmתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034020.763165 s, next control iter: 1743034021.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034021.143165 s.Y/RjI~,*I%AAGz_@A*`_@AX~? A'A &"AAuUlNA"AZAbAjArAzAAA+SD@A!yrAz@A"=iA<=AwA>A@ֿAi*A:?2A!׽:A=BA:?JA!׽RA=٘i)I9z@YG JJJJJE&K YV~?y UA~E77{7*9)[B:E[[rx@[gW~?[>[[[[BZYY i) ^;Iir@F= Rο))Rο4{@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034021.183165 s, next control iter: 1743034021.543181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034021.563165 s.XjI~,F d%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057799< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743034021.563285F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff_@AO7P_@ATX~? A+A &"AA2lNA"AZAbAjArAzAAA(` @A\=e|rALy@A,Ac=A.A UA`)׿A񗯼*A :?2AR׽:AJ=BA :?JAR׽RAJ=Ye@;ya=I~,ٓH`? 媿%G@H?)e@ I٘i)I9y@Y'G JJJa0<JJJE&Kx> YyV~?ywTA;~Eŧ7b7L*9)`B[[hy@[NWW~?[B[[[[BZYY i) 8";Iis@=  ̿)) ̿ @ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034021.603165 s, next control iter: 1743034021.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7520, header.stamp.nsec: 00 temperature: 13.385144* salinity: 33.391621, density: 1025.000000* values[0]: 0.706459F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034021.983165 s._jI~,~%AAQ`@A&k7`@AX~? A/A? &"AAlNA"AZAbAjArAzAAA  @A~rAiy@AAA\=AA@AooؿAб*Aa:?2Aֽ:A=BAa:?JAֽRA=٘i)I9iy@YG JJJJJE&K YocV~?y;TA~E7777*9)dB7E[[hz@[BGW~?[G[[[[BZYY i) :Iiv@= ɿ))ɿ@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034022.023165 s, next control iter: 1743034022.383183 s, wait time: 0.360018 s&ocV~?)& rAdjusting time to match Gazebo time: 1743034022.403165 s.&fjI~,͙%AJ"J*J2J:JBJnJvJA ףp`@A^`@ArX~? A4A&"AAkNA"AZAbAjArAzAAAH@AiÅrA x@A <A`=AAA =ٿA*A:?2Afֽ:AtN=BA:?JAfֽRAtN=٘i)I9x@YrG JB=JJJJE&K YHMV~?ycSA~Eb7b7w*9/B)hB4E[[i|@[7W~?[L[[[[BZYY i) &(:Iix@)"= ǿ))ǿ0.@-˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034022.443165 s, next control iter: 1743034022.803179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7521, header.stamp.nsec: 00 temperature: 13.385414* salinity: 33.391613, density: 1025.000000* values[0]: 0.705420F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034022.823165 s.ljI~,2%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066860< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743034022.823279F (some fields omitted in printout)A\(a@A:za@A\X~? Aj8A &"AAkNA"AZAbAjArAzAAAff@Ax6rA@x@Aoc<A#=A=aA@A ڿAb*A:?2A'ֽ:Am=BA:?JA'ֽRAm=٘i)I9@x@YG J"C=JJJJE&K Y$7V~?y lSA~Eŧ77 *9)mB[[7}@[/(W~?[Q[[[[BZYY i) Ii{@!= Gſ))Gſ@OŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034022.863165 s, next control iter: 1743034023.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034023.243165 s.sjI~,`ϩ%AJ"J*J2J:JBJnJvJAGza@A}iza@A\GX~? A<AA&"AAkNA"AZAbAjArAzAAAR@A&rAw@A(B<A\=A]A PA@ڿAu*A:?2A ֽ:A<BA:?JA ֽRA<٘i)I9w@YG JϧJJJJE&K Y V~?yOSA~Ej7j7*9)rB1E[[V~@[/W~?[V[[[[BZYY i) Ii~@k#= K ÿ))K ÿM@y߈!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034023.263165 s, next control iter: 1743034023.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034023.663165 s.zjI~,q%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7522, header.stamp.nsec: 00 temperature: 13.385655* salinity: 33.391609, density: 1025.000000* values[0]: 0.704393F (some fields omitted in printout)Ab@A?la@A2X~? AAA&"AA+kNA"AZAbAjArAzAAA5 @A2d׉rA.w@Ag;Ae#=AǸA@m AໞۿA~*A:?2A'׽:Aq<BA:?JA'׽RAq Y V~?yrRA~E7*9)uB.E[[v@[Z W~?[[[[[[BZYY i) H Ii/@p$= W))WEݘ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034023.683165 s, next control iter: 1743034024.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034024.083165 s.DjI~,R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066860< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034024.083279F (some fields omitted in printout)J"J*J2J:JBJnJvJARkb@A1 XrQb@A'X~? AtFA2&"AA+lkNA"AZAbAjArAzAAAF@A=vLȌrATv@AڻAu=A_AA`:fܿA*A:?2Ar׽:AJ<BA:?JAr׽RAJ<٘i)I9v@Y%G J6JJJJE&K YzU~?yMRA~Eb77̭*9)yB[[%K@[V~?[%a[[[[BZYY i) @JIi @%H%= 늾))늾 m@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034024.103165 s, next control iter: 1743034024.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034024.503165 s.jI~,U4 %AAp= b@AUjb@AX~? AgKA+&"AALkNA"AZAbAjArAzAAAש?A͏rA/=v@A%ZA? =A AsA@"*ݿA쇼*A:?2A׽:A[<BA:?JA׽RA[<٘i)I9=v@YG JuJJJJE&K Y8U~?y"QAE77b*9.B)}B+E[[ڀ@[V~?[rf[[[[BZYY i) 񘄻Ii@@"&= M))Mz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034024.523165 s, next control iter: 1743034024.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7523, header.stamp.nsec: 00 temperature: 13.385892* salinity: 33.391590, density: 1025.000000* values[0]: 0.703493F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034024.923165 s.;jI~J,;%A"J*J2J:J4?BJ4?nJ<5vJA(\Bc@A y(c@A=W~? A{PA,&"AA-kNA"AZAbAjArAzAAA{(?ASq` rA|u@AKUA=A"A1&AhݿA6*A:?2Aq׽:Am1<BA:?JAq׽RAm1<٘i)I9u@YG J/JJJJE&K YU~?y(QA E{7{7*9)B(E[[Bi@[V~?[k[[[[BZYY i=뚽) bIi@g(= w))w=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034024.943165 s, next control iter: 1743034025.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034025.343165 s. YU~?y5PA/Eŧ7b7"*9)B&E[[@[:V~?[v[[[[BZYY i) 9Ii@+= w))w}@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034025.803165 s, next control iter: 1743034026.163181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034026.183165 s.ˢjI~,^%AAQd@AZkd@AlW~? Aw`A&"AAjNA"AZAbAjArAzAAAUY?A0l֨rAh{t@A-)J<A,=AKA4A$A%*A :?2Aˢֽ:A}=BA :?JAˢֽRA}=٘i)I9{t@YG J̆JJJJE&K YdU~?y<PAE77*9)B[[G@[XV~?[I|[[[[BZYY i)  Iip@>,= cb))cbB7@y\ҚYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034026.203165 s, next control iter: 1743034026.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034026.603165 s.94jI~,%AJ"J*J2J:J3?BJ3?nJl<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743034026.603286F (some fields omitted in printout)A= ףd@AwhXd@AW~? AfA*&"AAjNA"AZAbAjArAzAAAZ3/?ArAt@ALmb<Ak=AAvA`\^Aˆ*A:?2A ֽ:Ab=BA:?JA ֽRAb=٘i)I9t@YG J_JJJJE&K Y>U~?yBC4PA E7{7L*9)B#E[[@[ϫV~?[聨[[[[BZYY i) hIih@R-= ))))Ŝ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034026.643165 s, next control iter: 1743034027.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7525 , header.stamp.nsec: 0 0 temperature: 13.386301 * salinity: 33.391560 , density: 1025.000000 * values[0]: 0.701940 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034027.023165 s.ZjI~,{%AA(\e@ABe@AW~? AkA&"AAQjNA"AZAbAjArAzAAA8IT?ASԇrAcs@A<<AK=ALM AA`Aǵ*A[:?2A^ֽ:A,\=BA[:?JA^ֽRA,\=٘i)I9s@YAG JLJJJJE&K YsU~?yJOA%Eb77*9)B[[|1@[V~?[[[[[BZYY i) 3 Ii@x.= ))񮿩wS@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034027.043165 s, next control iter: 1743034027.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034027.443165 s.7öjI~,>]ܪ%AJ"J*J2J:JBJnJvJAze@A.Ȗe@AہW~? AqAL&"AA~jNA"AZAbAjArAzAAA=pS?ArA%s@AZA'=A4 A10A A**AO9?2AHG׽:A=BAO9?JAHG׽RA=٘i)I9%s@YG JJJJJE&K Y`U~?yPOA*E{7j7w*9)B!E[[Ǿ@[ѓV~?[K[[[[BZYY i) O/Ii@ʂ0= c))c@LYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034027.463165 s, next control iter: 1743034027.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7526, header.stamp.nsec: 00 temperature: 13.386467* salinity: 33.391552, density: 1025.000000* values[0]: 0.701169F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034027.863165 s.+jI~,>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034027.863294F (some fields omitted in printout)A33333f@Af@ApW~? AqwAC&"AAIcjNA"AZAbAjArAzAAAT'u?A,rAr@A1Ap5=A: A߿A`_Am0*Av9?2A׽:A=BAv9?JA׽RA=Y%qy@o yQ3=g2ٓH`?klW@邱?S?)%qy@ I٘i)I9r@YG JJ1<JJJE&Kx> YQU~?y X&OA 0Ej7 *9)B[[L@[BV~?[[[[[BZYY i) X?IiT@m1= /))/n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034027.903165 s, next control iter: 1743034028.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034028.283165 s.3RjI~,%AJ"J*J2J:JBJnJvJAQf@Auf@A^W~? Ay}Ae&"AAHjNA"AZAbAjArAzAAAĿA']rABr@A;fA=AJ A!޿A A4m*A9?2Az׽:A-L=BA9?JAz׽RA-L=٘i)I9Br@YrG JEB=JJJJE&K Y;AU~?yW_NA5E77*9-B)BE[[څ@[ }V~?[[[[[BZYY i) NIi@1= L))L@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034028.303165 s, next control iter: 1743034028.683177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7527*, header.stamp.nsec: 0*0 temperature: 13.386681** salinity: 33.391537*, density: 1025.000000** values[0]: 0.700381*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034028.703165 s.غjI~,-%AAףp= g@Atv2f@AMW~? AA&"AA.jNA"AZAbAjArAzAAA]aֿA)rA(q@A A=AA6޿AA*A9?2A7׽:A =BA9?JA7׽RA =٘i)I9q@Y*G JC=JJJJE&K Y`1U~?yfiNA:Eŧ7b78*9)B[[2h@[-rV~?[ݞ[[[[BZYY i)  @^Ii@%2= ))-@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034028.723165 s, next control iter: 1743034029.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034029.123165 s.5jI~,TG%AJ"J*J2J:J23?BJ23?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743034029.123294F (some fields omitted in printout)A)\ug@A9d[g@A>=W~? AډA/v&"AA8jNA"AZAbAjArAzAAAU'MA`nrAPq@AӹA"=AA@zݿA>MA$Ș*A9?2Aֽ:Aa =BA9?JAֽRAa =٘i)I9Pq@YG JޓJJJJE&K Y!U~?ym NA@E777*9)BE[[9@[gV~?[Τ[[[[BZYY ib) FmIi@%4= ⣿))⣿4@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034029.143165 s, next control iter: 1743034029.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034029.543165 s.IjI~,b%AA{Gg@A9g@A-W~? A2Ad&"AAkiNA"AZAbAjArAzAAAe4AR˹rAp@A <A=A}AܿAŗAn*Aw9?2A-ֽ:AU=BAw9?JA-ֽRAU=٘i)I9p@YG J~B=JJJJE&K YU~?y6uMAEE)7ŧ7b*9.B)BE[[ف@[]V~?[ɪ[[[[BZYY i) `%}Ii@X5= ))ԣ@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034029.563165 s, next control iter: 1743034029.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7528, header.stamp.nsec: 00 temperature: 13.386893* salinity: 33.391537, density: 1025.000000* values[0]: 0.699566F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034029.963165 s.|jI~,}%AJ"J*J2J:JBJnJvJALh@A毐2h@AaW~? AA~&"AA?iNA"AZAbAjArAzAAAtAZrAEp@ABf<A#=A5AۿAqA\*A9?2Anֽ:Ak=BA9?JAnֽRAk=Y @s$y#=f<ٓHA޿(?{e޿ ?T@Ȍ?M?) @ I٘i)I9Ep@Y<G JC=J(v<JJJE&KAx> YKU~?y|FMA$JEZ7SI7*9-B)BE[[@[SV~?[װ[[[[BZYY i) Ii-@K5= {)){0@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034030.003165 s, next control iter: 1743034030.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034030.383165 s.jI~,4%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084660< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034030.383278F (some fields omitted in printout)AQh@A ;h@AW~? A.A&"AAiNA"AZAbAjArAzAAA]AιrAo@AZ<<A=AA`\2ۿA'Ak*A9?2ALֽ:A=BA9?JALֽRA=٘i)I9o@YG JlJJJJE&K YT~?yLAPEb77*9)B[[@[0JV~?[[[[[BZYY i) Ii@6= G))G@yWժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034030.423165 s, next control iter: 1743034030.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7529", header.stamp.nsec: 0"0 temperature: 13.387120"* salinity: 33.391514", density: 1025.000000"* values[0]: 0.698641"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034030.803165 s.}AjI~,g%AJ"J*J2J:JBJnJvJAq= #i@A j i@A8V~? AѣAg&"AAյiNA"AZAbAjArAzAAA$AqWrA.o@Aמ?;AC=AA`fڿA@mAѦ*AK9?2Aֽ:A<=BAK9?JAֽRA<=٘i)I9.o@YG JJJJJ E&K YT~?yvyLAUEj7Z7"*9)BE[[(@[ AV~?[[[[[BZYY i) a8IiB@s_7= ))J@٪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034030.843165 s, next control iter: 1743034031.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034031.223165 s.gjI~,HΫ%AA(\i@AvöEui@AV~? AA&"AAiNA"AZAbAjArAzAAAVAcArAn@A|OA2=A0AٿA@ Ai*A9?2AO׽:AZ=BA9?JAO׽RAZ=٘i)I9n@Y<G JJJJJ E&K Y$T~?y6LA[E7{7*9.B)BE[[$@[@8V~?[Bè[[[[BZYY i) SŜIi@fk8= ☿))☿ע@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034031.243165 s, next control iter: 1743034031.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034031.643165 s.ujI~,*%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799:JBJ@ elevatorAngleAction: -0.084660nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743034031.643272F (some fields omitted in printout)AGi@Aիi@AV~? A\Ax&"AAiNA"AZAbAjArAzAAAxZAX rA n@A\AY=AvA@/ؿA`A⋪*A9?2Ak׽:Aů=BA9?JAk׽RAů=٘i)I9n@YG JJJJJE&K YT~?yKA`E77M*9-B)BE[[%A@[/V~?[vɨ[[[[BZYY i) QIi@99= 벖))벖 c@YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7530, header.stamp.nsec: 00 temperature: 13.387345* salinity: 33.391510, density: 1025.000000* values[0]: 0.697682F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743034031.663165 s, next control iter: 1743034032.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034032.063165 s.kI~,c %AAfffffj@APLj@ATV~? ADA&"AA?uiNA"AZAbAjArAzAAAOaAFQArAm@ANAa=AA׿A`2Av㰼*A+9?2A>׽:A=BA+9?JA>׽RA=Y,=@t>y=sOٓH@_ؿ`?%ycؿˑ d봿ى?),=@ I٘i)I9m@YG JJQ<JJJE&KZx> YT~?y;KA>eEb7*9)B[[͊@['V~?[Ϩ[[[[BZYY i) CIi+@9= ))@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034032.083165 s, next control iter: 1743034032.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034032.483165 s.z_kI~,%AJ"J*J2J:J{2?BJ{2?nJ&;5vJAj@A[ַj@AGV~? AAATk&"AAaiNA"AZAbAjArAzAAAA:rAl@A٨A=AA׿A`nA깼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9l@Y1G JJJJJE&K Y0T~?y:JAkE)7)7x*9)ƯB[[Y@[V~?[֨[[[[BZYY i)  Iir@e,:= O))O{@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034032.503165 s, next control iter: 1743034032.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7531, header.stamp.nsec: 00 temperature: 13.387585* salinity: 33.391483, density: 1025.000000* values[0]: 0.696686F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034032.903165 s. kI~,9%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084660< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743034032.903328F (some fields omitted in printout)A ףp=k@A/N[#k@AV~? ARƩA0&"AAMiNA"AZAbAjArAzAAAY A~ɂrAJl@A`;A(=AtA@KֿA`{Aü*A59?2A+qֽ:A=BA59?JA+qֽRA=٘i)I9Jl@YG J<JJJJE&K YhT~?y[ZJApE77{7 *9.B)˯BE[["@[V~?[^ܨ[[[[BZYY i) IdIi@*:= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034032.923165 s, next control iter: 1743034033.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034033.323165 s.tkI~,T%AJ"J*J2J:JBJnJvJA\k@Ak@AV~? AvͩAW&"AA:iNA"AZAbAjArAzAAA2A%1rAk@A N<A.=AyA ]uտA@1Ac˼*A9?2A6ֽ:A=BA9?JA6ֽRA=٘i)I9k@YjG JNǼJJJJE&K YT~?y}IAuE77*9)ѯB[[r@[V~?[[[[[BZYY i) Ii@;= 3))3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034033.343165 s, next control iter: 1743034033.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7532*, header.stamp.nsec: 0*0 temperature: 13.387826** salinity: 33.391479*, density: 1025.000000** values[0]: 0.695590*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034033.743165 s.WkI~,io%AAGzl@A@1dk@AV~? AԩAf&"AA(iNA"AZAbAjArAzAAAT)AVEhrAj@AW]^<AR=AAԿAJAϼ*A>9?2A~Iֽ:A{=BA>9?JA~IֽRA{=٘i)I9j@YG JͼJJJJE&K  +9YؘT~? +9yĨyIA{E778+9)֯B[[@[ V~?[[[[[BZYY i) ^ɼIi`@T<= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034033.763165 s, next control iter: 1743034034.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034034.163165 s.{}"kI~,q%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J< rudderAngleAction: -0.261799"J@ elevatorAngleAction: -0.084660*J2J< massPositionAction: 0.0000004 buoyancyAction: 0.000500:JBJ dt: 0.419990nJvJ2 time: 1743034034.163280F (some fields omitted in printout)Al@A[el@AV~? A۩A=&"AAliNA"AZAbAjArAzAAA{NA}Q rAGj@A;A=A!KAӿAJA]м*Aѫ9?2Aߝֽ:A =BAѫ9?JAߝֽRA =YJ@5y=;ٓH>ҿ`?X@`Zҿ``V. F_~?`?)J@ I٘i)I9Gj@YG J^мJ@<JJJE&K;x> YŐT~?y ͨIA5E7777+9)B)[[@[V~?[[[[[BZYY i) RмIiK@o<= _))_@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034034.183165 s, next control iter: 1743034034.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034034.583165 s.)(kI~,LS%AARl@AD.ll@AV~? ASA&"AAiNA"AZAbAjArAzAAA[ e0A/>rAi@A+A=AA`JҿAg}A "ϼ*A9?2AP׽:A̍=BA9?JAP׽RA̍=٘i)I9i@Y,G JмJJJJ!E&K YT~?yxըHAE7b+9(B)ۯBE[[a@[U~?[[[[[BZYY i) Ӌ׼Iie@x<= a))a\7@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034034.623165 s, next control iter: 1743034034.983176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7533 , header.stamp.nsec: 00 temperature: 13.388110* salinity: 33.391483, density: 1025.000000* values[0]: 0.694383F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034035.003165 s.v 0kI~,D4%AJ"J*J2J:JBJnJvJAp= Wm@Aѭ= ր))ր#ڨ@-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034035.883165 s, next control iter: 1743034036.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034036.263165 s.DkI~,%AAn@A#n@AhV~? AcAwf&"AAhNA"AZAbAjArAzAAAed[ݞAbѩ|rATf@AcV9AοAh-Aoؼ*A9?2A{ֽ:Aǫ=BA9?JA{ֽRAǫ=Y@}/y;p=V9ٓH ǿ`n? F@ O ǿ`\Oƶ`*??)@ I٘i)I9f@Y G JռJ;JJJ,E&K x> Y2kT~?ydFA/Eb77+9'B)BE[[C@[9U~?[[[[[ZZBZYY i) ͼIi@>= eQ}))eQ}e@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034036.303165 s, next control iter: 1743034036.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 75352, header.stamp.nsec: 020 temperature: 13.3887162* salinity: 33.3914642, density: 1025.0000002* values[0]: 0.6919402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034036.683165 s.lJkI~,^+%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034036.683275F (some fields omitted in printout)J"J*J2J:JBJnJvJAQo@A ln@A_V~? A A&"AAhNA"AZAbAjArAzAAAf AllFsAf@A<AЋ=A޿A:̿ADPA*A\9?2A.ֽ:A_<BA\9?JA.ֽRA_<٘i)I9f@Y G JJJJJ/E&K YeT~?y0FAE77M+9)B[[=ϐ@[ U~?[[[[[ZZBZYY i) Iiu@>= x))x8@y`=UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034036.683165 s, next control iter: 1743034037.083174 s, wait time: 0.400009 s*eT~?)* rAdjusting time to match Gazebo time: 1743034037.103165 s.QkI~,F%AA= ףpo@AwhXVo@A$XV~? AA;&"AA²hNA"AZAbAjArAzAAA^]" AG'[BsAz-e@Apc<A=A' ܿA>ʿA`sAk5*A9?2A,ֽ:A<BA9?JA,ֽRA<٘i)I9-e@Y{ G J6JJJJ1E&K Y`T~?yEAE)7ŧ7+9)B[[Z@[6U~?[N[[[[ZZBZYY i) ͵Ii@p)>= Mt))Mt|@y =ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034037.143165 s, next control iter: 1743034037.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034037.523165 s.WkI~,{a%AJ"J*J2J:JBJnJvJA(o@Am3o@APV~? A|A&"AAchNA"AZAbAjArAzAAAdQ A sASd@Aa,<Av=A}ٿAr ɿAகAg*A9?2ATֽ:AIJu<BA9?JATֽRAIJu<٘i)I9Sd@Y G JB=JJJJ4E&K YX[T~?yM;EAEb7b7x +9)BE[[`@[U~?[#[[[[ZZBZYY i) ԽIiڔ@>= ;p));p[@䫪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034037.563165 s, next control iter: 1743034037.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7536, header.stamp.nsec: 00 temperature: 13.389057* salinity: 33.391438, density: 1025.000000* values[0]: 0.690445F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034037.943165 s._d^kI~,_]|%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034037.943309F (some fields omitted in printout)AzGp@A-p@A1JV~? AF A[ &"AAɜhNA"AZAbAjArAzAAAΕKt A,)sAc@Az:A/2=AֿA(JǿA`VA|м*Ar9?2Avsֽ:A-;BAr9?JAvsֽRA-;٘i)I9c@Y G JC=JJJJ7E&K YVT~?yDAE7$+9) B[[q@[U~?[*[[[[ZZBZYY i) bIiR@"?= k))k@GzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034037.983165 s, next control iter: 1743034038.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034038.363165 s.ekI~,}>%AJ"J*J2J:JBJnJvJA3333p@A/h!p@ACV~? A(At &"AAhNA"AZAbAjArAzAAA AE;sAAb@AmAq<A3ԿAqſA`A>{*A`9?2Anֽ:AM BA`9?JAnֽRAM Y@W;ԿyD<zٓHM?z? `;@ <-?)@ I٘i)I9b@Y G JJJJJ9E&Kv> YST~?y"DA;ԿEZ7Z7'+9)B[[@[U~?[<1[[[[ZZBZYY i=) OZIi@~>= g))g@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034038.403165 s, next control iter: 1743034038.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7537&, header.stamp.nsec: 0&0 temperature: 13.389375&* salinity: 33.391415&, density: 1025.000000&* values[0]: 0.689066&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034038.783165 s.WkkI~,%AAQq@AI+q@AH>V~? A/Az &"AAhNA"AZAbAjArAzAAAhd0 AioTsAqb@ArA+<AѿAÿAA# y*A9?2AWֽ:A3YBA9?JAWֽRA3Y٘i)I9qb@Y G JXJJJJ= "c))"c{@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034038.823165 s, next control iter: 1743034039.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034039.203165 s.J "J *J 2J :J H0?BJ H0?nJ 85vJ skI~,&ͭ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077121< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034039.203296F (some fields omitted in printout)Aףp=q@A<)pq@A9V~? A7AfA &"AAhNA"AZAbAjArAzAAA~, AϨH( sAb@A0XAڋAϿAlAM A]$*As9?2AMXֽ:A=}BAs9?JAMXֽRA=}٘i)I9b@Y G JTJJJJ?E&K YNT~?yO4TDAE{7Z7.+9&B)B E[[@[U~?[>[[[[ZZBZYY i) `}Ii@->= M^))M^7@f(YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034039.223165 s, next control iter: 1743034039.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034039.623165 s.WykI~,]%AA)\q@Aq@Ap4V~? A?A &"AAzhNA"AZAbAjArAzAAAxuЃ A;%sAa@A7A_A=h̿A٪A A*A9?2Atֽ:ABA9?JAtֽRA٘i)I9a@Yx G JJJJJAE&K Y2LT~?y=/DA DE77{7c2+9)B[[@[U~?[[E[[[[ZZBZYY i) 'hIi@T>= aZ))aZí@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034039.643165 s, next control iter: 1743034040.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7538 , header.stamp.nsec: 0 0 temperature: 13.389552 * salinity: 33.391407 , density: 1025.000000 * values[0]: 0.688308 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034040.043165 s.kI~,%AJ"J*J2J:J40?BJ40?nJ85vJA{Gar@A= V))VO@B,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034040.063165 s, next control iter: 1743034040.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034040.463165 s.UkI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077121< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743034040.463286F (some fields omitted in printout)Ar@Aor@A,V~? AOApo &"AAmhNA"AZAbAjArAzAAAiJ1?Ać.sAa@A.,U<AY.ASǿAA EA9;*A9?2Avֽ:A+BA9?JAvֽRA+Yf@@1ǿy.]U<ٓH@ݍ?]?u?¥? ۥ?T??)f@@ I٘i)I9a@Y JSSJQ(JJJGE&K]x> Y$JT~?yNFDA1ǿE77j79+9)[[X@[U~?[R[[[[BZYY iz@g=) .CIic@== =Q))=QSۮ@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034040.483165 s, next control iter: 1743034040.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7539, header.stamp.nsec: 00 temperature: 13.573185* salinity: 33.374989, density: 1025.000000* values[0]: 0.567000F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034040.883165 s.ykI~,<8%AJ"J*J2J:JBJnJvJAQ8s@Av1<s@A)V~? AWA &"AAihhNA"AZAbAjArAzAAArTkA,3sAa@ArOZ<AFVAPĿABA4TA{;*AE9?2Aֽ:ABAE9?JAֽRA٘i)I9a@Yu G Jnw;JJJJIE&K YJT~?yWDAE77#=+9'B)E[[SE@['U~?[Y[[[[BZYY i=)  Q2Ii@`e== eDM))eDMNg@ِ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034040.903165 s, next control iter: 1743034041.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034041.303165 s.WkI~,{gS%AAq= ףs@AȗPs@A 'V~? A_Al6 &"AAdhNA"AZAbAjArAzAAA`uA8sAb@A[f;A%wAAf~A_A b.<*A9?2Afֽ:A7BA9?JAfֽRA7٘i)I9b@Y G Ju<JJJJLE&K YJT~?yY`DAE777@+9)B[[ȿ[U~?[D`[[[[BZYY i) s!Ii@F== SH))SHSH1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034041.323165 s, next control iter: 1743034041.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7540., header.stamp.nsec: 0.0 temperature: 13.573143.* salinity: 33.374996., density: 1025.000000.* values[0]: 0.567115.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034041.723165 s.kI~,Hn%AJ"J*J2J:J.?BJ.?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034041.723308F (some fields omitted in printout)A(\t@AjGs@A%V~? AgAi&"AA`hNA"AZAbAjArAzAAAADu=sA[hb@Ab)AȆAqA@zAHiAǸg<*A9?2Af4ֽ:Aw BA9?JAf4ֽRAw `I٘i)I9hb@Y G JNI<JJJJOE&K YaKT~?y+iDAEŧ7b7ND+9)B[[ƿ[.U~?[g[[[[BZYY i) Ii@g== D))DDy=·*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034041.743165 s, next control iter: 1743034042.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034042.143165 s.[/kI~,*%AAGzt@A`t@A#V~? AoA&&"AA]hNA"AZAbAjArAzAAA=ASp`BsAQb@AkJA}oA 뼿A`&A UpAJ<*A9?2Aս:ABA9?JAսRA٘i)I9b@Y G J~<JJJJRE&K YKT~?yq1EAEb77G+9)BE[[Ŀ[U~?[m[[[[BZYY i) qIiʓ@,== [ @))[ @[ @!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034042.163165 s, next control iter: 1743034042.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034042.563165 s.kI~,p %AJ"J*J2J:JBJnJvJAfffft@AJ Ut@A"V~? AxA^&"AA[hNA"AZAbAjArAzAAAE6AᑎMGsAOc@AjAȆAdUAɴAuAg<*Am9?2A ֽ:ABAm9?JA ֽRAY@2yςkٓH??w?޲c?L?@̲?^ ?)@ I٘i)I9Oc@YX G J<B=JJJJTE&Kvw> YOT~?yzEA2E7777yK+9) B[[ei¿[U~?[wt[[[[BZYY i) Ii@-<= ;));;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034042.583165 s, next control iter: 1743034042.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7541, header.stamp.nsec: 00 temperature: 13.572989* salinity: 33.374996, density: 1025.000000* values[0]: 0.567535F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034042.983165 s.kI~,쾮%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034042.983287F (some fields omitted in printout)AQu@A7u@A "V~? AA&"AAZhNA"AZAbAjArAzAAA0]AAH:LsAc@A AkQA̬AsuA_wA@<*AƩ9?2As\ֽ:A2BAƩ9?JAs\ֽRA2٘i)I9c@Y G J<C=JJJJWE&K YVRT~?yzEAE7O+9(B) BE[[9[U~?[/{[[[[BZYY i) O»Iij@.j;= c7))c7c7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034043.023165 s, next control iter: 1743034043.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034043.403165 s.&kI~J,ٮ%A"J*J2J:J\?BJ\?nJk5vJA ףpu@AI[u@A"V~? A*Ay#&"AAnZhNA"AZAbAjArAzAAAĻT@Aiiy(QsAcd@A[:AaA&A`e1?A?wA:<*As9?2AYֽ:A BAs9?JAYֽRA ٘i)I9cd@Y G JΧ<JJJJZE&K YUT~?y8`FAE77{7R+9)B[[ [U~?[聩[[[[BZYY i) jIi@:= K3))K3K3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034043.443165 s, next control iter: 1743034043.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7542", header.stamp.nsec: 0"0 temperature: 13.572734"* salinity: 33.374977", density: 1025.000000"* values[0]: 0.568148"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034043.823165 s.kI~,)%AA\(v@A?v@A"V~? A=AӅ&"AAZhNA"AZAbAjArAzAAA!N1A?-VsAd@AAI/<A(6A2EA?AtAΪ<*AK9?2A׽:A > BAK9?JA׽RA > ٘i)I9d@YW G Jd<JJJJ\E&K YXT~?yFAE7779V+9)BE[[׻[U~?[[[[[BZYY i) IiƑ@:= .))..*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034043.843165 s, next control iter: 1743034044.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034044.243165 s.kI~,u%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034044.243284F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzv@Abodzv@A#V~? ANA>&"AA3\hNA"AZAbAjArAzAAA\ݦwAp.A[sADe@Axfm<AAȠAz?A`ToAM|<*A99?2A׽:ABA99?JA׽RA٘i)I9e@Y G Jʫ<JJJJ_E&K Y'\T~?y*GAE77Y+9)B[[C["U~?[V[[[[BZYY i) {OIi@:= <*))<*<* *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034044.283165 s, next control iter: 1743034044.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034044.663165 s.kI~,q*%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7543, header.stamp.nsec: 00 temperature: 13.572455* salinity: 33.375000, density: 1025.000000* values[0]: 0.568807F (some fields omitted in printout)Aw@A`5v@A%V~? A]AJ&"AAK^hNA"AZAbAjArAzAAASJ4Ac_sAKf@AY.<AMBAA?A gAJR<*A09?2Aֽ:ABA09?JAֽRAY'–@*y@P/<ٓHQ?R YBbT~?yNGA*E77d]+9)B[[v[U~?[[[[[BZYY i) rhIiƐ@UP9= S%))S%S%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034044.683165 s, next control iter: 1743034045.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034045.083165 s.DkI~,SE%AJ"J*J2J:JBJnJvJARkw@A}qQw@A'V~? AhA&"AA/ahNA"AZAbAjArAzAAASYBA%dsAf@AL:A:AA Nѱ?A`]A<*A%9?2Aֽ:ABA%9?JAֽRA٘i)I9f@Yb G J<JJJJdE&K Y\hT~?y殩GAEb77`+9)B[[gE[U~?[[[[[BZYY i) 7Ii@T8= z!))z!z!*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034045.103165 s, next control iter: 1743034045.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034045.503165 s.kI~,;4`%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034045.503282F (some fields omitted in printout)Ap= w@AH5w@Am*V~? ApA&"AAdhNA"AZAbAjArAzAAAk`vADisA@g@Ae/A{vA@ A k?A`+QALs<*A9?2A elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034046.763284F (some fields omitted in printout)J"J*J2J:JBJnJvJAy@A3x@A5V~? AiȪA;&"AAthNA"AZAbAjArAzAAA3d AO_xsAvh@A VmAAA+Acu?APA<*A9?2Arֽ:A &BA9?JArֽRA &Y@"ybmٓH ? oa?` M ?@8O? ?m`?)@ I٘i)I9h@Y G Jީ<JYr<JJJoE&K'x> YT~?y ѩIA"E{7j7Oo+9)BE[[z[^U~?[G[[[[BZYY i) #J;Ii@W5= [))[[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034046.803165 s, next control iter: 1743034047.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034047.183165 s.kI~,o˯%AAQy@AYky@A:V~? AYЪAj&"AA{hNA"AZAbAjArAzAAAs # A,7}sAi@A;AȌA>xA n\?AAқ<*AT9?2A׽:AQBAT9?JA׽RAQ٘i)I9i@YG J<JJJJrE&K YmT~?yf٩IAE7{7r+9)ޯB[[F[]U~?[ཀྵ[[[[BZYY i) W;Ii@#4= W} ))W} W} *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034047.223165 s, next control iter: 1743034047.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034047.603165 s.J "J *J 2J F4kI~:J'?BJ'?nJA5vJ,%AA= ףy@A y@A?V~? AAتA&"AA.hNA"AZAbAjArAzAAAn=n A. sAj@Ay_<AAΚA@?A`AŔ<*A9?2A3׽:ABA9?JA3׽RA񼙘٘i)I9j@YlG Jn<JJJJtE&K YNT~?yXJAEŧ7b7yv+9/B)߯BE[[[[U~?[vĩ[[[[BZYY i) ;Ii@+3= ))̼*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034047.643165 s, next control iter: 1743034048.003186 s, wait time: 0.360021 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7546 , header.stamp.nsec: 0 0 temperature: 13.571596 * salinity: 33.374992 , density: 1025.000000 * values[0]: 0.570917 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034048.023165 s.ZlI~,{%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743034048.023304F (some fields omitted in printout)A(\z@A$~Bz@AEV~? A Ak%"AAhNA"AZAbAjArAzAAAW( AfنsA ~j@AZ<A͈AA4A?A`4AF<*A{9?2A:׽:AMBA{9?JA:׽RAM𼙘٘i)I9~j@YG Jؒ<JJJJwE&K Y/T~?yJAE77z+9)ۯB[[ڥ[~U~?[ ˩[[[[BZYY i$l=) O;Iig@p2= ))b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034048.063165 s, next control iter: 1743034048.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034048.443165 s.6lI~,:]%AJ"J*J2J:JBJnJvJAzz@AIG9z@ALV~? AA;%"AAݔhNA"AZAbAjArAzAAAd<F A sAj@A;AdAA?A`}A <*A9?2Aֽ:ABA9?JAֽRA󼙘٘i)I9j@YG J<JJJJzE&K YT~?yzKAE{7j7}+9)ׯBE[[磣[V~?[ѩ[[[[BZYY i) ;Ii@1= o))oos*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034048.463165 s, next control iter: 1743034048.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7547, header.stamp.nsec: 00 temperature: 13.571324* salinity: 33.375008, density: 1025.000000* values[0]: 0.571507F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034048.863165 s.+ lI~,>7%AA33333{@AUO{@ARV~? AA9%"AAޞhNA"AZAbAjArAzAAAy% A=9{bsApk@A>AA%A@B?A JA<*Az9?2A?|ֽ:AǽBAz9?JA?|ֽRAǽYE@y/IٓH ? 3?@\@"`*??ϰ?`'r YT~?ysKAEŧ77:+90B)կB E[[Oo[ V~?[ة[[[[BZYY i) B7;Ii@K0= ))Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034048.903165 s, next control iter: 1743034049.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034049.283165 s.4RlI~,R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034049.283279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ{@A7{@AVZV~? AA%"AAhNA"AZAbAjArAzAAAC AosAk@AMAAܛA??AqAx<*A9?2ASMֽ:AƷBA9?JASMֽRAƷ٘i)I9k@YG J<C=JJJJE&K Y.T~?yKA Eb7τ+9)ѯB[[8[V~?[ީ[[[[BZYY i) 3 elevatorAngleAction: 0.074913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034050.543289F (some fields omitted in printout)A{G|@AKu/|@AsV~? AoAW%"AAhNA"AZAbAjArAzAAA߾HA#FNsA1Om@A;A󮉽A A?A@A <*A 9?2Aֽ:AQQBA 9?JAֽRAQQ٘i)I9Om@YnG JG<JJJJE&K YT~?yLA(E77{7+9)ǯB[[=[)V~?[[[[[BZYY i) 1 о))> о> оd*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034050.583165 s, next control iter: 1743034050.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7549, header.stamp.nsec: 00 temperature: 13.570806* salinity: 33.375004, density: 1025.000000* values[0]: 0.572675F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034050.963165 s.x.lI~,𤽰%AJ"J*J2J:JBJnJvJAL}@A42}@A|V~? AAL%"AA[hNA"AZAbAjArAzAAAۥA elevatorAngleAction: 0.074913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743034051.803332F (some fields omitted in printout)T~?)*Aq= #~@A / ~@A)V~? A$A(%"AADhNA"AZAbAjArAzAAAJJ>AʰsA٪n@A$<AAƀA~/?A`rmA<*A9?2Aֽ:AqBA9?JAֽRAq٘i)I9n@YBG Jc<JJJJE&K YU~?y2MA0E777O+93B)B(E[[Ց[CV~?[[[[[BZYY it,=) ` elevatorAngleAction: 0.084557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034053.063284F (some fields omitted in printout)Afffff@AjQL@A%V~? A:A|%"AA,iNA"AZAbAjArAzAAAbA!БvsA-p@A,kABA`rA0?AAu<<*A9?2A0ֽ:ABA9?JA0ֽRAYtɣ@ry>JkٓH@d?y?E@`?`?@W?@Oe?)tɣ@ I٘i)I9-p@Y-G JX<J-JJJE&K,> Y-+U~?yIOAr8E7777+9)B[[g'[`V~?[C[[[[BZYY i) 1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034053.083165 s, next control iter: 1743034053.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034053.483165 s.z_WlI~,^%AJ"J*J2J:J?BJ?nJ5vJA@Aõڷ@AhV~? AAA%"AA>iNA"AZAbAjArAzAAAsyXAp$ssAp@A@A-4AmA e?A`ƓA<*A9?2Acֽ:ABA9?JAcֽRA٘i)I9p@YG J<JJJJE&K Y;U~?y"QmOA;EZ7Z7+96B)B/E[[s[VkV~?[J[[[[BZYY i) JEb77:+9)B[[[vV~?[J#[[[[BZYY i) s elevatorAngleAction: 0.084557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743034054.323308F (some fields omitted in printout)A\@A/厀@ASV~? AOA%"AAOeiNA"AZAbAjArAzAAAAHCAv$}sAeq@A;A}A?A AÌ<*A9?2A׽:ABA9?JA׽RA٘i)I9q@Y+G Jͦ<JJJJE&K Y\U~?yj_9PA@E{7Z7Я+97B)B2E[[ku[9V~?[@)[[[[BZYY i) > YU~?ymQA XFE7+9)B5E[[C[rV~?[4[[[[BZYY i) }& elevatorAngleAction: 0.084557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743034055.583315F (some fields omitted in printout)AR끽@ALnс@AW~? AdAM%"AAKiNA"AZAbAjArAzAAAd5AXisAs@A;APARA!?A`NA/(<*A9?2Aֽ:ABA9?JAֽRA٘i)I9s@Y7G J˵<JJJJE&K YŒU~?ysQAIE77+99B)B9E[[[}{[V~?[:[[[[BZYY i) i?A`A<*A9?2A@>ֽ:ABA9?JA@>ֽRA٘i)I9't@YG J<JJJJE&K YU~?yFzQAKE)7ŧ7%+9)B[[v[V~?[x@[[[[BZYY i) ػ elevatorAngleAction: 0.084557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034056.843293F (some fields omitted in printout)AHz.@A!@A1W~? AwA%"AA1iNA"AZAbAjArAzAAAc>~ A@RQsA~u@A-cAgWACA u?A vAoV<*A69?2Aֽ:ABA69?JAֽRA٘i)I9~u@YjG J_<JJJJE&K YU~?ylRAQE77O+9)B[[m[.V~?[K[[[[BZYY i) A ?A@)A<*A9?2A:pֽ:ABA9?JA:pֽRAYL@P=y8LٓH~?Ĥ?@* ?{?RB?$?)L@ I٘i)I9/v@YG J<B=J7@JJJE&Kw> YU~?y^LSA=SE7{7+9;B)B?E[[3oi[V~?[LQ[[[[BZYY i)  elevatorAngleAction: 0.084557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034058.103287F (some fields omitted in printout)A= ףp@AfyV@AcW~? A6A\_%"AA3jNA"AZAbAjArAzAAAA/ysA;w@A<<A峽AP3A~#?AȈA9<*A:9?2A׽:AnIBA:9?JA׽RAnI٘i)I9w@YG J<JJJJE&K Yd V~?yA;TAYE77+9)B[[c^`[V~?[-\[[[[BZYY i) ,BZYY i¸>@) +B)vBIE[[6W[0W~?[f[[[[ZZZZBZYY i) *ײ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034059.363280F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A!@A&W~? AЛA%"AAjNA"AZAbAjArAzAAAd$?AhsANy@AAA#A ,?AA=*A9?2Aaֽ:AgBA9?JAaֽRAgY"@-#y1ٓH Ր?@S? d u? e?q?@"u?)"@ I٘i)I9y@YG J5<J;JJJE&Kw> YIV~?yfUA#aEj7Z7+9)pB[[R[K!W~?[l[[[[ZZZZBZYY i) 7QA̼AtAM?A`R޿Ay<*A39?2Aս:Aؼ;BA39?JAսRAؼ;٘i)I9|@YG J<JJJJˀE&K YV~?ylrWAkE7777%+9AB)ZBSE[[':@[aW~?[[[[[ZZZZBZYY i) nJJJ̀E&Kt> Y[V~?yê}WAG nEb7b7+9BB)WBVE[[;[^rW~?[ꄪ[[[[ZZZZBZYY i&y) ))>>uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034063.163165 s, next control iter: 1743034063.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034063.563165 s.lI~,R %AJ"J*J2J:J?BJ?nJ25vJAffff扽@AAV̉@AVbX~? AΫA%"AAkNA"AZAbAjArAzAAApoX@AΙPstA}@A1NWA"%Y=AA ?AٿAV׻*AL9?2Aս:A <BAL9?JAսRA JJJۀE&KVu> Y7W~?y٪aWA{Eb7b7+9EB)WBdE[[g/$[W~?[ɛ[[[[BZYY i@g) RA&))gzЁ>Ё>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034063.603165 s, next control iter: 1743034063.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7562, header.stamp.nsec: 00 temperature: 13.566445* salinity: 33.375118, density: 1025.000000* values[0]: 0.581897F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034063.983165 s.lI~,%AAQ@A 7@A4xX~? A ӫA%"AAkNA"AZAbAjArAzAAA>'QZk @AxtA}@AYA jy=A?־A ?AؿAd%*AǪ9?2Aֽ:A=BAǪ9?JAֽRA=٘i)I9}@YRG JpC=JJJJ݀E&K  ,9YPW~? ,9yݪWA~E)7)7;,9)YBgE[[z[W~?[[[[[BZYY i) #)) S&>S&>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034064.023165 s, next control iter: 1743034064.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034064.403165 s.&mI~,%AJ"J*J2J:JBJnJ15vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056595< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034064.403296F (some fields omitted in printout)A ףp@A@M-[@A[X~? AF׫Aj%"AAEkNA"AZAbAjArAzAAAk @Aվ^tA:}@A\MϻAUJ=AG̾A?A`..ؿA!Yg*A9?2A4uԽ:A0 =BA9?JA4uԽRA0 =٘i)I9:}@YG J DJJJJE&K Y?jW~?y`VAE777,9)[B[[S[W~?[D[[[[BZYY if߆) )) F9> F9>¼YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034064.443165 s, next control iter: 1743034064.803175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7563", header.stamp.nsec: 0"0 temperature: 13.566435"* salinity: 33.375145", density: 1025.000000"* values[0]: 0.581752"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034064.823165 s. mI~,-4%AA\(@Ax@AȤX~? A_۫A#%"AAlNA"AZAbAjArAzAAAҖ* @A3 tA|@A͎;AH=AI¾A`[?Ae׿AÍ*A9?2A^[Խ:Ar=BA9?JA^[ԽRAr=٘i)I9|@YG JKJJJJE&K YԃW~?y VAE{7{7e ,9FB)_BjE[[[X~?[a[[[[BZYY i)  ;Ii1@&P<  WL>)) WL> WL>y2h<ȪYFYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034064.843165 s, next control iter: 1743034065.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034065.243165 s.mI~,qO%AJ"J*J2J:JBJnJvJAGz@A+nbz@AvX~? AT߫AL%"AA/8lNA"AZAbAjArAzAAA%;Ii.@<< P_>))P_>P_>yQϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034065.283165 s, next control iter: 1743034065.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034065.663165 s.mI~,qj%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034065.663296F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7564, header.stamp.nsec: 00 temperature: 13.566539* salinity: 33.375149, density: 1025.000000* values[0]: 0.581314F (some fields omitted in printout)A@Al勽@AcX~? A&A+~%"AAZlNA"AZAbAjArAzAAAId@ASx$tA|{@A1i<AK=A;GA?AտA*A9?2A^Խ:Ad=BA9?JA^ԽRAd=Y!1@kyG=Si<ٓH@?@G]?A?=տ4)?ID@%?@?)!1@ I٘i)I9{@Y=G JJY=JJJE&KDt> Y W~?yUAEj7j7,9)hBpE[[s [,X~?[B[[[[BZYY i) h;Ii*@< pqr>))Mmwpqr>pqr><ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034065.683165 s, next control iter: 1743034066.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034066.083165 s.D!mI~,S%AJ"J*J2J:JBJnJvJARk@Aw)uQ@AX~? AA4%"AA}lNA"AZAbAjArAzAAAPc@AЪ2'tA5{@Aݺ <Aś=AAS?AԿAE *A9?2A0lս:A=BA9?JA0lսRA=٘i)I95{@YG JdB=JJJJE&K YW~?ynUAEŧ7b7&,9GB)mBsE[[߭[AX~?[[[[[BZYY i) ܍;Ii%@'< Â>))Â>Â>Z֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034066.103165 s, next control iter: 1743034066.483179 s, wait time: 0.380014 s*W~?)* rAdjusting time to match Gazebo time: 1743034066.503165 s.'mI~,U4%AAp= ׌@A@AY~? A[Ac%"AAlNA"AZAbAjArAzAAAs 6b0@A33Y)tAעz@AĺAw=AHAR??A ԿA,*A9?2AGԽ:A{ =BA9?JAGԽRA{ =٘i)I9z@YG JƮC=JJJJE&K YKW~?yUAE777,9HB)sBtE[[[UX~?[[[[[BZYY i) s_;Ii!@44< _>)) _>_>֪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034066.523165 s, next control iter: 1743034066.903181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7565, header.stamp.nsec: 00 temperature: 13.566697* salinity: 33.375164, density: 1025.000000* values[0]: 0.580720F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034066.923165 s.@.mI~,%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034066.923336F (some fields omitted in printout)A(\B@A (z(@AY~? AAѪ%"AAlNA"AZAbAjArAzAAAyx;M6O@A[4i+tAz@AN2AAv=AAq?A 3ӿAi*A9?2AԽ:A-=BA9?JAԽRA-=٘i)I9z@Y2G JJJJJE&K YX~?yTAEŧ7b7P,9IB)xBwE[[[jX~?[J[[[[BZYY i) ,#;Iih@<  >)) > >ժYC̅YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034066.943165 s, next control iter: 1743034067.323185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743034067.343165 s.<5mI~,մ%AAHz@A@A}0Y~? AAj%"AAlNA"AZAbAjArAzAAANp@A"[b-tA^y@AkmAd=A;A?AWҿAt*AF9?2A)Dս:A=BAF9?JA)DսRA=٘i)I9y@YG JJJJJE&K Y"X~?y7TAE,9)}BzE[[Y[X~?[ľ[[[[BZYY i) :IiW@< ş>))ş>ş>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034067.363165 s, next control iter: 1743034067.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7566&, header.stamp.nsec: 0&0 temperature: 13.566855&* salinity: 33.375172&, density: 1025.000000&* values[0]: 0.580131&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034067.763165 s.5;mI~,%AJ"J*J2J:J?BJ?nJ5vJA@AZ @AHY~? A A>,%"AA mNA"AZAbAjArAzAAA9@Ay^D/tA x@Ae9,A=AtA?AjzѿAP*A.9?2Arս:A|=BA.9?JArսRA|=Ye@,ty=,ٓH ?68?K0?@ <ο?@i~@?)e@ I٘i)I9x@YG JëJJӺJJJE&K,t> Y=X~?ySAtE{7Z7{",9)B}E[[u[X~?[ª[[[[BZYY i) ):Ii@ٷ< Ad>))tAd>Ad>ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034067.783165 s, next control iter: 1743034068.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034068.183165 s.BmI~,Z %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239231@ elevatorAngleAction: -0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743034068.183272F (some fields omitted in printout)AQ@A%9k@A`Y~? AAL%"AA~1mNA"AZAbAjArAzAAA@A 1tA^x@AD̓A`=AO_A 3?AsпA1*A9?2Auս:AS=BA9?JAuսRAS=٘i)I9^x@Y*G J1JJJJE&K YfYX~?yjSAE77&,9)BE[[ ߾[X~?[JŪ[[[[BZYY i) ȈIi-@< 1>))vz1>1>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034068.203165 s, next control iter: 1743034068.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034068.603165 s.84ImI~,&%AJ"J*J2J:JBJnJvJA= ף@AwhX֎@AGyY~? AAY%"AAgVmNA"AZAbAjArAzAAA 7Z@A2tAw@A<A=AoLA(?A dϿAL*A$:?2Atӽ:A{=BA$:?JAtӽRA{=٘i)I9w@YG JޮJJJJE&K YtX~?ySAE)7ŧ7),9JB)BE[[UDվ[X~?[fȪ[[[[BZYY i) "Ii0@< aۼ>)) aۼ>aۼ>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034068.623165 s, next control iter: 1743034069.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7567 , header.stamp.nsec: 0 0 temperature: 13.567032 * salinity: 33.375179 , density: 1025.000000 * values[0]: 0.579529 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034069.023165 s.ZPmI~,{A%AA(\@AB@AY~? AfAU%"AA{mNA"AZAbAjArAzAAA߈O'@Aȭ\4tA8w@A\}h<A =A8AO?A׭ͿAL*A :?2Aӽ:AJ=BA :?JAӽRAJ=٘i)I98w@YwG JJJJJE&K YDX~?yRAE{7j7;-,9)BE[[m˾[X~?[e˪[[[[BZYY i)  Ii @Yk< >))>>?ɪY&qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034069.063165 s, next control iter: 1743034069.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034069.443165 s.=VmI~,W]\%AJ"J*J2J:JH?BJH?nJ|5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034069.443297F (some fields omitted in printout)AzǏ@A4@AY~? AA6R%"AA mNA"AZAbAjArAzAAAPG:@Aqn5tA6v@AC<Ap<=A8+$A /t?A˿AЩ*A!:?2A+Խ:A=BA!:?JA+ԽRA=٘i)I9v@Y G JJJJJE&K YX~?y6RAEb770,9)B[[i[X~?[GΪ[[[[BZYY i)  ;GIio@|[< M>))M>M>^ŪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034069.463165 s, next control iter: 1743034069.843183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7568, header.stamp.nsec: 00 temperature: 13.567167* salinity: 33.375187, density: 1025.000000* values[0]: 0.578937F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034069.863165 s.+]mI~,>w%AA33333@AW\@AY~? A6A#%"AAmNA"AZAbAjArAzAAAůi@A0EOL7tALv@A_;AO=A,A;?A ʿAfc*A@":?2A_Խ:A<BA@":?JA_ԽRA YX~?y,QAEj7Z7f4,9)BE[[q[ Y~?[Ъ[[[[BZYY i6) ^}Ii@ < Ea>))XsEa>Ea>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034069.883165 s, next control iter: 1743034070.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034070.283165 s.3RdmI~,%AJ"J*J2J:J!?BJ!?nJS5vJAQ@A}@AY~? AbA%"AAmNA"AZAbAjArAzAAAs @A࿟8tAu@Aj A{;=AA9?A@[JȿAʖ*A!:?2Aս:A<BA!:?JAսRA<٘i)I9u@Y|G JJJJJE&K YX~?yeyQAE{7{77,9)BE[[A߭[Y~?[Ӫ[[[[BZYY i) ^Ii/?e< u@>))u@>u@>}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034070.323165 s, next control iter: 1743034070.683176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 75692, header.stamp.nsec: 020 temperature: 13.5673072* salinity: 33.3752062, density: 1025.0000002* values[0]: 0.5783812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034070.703165 s.ԺjmI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257263@ elevatorAngleAction: -0.074812< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034070.703266F (some fields omitted in printout)Aףp= @AL7A@AY~? AdA %"AAnNA"AZAbAjArAzAAAJ@AW9tAo!u@A_A)=A gɽA?A@>]ƿA*A_?:?2Aӽ:Afy<BA_?:?JAӽRAfy<٘i)I9!u@Y1G JB=JJJJE&K YX~?yQAE777;,9)BE[[飾[62Y~?[֪[[[[BZYY i) EIi ?0< 6>)) 6>6>ӼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034070.723165 s, next control iter: 1743034071.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034071.123165 s.;qmI~,mǵ%AJ"J*J2J:J?BJ?nJ15vJA)\u@Ah[@AjZ~? A>A1%"AA19nNA"AZAbAjArAzAAAhn @A:tAAt@AXA=AOA`?AĿAD݋*AY@:?2A Խ:A|<BAY@:?JA ԽRA|<٘i)I9t@YG J֌C=JJJJ E&K YY~?yPAEj7j7&?,9)BE[[E百[IY~?[mت[[[[BZYY i) ߻Ii?x< q8>))q8>q8>y)yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034071.143165 s, next control iter: 1743034071.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034071.543165 s.IxmI~,%AA{Gᑽ@AB,Ǒ@A(Z~? AAU%"AA_nNA"AZAbAjArAzAAAT媚 @A! YSY~?yjPA"EQF,9)BE[[م[NyY~?[ܪ[[[[BZYY i) zIio?< #?))r#?#?HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034071.983165 s, next control iter: 1743034072.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034072.383165 s.؅mI~,I%AAQ@A'>@A1\Z~? A AH%"AAKnNA"AZAbAjArAzAAA5=!@AX|=tAAs@AIP<Am=A$A 8?APA9*AN0:?2AAԽ:AF=BAN0:?JAAԽRAF=٘i)I9As@Y G J֓JJJJE&K YpY~?yOAE777I,9)BE[[w[YY~?[ު[[[[BZYY i) Iih?VM< V* ?))'aV* ?V* ?=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034072.403165 s, next control iter: 1743034072.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7571", header.stamp.nsec: 0"0 temperature: 13.567540"* salinity: 33.375217", density: 1025.000000"* values[0]: 0.577413"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034072.803165 s.yAmI~,g3%AJ"J*J2J:J?BJ?nJ5vJAq= #@AG @AuZ~? A A/%"AAJnNA"AZAbAjArAzAAAcZm"@A >tAr@Af<A*ݍ=AAM?A`lAB*AL:?2Aӽ:Ar=BAL:?JAӽRAr=٘i)I9r@YG JBJJJJE&K Y@Y~?y FOAE)7)7|M,9)B[[{Oc[Y~?[m[[[[BZYY i) r-Ii6?< ;?)) ;?;?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034072.823165 s, next control iter: 1743034073.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034073.223165 s.gmI~,HN%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074812< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034073.223279F (some fields omitted in printout)A(\@ADu@AՏZ~? A(A%"AAknNA"AZAbAjArAzAAA H #@AO'2?tA$Br@A0<AR=A 9<A@]?A lǶA*AzO:?2A$`ӽ:AnX=BAzO:?JA$`ӽRAnX=٘i)I9Br@YqG J,JJJJE&K YyY~?yw NAEb77Q,9)BE[[N[YY~?[[[[[BZYY i)  YY~?yI )NASu=ESI7SI7:?2Aս:A =BA>:?JAսRA =٘i)I9p@YG JɕC=JJJJ!E&K YY~?yMAE)7ŧ7[,9QB)ʯBE[[[ Z~?[ [[[[BZYY ij) jIiv?0Z< $?))i$?$?y̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034074.523165 s, next control iter: 1743034074.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7573, header.stamp.nsec: 00 temperature: 13.567739* salinity: 33.375248, density: 1025.000000* values[0]: 0.576411F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034074.903165 s.ȭmI~,͹%AA ףp=@Aϝ`#@AZ~? AA%"AAҘoNA"AZAbAjArAzAAA÷;(%@Ae<7@tAAGp@A!Ax=A:=A\?A A*ٜ*AZ:?2Aʪӽ:A=BAZ:?JAʪӽRA=٘i)I9Gp@Y=G JsJJJJ#E&K YGZ~?y<dMAĀEŧ777g_,9PB)ίBE[[[E&Z~?[,[[[[BZYY i) :zIiF?O< )?)) )?)?sϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034074.943165 s, next control iter: 1743034075.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034075.323165 s.smI~,Զ%AJ"J*J2J:JBJnJvJA\@Ah鎕@A[~? AA1%"AAToNA"AZAbAjArAzAAA²J&@Ao;k@tAo@AA*̘=A=A?A A ա*AXW:?2Auӽ:A =BAXW:?JAuӽRA =٘i)I9o@YG JJJJJ&E&K Yy5Z~?yMAǀEj7j7b,9)үBE[[6 н[?Z~?[[[[[BZYY i) ҿIi?YUF< /?))/?/?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034075.363165 s, next control iter: 1743034075.723175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7574., header.stamp.nsec: 0.0 temperature: 13.567881.* salinity: 33.375282., density: 1025.000000.* values[0]: 0.575904.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034075.743165 s.WmI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083698< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201282 time: 1743034075.743409F (some fields omitted in printout)AGz@Ai@A+[~? A(A%"AAoNA"AZAbAjArAzAAA6z&@A5ZAtA7o@A<A<`=A >Ac?A$9YA*AN:?2A_ӽ:Ai =BAN:?JA_ӽRAi =٘i)I97o@YG JJJJJ)E&K YQZ~?y.LAɀE777f,9OB)֯BE[[[YZ~?[[[[[BZYY i) CbIi|?>< K4?))K4?K4?yeժYDYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034075.763165 s, next control iter: 1743034076.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034076.163165 s.t}mI~,q %AJ"J*J2J:JBJnJvJA@A`5e@A F[~? AA%"AAdpNA"AZAbAjArAzAAAa$i#['@Av @tAn@Ak<A=A@@">A?A`^?A*A]E:?2Ax8Խ:A=BA]E:?JAx8ԽRA=Y'@c#>yY=pl<ٓH?1Ŀ?F?@?bs` 鸳Rw??)'@ I٘i)I9n@Y@G J6JU<JJJ+E&Ks> YmZ~?y5LAc#>̀E{7j7'j,9)گB[[Lhy[sZ~?[^[[[[BZYY i) ޓIi?1< Vy9?))$sVy9?Vy9?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034076.183165 s, next control iter: 1743034076.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034076.583165 s.mI~, S%%AAR떽@AQnі@A`[~? AAg%"AA6pNA"AZAbAjArAzAAAR'@A?$@tAjn@Au?<An=AAN7>A ?AW:?A䰼*A <:?2A.Խ:A+=BA <:?JA.ԽRA+=٘i)I9n@YG JJJJEJ.E&K YeZ~?ybKAπE77m,9)ޯBE[[%[ڌZ~?[[[[[BZYY i) ZIi?&< R>?))׃R>?R>?ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034076.623165 s, next control iter: 1743034076.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7575, header.stamp.nsec: 00 temperature: 13.568010* salinity: 33.375298, density: 1025.000000* values[0]: 0.575337F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034077.003165 s.z mI~,U4@%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257500@ elevatorAngleAction: -0.083698< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034077.003288F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A<@A.z[~? AA1%"AAl^pNA"AZAbAjArAzAAA&—(@A:KJ@tASm@AG9;A=AQL>A?AM?A?ұ*AS:?2Aśӽ:A8=BAS:?JAśӽRA8=٘i)I9m@YG J}JJJJ1E&K YDZ~?yaKAрE7777Qq,9)BE[[W[ܦZ~?[[[[[BZYY i) ֢IiMs?< XC?)) XC?XC?2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034077.043165 s, next control iter: 1743034077.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034077.423165 s.umI~,[%AA(\—@Ax@A6[~? AA3%"AApNA"AZAbAjArAzAAA3]5)@A!l5J@tAl@A"A|=Ar1a>A@zx?Aƃ?Am*AQ:?2A[ Խ:AS=BAQ:?JA[ ԽRAS=٘i)I9l@Y0G JJJJJ3E&K Y#Z~?yJAԀEt,9NB)BE[[^:[Z~?[[[[[BZYY i) RIid?z< GI?))GI?GI?pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034077.443165 s, next control iter: 1743034077.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7576", header.stamp.nsec: 0"0 temperature: 13.568158"* salinity: 33.375305", density: 1025.000000"* values[0]: 0.574741"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034077.843165 s.mI~,u%AJ"J*J2J:JBJnJvJAHz.@A;@A3[~? A<AQ%"AARpNA"AZAbAjArAzAAAՋ0)@A???tARl@AlbA.=A?v>AHm?At?A.*AI:?2A5Խ:Aŗ=BAI:?JA5ԽRAŗ=٘i)I9Rl@YG JgJJJJ6E&K YZ~?y0JA׀E{7Z7|x,9MB)BE[[<[wZ~?[[[[[BZYY i) 8ϱIi2X?] < N?))N?N? Y"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034077.883165 s, next control iter: 1743034078.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034078.263165 s.mI~,4ؐ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083698< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034078.263289F (some fields omitted in printout)A@Aj@A"[~? A^A%"AApNA"AZAbAjArAzAAAyNsp*@A4Y^S?tAk@AamRAܪ=AlZ>A`_?AS*?A*A@:?2ABս:Az=BA@:?JABսRAz=Y`$=̈́>ytت=`)SٓHn?zпij?[? ?Q?T|M?)`$= I٘i)I9k@YwG J\Ju<JJJ9E&Kjs> YGZ~?yJÄ́>ـE77{7|,9)BE[[-=[Z~?[[[[[BZYY i) IiD?; fS?))tfS?fS?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034078.303165 s, next control iter: 1743034078.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7577., header.stamp.nsec: 0.0 temperature: 13.568323.* salinity: 33.375320., density: 1025.000000.* values[0]: 0.574123.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034078.683165 s.lmI~,g%AJ"J*J2J:JBJnJvJAQ@A&9 똽@A[~? AV A%"AApNA"AZAbAjArAzAAAFR +@Aᕲ>tA'k@AEA|M=An>A`KO?Aܹ?AAü*A8:?2A eս:Ar=BA8:?JA eսRAr=٘i)I9k@YG J@JJJJ;E&K Y[~?yIA܀Ej7j7,9LB)B¹E[[m=[[~?[O[[[[BZYY i) nIiK3?~; =Y?))p=Y?=Y?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034078.683165 s, next control iter: 1743034079.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743034079.103165 s.mI~,Ʒ%AA= ףp@AM~V@A[~? A% At'%"AA#qNA"AZAbAjArAzAAA+@A2==tAqj@AҮ;A6O=A\">A >?A?AM̼*AO:?2A\ӽ:Aѣ=BAO:?JA\ӽRAѣ=٘i)I9qj@YG J.ǼJJJJ>E&K Y.[~?yk5IA D߀E77<,9)B[[ o=[L*[~?[[[[[BZYY i) VǼIix#?=; ^?)) ^?^?,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034079.123165 s, next control iter: 1743034079.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034079.523165 s.mI~,{%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083698< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034079.523295F (some fields omitted in printout)A(ܙ@A/™@A\~? A A@%"AA#JqNA"AZAbAjArAzAAA[TE,@AlE%=tAi@AT<AŰ=A-آ>A*?A?AҼ*AL:?2Adӽ:Aޑ=BAL:?JAdӽRAޑ=٘i)I9i@YFG JXϼJJJJAE&K YJ[~?y)HAE77҆,9)BŹE[[=[D[~?[[[[[BZYY i) ϼIik?A; d?))d?d?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034079.543165 s, next control iter: 1743034079.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7578, header.stamp.nsec: 00 temperature: 13.568486* salinity: 33.375320, density: 1025.000000* values[0]: 0.573449F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034079.943165 s.WdmI~,>]%AAzG@Axܙ-@A(/\~? AJ A[%"AAqqNA"AZAbAjArAzAAAp+!,@A=9Ag?Ar?ATּ*AE:?2A}Խ:A=BAE:?JA}ԽRA=٘i)I9i@Y G JԼJJJJCE&K Y_e[~?yPHAE{7j7g,9KB)BȹE[[M>[_[~?[[[[[BZYY i=) a^ּIi, ?”; n|i?))n|i?n|i?,YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034079.963165 s, next control iter: 1743034080.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034080.363165 s.nI~,u>%AJ"J*J2J:JBJnJvJA3333@A $@AH\~? AAz%"AAԗqNA"AZAbAjArAzAAA{-@A 7nQ6;tA\h@A50;AY?=Af>A?AEI?AHռ*A>:?2A(Խ:A"=BA>:?JA(ԽRA"=Y>F>y>=;ٓH?xֿ ?l? /?c*? @@e~?`?)> I٘i)I9\h@Yk G JKּJ <JJJFE&Ks> Y[~?yGA>Ej7,9JB)B˹E[[E>[ z[~?[[[[[ZZ¸BZYY i¸e=) ]ʼIi>nf; Bn?))HvBn?Bn?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034080.383165 s, next control iter: 1743034080.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7579&, header.stamp.nsec: 0&0 temperature: 13.568692&* salinity: 33.375347&, density: 1025.000000&* values[0]: 0.572700&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034080.783165 s.V nI~,2%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241006> elevatorAngleAction: 0.084752< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034080.783281F (some fields omitted in printout)[~?)AQ@ASͬ@Ab\~? AAV%"AAoqNA"AZAbAjArAzAAAT|.@ACe:tAg@A8A/=A>A?A$?An^Ѽ*AV2:?2Aս:Au=BAV2:?JAսRAu=٘i)I9g@Y G JӼJJJJIE&K Y.[~?y`GAE7777,9GB) B͹E[[ ->[[~?[|[[[[ZZBZYY i) p\IiV>~; FRt?))>ۅFRt?FRt?'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034080.803165 s, next control iter: 1743034081.183174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034081.203165 s.nI~,.M%AJ"J*J2J:J?BJ?nJ5vJAףp=@A:%p@A_{\~? AAa%"AAqNA"AZAbAjArAzAAAbG.@Ai8tAf@AEd>Ad=A,>A`B?A?A*AR:?2A;Խ:A <BAR:?JA;ԽRA <٘i)I9f@Y G JJJJJLE&K Y[~?yFAE{7{7',9FB)BйE[[mB>[;[~?[[[[[ZZBZYY i) \Ii>T[; y?)) y?y?y=1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034081.223165 s, next control iter: 1743034081.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034081.623165 s.VnI~,Xg%AA)\@AIۛ@A\~? AA%"AA rNA"AZAbAjArAzAAARq)G/@AS7tAjf@A mAΖ=Ad>A ?A ?A*A[:?2AԽ:A.<BA[:?JAԽRA.<٘i)I9f@Y G J@JJJJNE&K Y[~?yqFAEj7,9)B[[]Y>[[~?[F[[[[ZZBZYY i) ?[Ii>789; U?))U?U?yz=ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034081.643165 s, next control iter: 1743034082.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7580 , header.stamp.nsec: 0 0 temperature: 13.568930 * salinity: 33.375351 , density: 1025.000000 * values[0]: 0.571911 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034082.043165 s. nI~,Â%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084752< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034082.043295F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@AX0G@A\~? AdA%"AA1rNA"AZAbAjArAzAAARyE/@A6=.6tACe@A"A"~r=Aȃ>A{?A?A*A^:?2ACս:A[<BA^:?JACսRA[<٘i)I9Ce@Y G J JJJJQE&K Yc[~?ypEAEj7R,9)BӹE[[Xo>[[~?[aߪ[[[[ZZBZYY i) "ZIir>nZ; r?))r?r?ਪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034082.063165 s, next control iter: 1743034082.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034082.463165 s.'nI~,%AA̜@Aڎ@AY\~? AAB%"AAVrNA"AZAbAjArAzAAA0d:0@AX 4tAnd@A A}.=A>A W?A`&h?Acϼ*A]:?2A\ս:Av;BA]:?JA\սRAv;Y}v>>y|.=ٓH@ݤ?mܿ x?f?`z?ӓ?٥ =?)}v> I٘i)I9d@Y G J{J1ؽJJJTE&Ku> Y\~?yEA>E7{7,9EB) BֹE[[>[:[~?[Rݪ[[[[ZZBZYY i=) ĐIi!)>|: 6?))xy6?6?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034082.483165 s, next control iter: 1743034082.863183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7581, header.stamp.nsec: 00 temperature: 13.569189* salinity: 33.375378, density: 1025.000000* values[0]: 0.571041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034082.883165 s.J "J *J 2J y-nI~:J/?BJ/?nJI5,4%AvJAQ8@A]4d<@A\~? AWAs%"AAb|rNA"AZAbAjArAzAAA߱/ȅ0@A$UT3tAc@AT<Ax<A>A0?A `4?AO*AX:?2Aս:AlߺBAX:?JAսRAlߺ٘i)I9c@Y G J¼JJJJVE&K Y\~?yݪEAE77j7},9DB)%BٹE[[ݍ>[\~?[۪[[[[ZZBZYY i) cȄIi=P: Y?)) Y?Y?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034082.923165 s, next control iter: 1743034083.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034083.303165 s.U4nI~,sgӸ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075134< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034083.303294F (some fields omitted in printout)Aq= ף@Aο@A\~? AA1%"AArNA"AZAbAjArAzAAAVA0@AZi1tA_c@ATY<A <A?A?A`G?Aw*Apm:?2AԽ:AW BApm:?JAԽRAW ٘i)I9_c@Ya G JfJJJJYE&K Yl5\~?y٪IEAE7{7,9CB)(BܹE[[>[[4\~?[ت[[[[ZZBZYY i) WtIi/=b9 2Ί?))2Ί?2Ί?\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034083.323165 s, next control iter: 1743034083.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7582., header.stamp.nsec: 0.0 temperature: 13.569380.* salinity: 33.375393., density: 1025.000000.* values[0]: 0.570363.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034083.723165 s.;nI~,H%AJ"J*J2J:JBJnJvJA(\@A%[]N@A]~? AAy%"AArNA"AZAbAjArAzAAA(1@AW/tAVc@A֡(<AA*?Ac?Ae?A/*Af:?2AԽ:AqBAf:?JAԽRAq٘i)I9c@Y( G JbB=JJJJ\E&K YN\~?yժEAE77,9)+B[[k>[N\~?[ժ[[[[ZZBZYY iŬ=) m^II?iY [i\~?[Ӫ[[[[BZYY i) HII?i}Mo Vj?))Vj?Vj?y给=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034084.163165 s, next control iter: 1743034084.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034084.563165 s.HnI~,[ $%AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084362< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743034084.563314F (some fields omitted in printout)Affff枽@A{2Q̞@A?]~? AdAV%"AAsNA"AZAbAjArAzAAAĴ1@ARU +tAޯb@AAF| A`?A0?A@n?AD*AZL:?2AIս:AIԼBAZL:?JAIսRAIԼY촮>s?y{ .ٓH9?]㠿j?)?N?@QÀ ?)촮> I٘i)I9b@Y G JUJ{:JJJaE&Kt> Y\~?y)ͪEAs?E77ұ,9>B))BE[[>[\~?[Ъ[[[[BZYY iΥo=) 7Im I?ijlɛ 9%?))+}9%?9%?y ۭ=8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034084.603165 s, next control iter: 1743034084.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7583, header.stamp.nsec: 00 temperature: 13.569378* salinity: 33.375397, density: 1025.000000* values[0]: 0.570055F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034084.983165 s.OnI~,>%AAQ@AMT7@AW]~? AA%"AA4sNA"AZAbAjArAzAAA#g1@AѪl)tA b@AVcA*8A?A P?A ?A!;*A2<:?2A}ս:A?BA2<:?JA}սRA?٘i)I9b@Y G J:B=JJJJdE&K Y\~?yyȪ1EAEŧ7h,9=B)(BE[[x>[͝\~?[̪[[[[BZYY i]=)  (&I I?i8F ?)) ??y_=ix*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034085.003165 s, next control iter: 1743034085.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034085.403165 s.&VnI~,Y%AJ"J*J2J:J?BJ?nJ5vJA ףp@ArZ@A:o]~? AA%"AAWsNA"AZAbAjArAzAAAf3y:2@A<3M'tAb@A?sLA@^A?A ?A?A <*A_H:?2AԽ:A8BA_H:?JAԽRA8٘i)I9b@Y G JQ;C=JJJJfE&K Y\~?yê_EAE7,9[\~?[nɪ[[[[BZYY i) II?io 9?))9?9?yk=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034085.423165 s, next control iter: 1743034085.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7584", header.stamp.nsec: 0"0 temperature: 13.569274"* salinity: 33.375404", density: 1025.000000"* values[0]: 0.570168"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034085.823165 s.\nI~,>t%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743034085.823325F (some fields omitted in printout)A\(@A2@A]~? AAg%"AAd{sNA"AZAbAjArAzAAAI2@A`1b%tA)c@AIAs{A%?A !?A`F?A]=<*A:A:?2AD2ս:Aݒ BA:A:?JAD2սRAݒ ٘i)I9)c@YA G J$<B=JJJJiE&K Y\~?yEA E)7ŧ7,9)#B[[[~>[\~?[Ū[[[[BZYY i) 5rII?iŏ8 ?))??y=B*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034085.863165 s, next control iter: 1743034086.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034086.243165 s.cnI~,`%AJ"J*J2J:JBJnJvJAGz@A3bz@A]~? AAh%"AAsNA"AZAbAjArAzAAAcAf2@A#tAc@Aw{;AlAa4$?A ?A?A_f<*A"<:?2Aս:A, BA"<:?JAսRA, ٘i)I9c@Yv G JqQ<C=JJJJlE&K Y\~?yhEA Ej7j7',9;B)BE[[G>[\~?[[[[[BZYY i) 82IuH?iQ ]?))]?]?m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034086.283165 s, next control iter: 1743034086.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034086.663165 s.jnI~,q%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7585, header.stamp.nsec: 00 temperature: 13.569016* salinity: 33.375423, density: 1025.000000* values[0]: 0.570566F (some fields omitted in printout)A@A.=堽@AV]~? A!ܫAz%"AAAsNA"AZAbAjArAzAAAq:N{ 3@A tAc@A7N<AA#)?Ao?A@+[?AS<*Ae7:?2Aeֽ:A BAe7:?JAeֽRA Yl>N)?y O<ٓH60?@? ;? +P?@ω?Z?)l> I٘i)I9c@Y G Jv<JFJJJnE&K9v> YA\~?yFAN)?E{7{7,9:B)BE[[#>[)]~?[[[[[BZYY i;p=) @ŻI)H?iľ| %?))E%?%?2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034086.683165 s, next control iter: 1743034087.063182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034087.083165 s.DqnI~,SŹ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250527> elevatorAngleAction: 0.058834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034087.083297F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@AgoQ@A]~? A ثA%"AAsNA"AZAbAjArAzAAAoқP3@ArЗ+*tA_d@AEU<AA.?A{1?A-?Al<*A3:?2Aֽ:AcBA3:?JAֽRAc٘i)I9_d@Y G J<JJJJqE&K Y ]~?yFAE77R,97B)BE[[e?[j]~?[ȹ[[[[BZYY i) IH?ic⾉V㐻 X?)) X?X?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034087.103165 s, next control iter: 1743034087.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034087.503165 s.wnI~,]4%AAp= ס@Ap󼡽@A]~? AӫAR%"AAtNA"AZAbAjArAzAAA&53@A5J4tAd@A;AQA3?A@?AO?Am<*AD:?2Azս:ALBAD:?JAzսRAL٘i)I9d@YN G JT<JJJJtE&K Y"]~?y.FAE77,96B)BE[[?[7]~?[a[[[[BZYY i) IMH?iTA ̦?))̦?̦?M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034087.543165 s, next control iter: 1743034087.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7586, header.stamp.nsec: 00 temperature: 13.568700* salinity: 33.375443, density: 1025.000000* values[0]: 0.571184F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034087.923165 s.8~nI~,%AJ"J*J2J:J9?BJ9?nJS5vJA(\B@Az(@A]~? AtϫA%"AA'tNA"AZAbAjArAzAAA~3@A"ztAwe@Ab]AAX8?A@?A`_?AX<*AG:?2Aiս:ABAG:?JAiսRA٘i)I9we@Y G JҮ<JJJJwE&K Y9]~?yƤFGAEŧ7b7},91B)BE[[ ?[P]~?[ư[[[[BZYY i) xSIH?i" Q?))Q?Q?yJq=*Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034087.963165 s, next control iter: 1743034088.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034088.343165 s. elevatorAngleAction: 0.058834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743034088.343280F (some fields omitted in printout)AHz@ACy@A ^~? AʫA%"AA1HtNA"AZAbAjArAzAAA1&4@Atw,tAf@A8=AA=?A}o?A`?Aӽ<*AJ:?2A$~ս:A+BAJ:?JA$~սRA+٘i)I9f@Y G J6<JJJJyE&K YfO]~?y]GAE7777,9)B[[ݶ?[@i]~?[[[[[BZYY i) IH?i ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034088.383165 s, next control iter: 1743034088.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7587*, header.stamp.nsec: 0*0 temperature: 13.568326** salinity: 33.375443*, density: 1025.000000** values[0]: 0.571934*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034088.763165 s.7nI~,0%AJ"J*J2J:JBJnJvJA@A9 Q@A+"^~? ASƫAU%"AAhtNA"AZAbAjArAzAAA$gvY4@A]XtAf@AɊ_A:AB?Ai*?AaU?AT<*A3M:?2Aս:AI1 BA3M:?JAսRAI1 Y, ?2C?y73`ٓH`Q?n ?%)?` ? ?), ? I٘i)I9f@Yi G Jc<J3IJJJ|E&Kv> Yc]~?yIHA2C?Eb77,90B)BE[[?[o]~?[[[[[BZYY i) $۵IrH?i8!d\λ e?))e?e?i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034088.803165 s, next control iter: 1743034089.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034089.183165 s.˒nI~,gK%AAQ@Ak@AC7^~? AA%"AAtNA"AZAbAjArAzAAA(bj4@AWptA_Tg@A AA'CH?A?A?A<*AO:?2AZֽ:ABAO:?JAZֽRA٘i)I9Tg@Y G J<JJJJE&K Y9x]~?y5|HAE77=,9/B)BE[[uy?[l]~?[ۡ[[[[BZYY i s=) I H?i.߻ C?))C?C?{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034089.223165 s, next control iter: 1743034089.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034089.603165 s.94nI~,f%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067602< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034089.603278F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A.9֣@A L^~? AA%"AAרtNA"AZAbAjArAzAAA86g4@Ajwr tAVg@AE :Ax6AsM?A?A ?A<*AQ:?2Aֽ:A BAQ:?JAֽRA ]I٘i)I9g@Y( G J5<B=JJJJE&K Y]~?y HA"E77,9,B)BE[[ l#?[5]~?[}[[[[BZYY i) 9IH?ie:Ԗ r(?))r(?r(?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034089.643165 s, next control iter: 1743034090.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7588 , header.stamp.nsec: 0 0 temperature: 13.567904 * salinity: 33.375481 , density: 1025.000000 * values[0]: 0.572747 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034090.023165 s.ZnI~,{%AA(\@AڒUB@A|`^~? AAp%"AAtNA"AZAbAjArAzAAA1"4f5@APl` tAHh@As&<A$1AS?A J?A 9?As!<*AO:?2AyG׽:A BAO:?JAyG׽RA ٘i)I9h@Y G J<C=JJJJE&K Y]~?y OIA$Eb77h,9+B)BE[[3f)?[]~?[떪[[[[BZYY i) 8:I}H?iD ?))?? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034090.063165 s, next control iter: 1743034090.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034090.443165 s.4ænI~,1]%AJ"J*J2J:JBJnJvJAzǤ@A@At^~? AyA%"AAtNA"AZAbAjArAzAAA AW_S5@A*o}:tAi@Ad<A$A`X?A`?Aa?A'D<*AM:?2A^f׽:ABAM:?JA^f׽RA󼙘٘i)I9i@Y G JD<JJJJE&K Yx]~?yIA'Eb7,9*B)BE[[Mh/?[]~?[&[[[[BZYY i) ;IH?iKU ?))??yc=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034090.483165 s, next control iter: 1743034090.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7589, header.stamp.nsec: 00 temperature: 13.567533* salinity: 33.375484, density: 1025.000000* values[0]: 0.573535F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034090.863165 s.+nI~,>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067602< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034090.863308F (some fields omitted in printout)A33333@AF!@A]^~? A0A9%"AAuNA"AZAbAjArAzAAAHaL5@ARtAi@A{*<A7A]?A?A?AlG<*A5K:?2A}F׽:A(BA5K:?JA}F׽RA(YlC%? \]?yFG+<ٓHB?@\Ւ J??2Qr?T?@?)lC%? I٘i)I9i@Y#G J<J<JJJE&Ky> Y]~?yDzJA\]?*E77{7,9)ݯB[[q`5?[~]~?[@[[[[BZYY i) R;IҠH?iY߂ ?))??k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034090.883165 s, next control iter: 1743034091.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034091.283165 s.1RnI~,Һ%AJ"J*J2J:J?BJ?nJ 5vJAQ@A~SX@AǛ^~? AǧA3%"AA"uNA"AZAbAjArAzAAAu)5@AYtA j@A~p:A͉Ab?AZ?A`?AJ<*AKH:?2A׽:A BAKH:?JA׽RA ٘i)I9 j@YqG Jz<JJJJE&K Y"]~?ystJA,E77(,9)B)دBE[[c;?[ ^~?[&[[[[BZYY i) M;IpH?iVfj >?))>?>?ѻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034091.303165 s, next control iter: 1743034091.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7590., header.stamp.nsec: 0.0 temperature: 13.567183.* salinity: 33.375500., density: 1025.000000.* values[0]: 0.574217.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034091.703165 s.ӺnI~,%AAףp= @A+@A׮^~? A@A %"AA?uNA"AZAbAjArAzAAA 6@A&dSsA(j@AA6Ang?A?A@I@?A<*ACE:?2Aֽ:ABACE:?JAֽRA٘i)I9j@YG J <JJJJE&K Yv]~?ylJA/E77,9&B)ѯBE[[pA?["^~?[~[[[[BZYY i) 8;IH?ipY  ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034091.723165 s, next control iter: 1743034092.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034092.123165 s.3nI~,L%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067602< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034092.123275F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@AI[@A^~? AAy%"AA\uNA"AZAbAjArAzAAAzʫ<6@AsA% k@Abq_Aw̆Aql?A?A g?Ang<*A elevatorAngleAction: 0.077206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743034093.383273F (some fields omitted in printout)AQ@A~!<@AV^~? AA%"AAuNA"AZAbAjArAzAAA6i06@Ao})sA{vl@A;AA|?A2G?Aw?A<*A4:?2A׽:ABA4:?JA׽RA٘i)I9vl@YG J<JJJJE&K Y5^~?yRILA:Eb77,9"B)B E[[ZY?[v^~?[c[[[[BZYY i) }t-9B)B E[[*f?[j^~?[BU[[[[BZYY i) `0 elevatorAngleAction: 0.077206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034094.643294F (some fields omitted in printout)AG@AN ਽@A)_~? AYxA6%"AA)uNA"AZAbAjArAzAAAw7@A3sAm@Aܥ;AWA>?A ?Ax?AԈ<*A:?2A?׽:AABA:?JA?׽RAA٘i)I9m@YG J<JJJJE&K Yl^~?y=bMABE77{7-9)B[[Jl?[^~?[M[[[[BZYY i) ? Y\z^~?y<6MÄ?EE777h -9B)BE[[*`r?[^~?[EF[[[[BZYY i) :O[[[[BZYY i) A^ elevatorAngleAction: 0.077206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743034095.903310F (some fields omitted in printout)A ףp=@A|\#@AW_~? AdA%"AACvNA"AZAbAjArAzAAA)8@A#i\sA4o@A_AӓAR?A@*?A7W?A<*Al :?2AKֽ:ApBAl :?JAKֽRAp٘i)I94o@YG J<JJJJE&K Y^~?y&NAJEŧ77-9B)BE[[~?[^~?[6[[[[BZYY i) (np@A_:A>AC?A^"?A?A<*A6:?2A U׽:AR BA6:?JA U׽RAR ٘i)I9>p@Y8G Jܞ<JJJJE&K Y^~?y[AOAOEb7b7-9B)BE[[?[_~?[}&[[[[BZYY i=) rd elevatorAngleAction: 0.086290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743034097.163297F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AAe@Ar_~? AuPA;%"AAvNA"AZAbAjArAzAAA Y^~?y?OAە?RE77{7S-9B)BE[[2?[_~?[>[[[[BZYY i) *<@A{_~? AsBAK%"AAGvNA"AZAbAjArAzAAA].f8@A^,sAq@A <A?2A*?A?A ?Ay9<*Aq9?2AD׽:ABAq9?JAD׽RA٘i)I9q@Y.G Jl<JJJJE&K Y^~?ywPAWE{7{7~$-9B)BE[[ǎ?[ elevatorAngleAction: 0.086290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034098.423324F (some fields omitted in printout)A(\¬@AK@AΨ_~? AT;A%"AAUvNA"AZAbAjArAzAAA±P8@AL]Y9sAnar@At :A0A?A?A?A?<*A[9?2AWֽ:ABA[9?JAWֽRA٘i)I9ar@YG Jթ<B=JJJJE&K Y^~?yPAZEb7b7(-9)B[[ ?[m<_~?[[[[[BZYY i) sAs@A_bAMƩAt?A?A c;?Aɿ<*A9?2APgֽ:ABA9?JAPgֽRAY׆?!?y!©YcٓH=?@?{?O?`6@ 2?V@?)׆? I٘i)I9s@Y@G J<JJJJE&KAx> Y^~?yhQA?_E{7Z7>/-9)rB[[?[T_~?[ [[[[BZYY i) Qb elevatorAngleAction: 0.086290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743034099.683325F (some fields omitted in printout)AQ@At 뭽@A_~? A%A)}%"AABvNA"AZAbAjArAzAAA]hIa9@A}s1sA8t@Aa<A!JAa?A@9?A@m?A<*A\9?2A:ֽ:AWBA\9?JA:ֽRAW٘i)I98t@YG J<JJJJE&K YJ^~?yݩ+RAbEb772-9 B)lBE[[=?[__~?[[[[[BZYY i) ] elevatorAngleAction: 0.086290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743034100.943285F (some fields omitted in printout)AzG@AEA-@A_~? A A0%"AA#wNA"AZAbAjArAzAAAƛЉ9@AF턣sA+v@Ae8X<A벽Az?A?A?A8~<*Ac9?2Am׽:ABAc9?JAm׽RA٘i)I9+v@YG J<JJJJʁE&K Y(_~?yĩSAjEb77=-9 B)XBE[[?[3}_~?[Ω[[[[BZYY i) W%AJ"J*J2J:JBJnJvJA3333@A"@A_~? AA%"AA1wNA"AZAbAjArAzAAAjow9@Ay%bsAv@A0LN<AA?A@C?A"?A<*Ar9?2AB@׽:ABAr9?JAB@׽RAY?S?y#O<ٓHY? c@sMC?`?`ʶ?`Yɉ?_?)? I٘i)I9v@Y;G J<J(VJJJ́E&Kcx> Y_~?y$SA?mE77)A-9)SB[[ŧ?[_~?[Wũ[[[[BZYY i) zwNA"AZAbAjArAzAAAF_l!9@ADvs9sA/w@Aր;A޶A?Apv?AOI?A<*Aٴ9?2Aֽ:ABAٴ9?JAֽRA٘i)I9w@YG J<JJJJρE&K Y)_~?ysTAoED-9)MB[[?[_~?[[[[[BZYY i) a elevatorAngleAction: 0.086290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743034102.203290F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@Ak)p@A`~? A5A^%"AAKwNA"AZAbAjArAzAAA (:@A"sA&;x@Al)A*PA?A@ҩ?ACm?A<*A9?2Aoֽ:A5BA9?JAoֽRA5٘i)I9;x@YG J<B=JJJJҁE&K Y!_~?y媩TArEŧ77TH-9B)EBE[[?[_~?[[[[[ZZZZ¸>BZYY i¸>8) 2A?A ?A`?A\<*AӬ9?2A3ֽ:A BAӬ9?JA3ֽRA ٘i)I9x@YG J<C=JJJJՁE&K Y)'_~?yFfUAuESI7SI7K-9)?B[[4?[ _~?[[[[[ZZZZBZYY i)  YU/_~?y␩HVA?zE77S-9)1B[[~?["_~?[镩[[[[ZZZZBZYY i) <JJJE&Kix> Y9_~?yeWA?E777d-9)B[[D?[_~?[e[[[[ZZZZBZYY iM|) pn[[[[BZYY i) t"JJJE&Kw> Y5_~?y8mWA?E7ŧ7v-9)B[[ ?[z_~?[5[[[[BZYY ig) ô:@AmoLsA}@A S<A=Ax?ApA-x?A|*A|9?2AG*ֽ:A;=BA|9?JAG*ֽRA;=٘i)I9}@YG JJJJEJE&K Y/_~?yj'VAE777~-9)BE[[W?[/_~?[![[[[BZYY i) ܬ;I E?iିH] C@))C@C@LȪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034108.543165 s, next control iter: 1743034108.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7607, header.stamp.nsec: 00 temperature: 13.562341* salinity: 33.375607, density: 1025.000000* values[0]: 0.584824F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034108.923165 s.<oI~,;%AJ"J*J2J:J?BJ?nJ5vJA(\B@A0Bx(@A:`~? AxA&"AAwNA"AZAbAjArAzAAA͌:@AGGsAv|@A Ƨ;A~ؖ=A?AAv?AH*A9?2Aֽ:A`=BA9?JAֽRA`=٘i)I9|@YG JJJJJE&K Y,_~?yrVAE{7{7-9)B[[z?[_~?[M[[[[BZYY iB) ;IE?i6Y  @)) @ @y:hϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034108.943165 s, next control iter: 1743034109.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034109.343165 s.+i"?)? I٘i)I9{@YG JJ =JJJE&KQx> Y#_~?yI UA?Eb77Ո-9B)#BE[[4?[4_~?[t[[[[BZYY i) ;IE?iT #@))#@#@y ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034109.803165 s, next control iter: 1743034110.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034110.183165 s.oI~,g%AAQ@A k@A#6`~? A`Atz&"AAOwNA"AZAbAjArAzAAA kٌ-:@AjJ9sA9z@A:`Ag<=A?A`?wA\b?AS**Ar9?2A׽:A=BAr9?JA׽RA=٘i)I9z@YG JJJJJE&K Y_~?yPUAE77j-9)'B[[?[_~?[[[[[BZYY i) lS;ICE?iR ~%@))~%@~%@MԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034110.203165 s, next control iter: 1743034110.583178 s, wait time: 0.380013 s_~?) rAdjusting time to match Gazebo time: 1743034110.603165 s.J "J *J 2J :J f?BJ f?<4oI~nJ5vJ,Ú%AA= ף@A Fָ@A3`~? AXA &"AAwNA"AZAbAjArAzAAA~kz߀:@AR4sArz@A2A?=ArG?A?A V?Ah!*A9?2Aֽ:AC=BA9?JAֽRAC=٘i)I9rz@YnG JJJJJE&K Y_~?yTAE77-9),B[[d?[~_~?[[[[[BZYY i) v;IzE?i/O  '@)) '@ '@zӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034110.643165 s, next control iter: 1743034111.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7609 , header.stamp.nsec: 0 0 temperature: 13.562840 * salinity: 33.375607 , density: 1025.000000 * values[0]: 0.583589 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034111.023165 s.ZoI~, |%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034111.023302F (some fields omitted in printout)A(\@AxB@A0`~? APAb &"AAwNA"AZAbAjArAzAAA4?:@A7p^5/sAy@A=;A;=A>?AA@H?A뭼*A%9?2Aoֽ:Ad=BA%9?JAoֽRAd=٘i)I9y@YG JB=JJJJ E&K Y_~?yuTAEb7-9)0B[[?[u_~?[[[[[BZYY i) U:IiE?iK ((@))((@((@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034111.043165 s, next control iter: 1743034111.423185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743034111.443165 s.7oI~,>]ܿ%AJ"J*J2J:JP?BJP?nJ5vJAzǹ@A,@A,`~? AHAP &"AAwNA"AZAbAjArAzAAAnij:@ABS*sANy@A=<AB7=AO?AپA8?Ap*A9?2AY:ֽ:APo=BA9?JAY:ֽRAPo=٘i)I9Ny@YG JC=JJJJ E&K Y. _~?yTAEŧ7*-9B)6BE[[/?[/l_~?[[[[[BZYY i) /9I3YE?i>>E (*@))(*@(*@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034111.463165 s, next control iter: 1743034111.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7610, header.stamp.nsec: 00 temperature: 13.563117* salinity: 33.375595, density: 1025.000000* values[0]: 0.582920F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034111.863165 s.+oI~,>%AA33333@A2*@A(`~? A@A &"AAwNA"AZAbAjArAzAAA:KQ~:@At%sAٻx@A*g<A=AD?A;AJ%?A<%*A9?2AEֽ:A=BA9?JAEֽRA=Yy??y骓=ޏh<ٓH`ӿu_?Mӿ`L?@Eqe? ?)y? I٘i)I9x@YcG JӮJSJJJE&K x> Y_~?yySA?E777-9):B[[ K?[a_~?[ר[[[[BZYY i) IHE?iژ}C +@))+@+@|˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034111.903165 s, next control iter: 1743034112.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034112.283165 s.5RpI~,%AJ"J*J2J:J#?BJ#?nJa5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743034112.283277F (some fields omitted in printout)AQ@AR@AH$`~? A8Ac &"AAiwNA"AZAbAjArAzAAAUq0Xp:@A sAe,x@A<A=A?A`qA?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9,x@Y G JЪJJJJE&K Y^~?yڨSSAE77U-9)?B[[d?[V_~?[Ψ[[[[BZYY i) &&I8E?iR@ ?-@))?-@?-@ǪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743034112.323165 s, next control iter: 1743034112.683178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7611., header.stamp.nsec: 0.0 temperature: 13.384322.* salinity: 33.391602., density: 1025.000000.* values[0]: 0.706551.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034112.703165 s.պ pI~, -%AAףp= @A.@A%`~? A0A]# &"AAwNA"AZAbAjArAzAAABt`:@AOJ%sAw@A A7=A>?AdÿA ?A:*A9?2APֽ:A<BA9?JAPֽRA<٘i)I9w@YG J_B=JJJJE&K Y'^~?yѨRAE777-9)CB[[i|?[`K_~?[Ũ[[[[BZYY i) -I(E?i?!z< .@)).@.@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034112.723165 s, next control iter: 1743034113.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034113.123165 s.1pI~,CG%AJ"J*J2J:JBJnJvJA)\u@A[@A|`~? A(A &"AAywNA"AZAbAjArAzAAA 5JO:@A[sA w@A$A =A?A+lſA3?A*A9?2A+׽:A!<BA9?JA+׽RA!<٘i)I9 w@YiG JC=JJJJE&K Y{^~?yVɨRAEb77-9B)IB E[[?[(?_~?[8[[[[BZYY i) UI_E?i掿e6 }W0@))}W0@}W0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034113.163165 s, next control iter: 1743034113.523174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743034113.543165 s.IpI~,b%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743034113.543289F (some fields omitted in printout)A{Gỽ@AU0ǻ@AM`~? A A\W &"AApwNA"AZAbAjArAzAAAN<:@AJp*sA{v@AjA=Aѓ?AKǿA?An*A9?2Ac5׽:ACY<BA9?JAc5׽RACY<٘i)I9v@YG JJJJJE&K Y^~?y*RAE7ŧ7-9)MB[[O@[Y2_~?[[[[[BZYY i) I E?i 0 a1@))a1@a1@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034113.583165 s, next control iter: 1743034113.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7612, header.stamp.nsec: 00 temperature: 13.384594* salinity: 33.391613, density: 1025.000000* values[0]: 0.705426F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034113.963165 s.wpI~,}%AJ"J*J2J:J4?BJ4?nJ\=5vJAL@AԲ2@A `~? A0A@ &"AA;gwNA"AZAbAjArAzAAAݎ<(:@AEf sA>+v@A+5A=A3'?A`U$ɿA@?Af*A29?2A׽:A<BA29?JA׽RA Yq^~?y帨QA?E{7Z7-9)PB[[@[$_~?[5[[[[BZYY ie) ID?i|k- "k3@))"k3@"k3@>YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034114.003165 s, next control iter: 1743034114.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034114.383165 s.%pI~,D%AAQ@A$ }6@))}6@}6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034114.843165 s, next control iter: 1743034115.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034115.223165 s.g3pI~,H%AA(\@A3&:JJJ+E&KOx> Y ^~?yPA@ˁE77-9)iB[[u @[u^~?[߃[[[[BZYY i) !I۹D?idM ;@));@;@ɼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034116.103165 s, next control iter: 1743034116.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034116.483165 s.w_GpI~,%AJ"J*J2J:JBJnJvJAѾ@AH]۷@A_~? A`A3r&"AAwNA"AZAbAjArAzAAA. j9@AݜorA`s@AxA=At@AѿA-?A+ *A9?2A׽:Av=BA9?JA׽RAv=٘i)I9`s@Y G J(B=JJJJ-E&K Y^~?yPOÁE{7{7+-9 B)oBE[[f @[w^~?[3|[[[[BZYY i) hM1ID?i]q s<@))s<@s<@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034116.523165 s, next control iter: 1743034116.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7615, header.stamp.nsec: 00 temperature: 13.385279* salinity: 33.391647, density: 1025.000000* values[0]: 0.702385F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034116.903165 s.MpI~,9%AA ףp=@AF ^#@A_~? AA&"AA wNA"AZAbAjArAzAAAQBUo9@A~OrAr@AVA=A%6@AҿAb?A<@*A9?2AD׽:A=BA9?JAD׽RA=٘i)I9r@YG JևC=JJJJ0E&K Y+~^~?yKOAЁE777-9)rB[[z @[^~?[t[[[[BZYY i) @ID?ieSJ M>@))M>@M>@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034116.923165 s, next control iter: 1743034117.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034117.323165 s.wTpI~,)T%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076366< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034117.323289F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@AN܎@A_~? AܩA&"AAvNA"AZAbAjArAzAAA>O9@A:grA2{r@A[AO=Aك @AkӿAM?A>*A9?2A'׽:A2=BA9?JA'׽RA2=٘i)I9{r@YG JJJJJ3E&K Y@[^~?[^m[[[[BZYY i) ZPIߗD?iG X?@))X?@X?@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034117.343165 s, next control iter: 1743034117.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7616*, header.stamp.nsec: 0*0 temperature: 13.385496** salinity: 33.391666*, density: 1025.000000** values[0]: 0.701414*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034117.743165 s.W[pI~,mo%AAGz@A?Ȳ`@AԹ_~? AHթA#&"AAuvNA"AZAbAjArAzAAA #@-9@A'zBrAr@A׻A=A) @AԿA`?Ai*A9?2Axֽ:A =BA9?JAxֽRA =٘i)I9r@YKG J5JJJJ5E&K YMb^~?yTrNAՁEŧ77-9 B){BE[[v@[^~?[8f[[[[BZYY i) _I܍D?i4:tW 1#A@))1#A@1#A@ZʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034117.783165 s, next control iter: 1743034118.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034118.163165 s.v}bpI~,q%AJ"J*J2J:JBJnJvJA@Ake@A2_~? AΩA&"AA7vNA"AZAbAjArAzAAAIS 9@AWrAփq@Ap;A/=A) @A MpտA?A7(*AX9?2Asֽ:A! =BAX9?JAsֽRA! =Y? @y=Ԥq;ٓH`{ <@?W?`n?@?)? I٘i)I9q@YG J5B=J.n<JJJ8E&Kw> YQ^~?y&k.NA @؁E{7j7-9 B)BE[[#@[~^~?[(_[[[[BZYY i) oI8D?iL3 qB@))qB@qB@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034118.183165 s, next control iter: 1743034118.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034118.583165 s.hpI~,S%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076366< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743034118.583332F (some fields omitted in printout)AR@A r@A_~? AƩA=&"AADvNA"AZAbAjArAzAAAݙ8J8@AM %-rAp@ARE<A=AtM @AEֿA?A~*AZ9?2A7ֽ:AV=BAZ9?JA7ֽRAV=٘i)I9p@YG JC=JJJJ;E&K YA^~?ycMA DہE{7-9B)BE[[s@[Fk^~?[EX[[[[BZYY i) E~I{D?if*ڻ 5%D@))5%D@5%D@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034118.623165 s, next control iter: 1743034118.983181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7617, header.stamp.nsec: 00 temperature: 13.385716* salinity: 33.391708, density: 1025.000000* values[0]: 0.700416F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034119.003165 s.J "J *J 2J :J N3?BJ N3?nJ <5vJ x ppI~,L4%AAp= W@AG<@A_~? AֿA&"AAvNA"AZAbAjArAzAAAx48@AƮrArp@A-f<AS=A@A׿A@ o?A*A9?2AMAֽ:Av=BA9?JAMAֽRAv=٘i)I9rp@YWG JJJJJ=E&K Y>1^~?y\eMA݁E77-9)B[[@[pW^~?[Q[[[[BZYY i) I|rD?i1̻ RE@))RE@RE@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034119.023165 s, next control iter: 1743034119.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034119.423165 s.uvpI~,%AA(\@Aaxw@A_~? AٸAIR&"AACvNA"AZAbAjArAzAAAl빗8@A+ArAKo@A=!<A =A@A1׿A@1?A@;*A[9?2ARֽ:A=BA[9?JARֽRA=٘i)I9o@YG JAJJJJ@E&K Y ^~?yUMAE7@-9B)BE[[g@[=C^~?[ K[[[[BZYY i) pTIjD?iF» $G@))$G@$G@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034119.443165 s, next control iter: 1743034119.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7618, header.stamp.nsec: 00 temperature: 13.385987* salinity: 33.391693, density: 1025.000000* values[0]: 0.699291F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034119.843165 s.|pI~,%AJ"J*J2J:J3?BJ3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743034119.843319F (some fields omitted in printout)AHz.½@A½@A {_~? AA &"AA5vNA"AZAbAjArAzAAAt_\n8@A=arAYYo@AeAo=AG@ACؿA?AG*A9?2Aֽ:A9=BA9?JAֽRA9=٘i)I9Yo@YG JJJJJCE&K Y^~?ypNLAEŧ7b7-9B)BE[[@[.^~?[D[[[[BZYY i) 핼IcD?iب [H@))[H@[H@|֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034119.863165 s, next control iter: 1743034120.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034120.263165 s.pI~,%AA½@A)½@Am_~? AA`&"AAu{vNA"AZAbAjArAzAAA D8@Ad7rAn@A/+AE=Ak@AٿA"?A*A?9?2A0׽:A=BA?9?JA0׽RA=Y@)@yC=*+ٓH" `s? 1?jóe?)@ I٘i)I9n@YXG JףJ $<JJJFE&KKx> Y]~?yG2LA@E7)7k-9B)BE[[V@[^~?[{>[[[[BZYY i) :hI\D?ij H))HJ@y3讽٪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034120.283165 s, next control iter: 1743034120.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7619., header.stamp.nsec: 0.0 temperature: 13.386253.* salinity: 33.391712., density: 1025.000000.* values[0]: 0.698140.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034120.683165 s.lpI~,g+%AJ"J*J2J:JBJnJvJAQý@Amɪ½@A^_~? AeAm&"AAfvNA"AZAbAjArAzAAA&n8@Ar~rAEn@AhA#=A@A z_ڿApi?A*AҦ9?2A2׽:A=BAҦ9?JA2׽RA=٘i)I9En@YG JKJJJJHE&K YV]~?y3AKAE777-9B)BE[[@[^~?[p8[[[[BZYY i) ⤼IVD?i㾉ر /F))/FK@vݪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034120.683165 s, next control iter: 1743034121.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743034121.103165 s.pI~,F%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743034121.103289F (some fields omitted in printout)A= ףpý@A#.Vý@AO_~? AÝAf&"AAOvNA"AZAbAjArAzAAA+7@ArAm@A\K+AH=A:@A@ 'ۿA@S#?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9m@YG JJJJJKE&K Y]~?y:]KAEŧ7ŧ7-9)B[[B@[U]~?[2[[[[BZYY i) :^IBQD?i˾a  E)) EM@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034121.143165 s, next control iter: 1743034121.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034121.523165 s.pI~,|a%AJ"J*J2J:JBJnJvJA(ý@A7oý@A@_~? A9A&"AA-9vNA"AZAbAjArAzAAA!r׽7@Axr/rA#m@A.Ad=A{@AۿA?A͵*Aݜ9?2Aֽ:A_=BAݜ9?JAֽRA_=[I٘i)I9#m@YTG JwJJJJNE&K Y ]~?y3JAE777+-9B)BE[[д@[G]~?[,[[[[BZYY i) ٳILD?i񯾉4a C))CN@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034121.543165 s, next control iter: 1743034121.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7620, header.stamp.nsec: 00 temperature: 13.386522* salinity: 33.391716, density: 1025.000000* values[0]: 0.696988F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034121.943165 s.XdpI~,B]|%AAzGĽ@A#-Ľ@A0_~? AȐAzf&"AA!vNA"AZAbAjArAzAAA[X7@ACn#rAl@A<A#0=A@ABܿA?A*A9?2A)ֽ:A3=BA9?JA)ֽRA3=٘i)I9l@YG JJJJJPE&K Y]~?yV-JAE)7b7-9B)BE[[$@[]~?[v'[[[[BZYY i) TIHD?i^^8 B))BP@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034121.963165 s, next control iter: 1743034122.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034122.363165 s.J "J *J 2J :J F2?BJ F2?nJ :5vJ pI~,u>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743034122.363265F (some fields omitted in printout)A3333Ľ@A%Ľ@A _~? ApAc&"AA vNA"AZAbAjArAzAAAsh]7@AzDrABk@Af<A=A@AfݿAnG?ADƼ*A9?2A ֽ:Ac\=BA9?JA ֽRAc\=Y @@y~=mg<ٓHVJ?dQ?O#ӌ?@%?) @ I٘i)I9k@YG Jy¼J<JJJSE&Kw> Y]~?yX'JA@E{7{7V-9B)BE[[C @[)]~?["[[[[BZYY i) ¼IAED?iy|&! @))@.Q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034122.383165 s, next control iter: 1743034122.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7621&, header.stamp.nsec: 0&0 temperature: 13.386824&* salinity: 33.391705&, density: 1025.000000&* values[0]: 0.695740&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034122.783165 s.]pI~,%AAQŽ@Ap`rŽ@Am_~? A3AS^&"AAuNA"AZAbAjArAzAAA. P+7@A@3urAEɼ*A,9?2AK>ֽ:Ay=BA,9?JAK>ֽRAy=٘i)I9^~? A xAM&"AAuNA"AZAbAjArAzAAAK6@A T" rAi@AcֻAz=A@AY߿A`[V?Agɼ*A9?2A׽:A=BA9?JA׽RA=٘i)I9i@Y\G JʼJJJJ[E&K Y`]~?y]HAEb77-9B)ίBE[[$@[@e]~?[>[[[[BZYY i) P}ؼI?D?iýz @<))@<U@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034123.663165 s, next control iter: 1743034124.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7622, header.stamp.nsec: 00 temperature: 13.387131* salinity: 33.391739, density: 1025.000000* values[0]: 0.694413F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034124.043165 s.ĨpI~,%AJ"J*J2J:JBJnJvJA{Gaƽ@AV/Gƽ@A^~? A"rA&"AA}uNA"AZAbAjArAzAAA6B:W6@AI!΀nrA+?i@AƽZA=A^@A`k%A@?A;ʼ*A\9?2A3&׽:A֪=BA\9?JA3&׽RA֪=٘i)I9?i@Y G JʼJJJJ^E&K  .9YGL]~? .9y^FHAEb7.9 B)֯BݹE[[G&@[M]~?[[[[[BZYY i) ߼I>D?i?@̠ ,:)),:RW@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034124.063165 s, next control iter: 1743034124.443186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743034124.463165 s.XpI~,%AAƽ@A^ƽ@Az^~? AVlA4&"AAiuNA"AZAbAjArAzAAA]P+OW6@AQ)rAh@AZ$WAƍ=A@A }AB?A!μ*A΅9?2Aֽ:A =BA΅9?JAֽRA =Y@@ylj=WٓHjG Y5]~?y GA@E777A.9)ܯB[[z'@[s5]~?[= [[[[BZYY i) }I>D?i<`8 A[9))A[9tX@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034124.483165 s, next control iter: 1743034124.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7623, header.stamp.nsec: 00 temperature: 13.387453* salinity: 33.391743, density: 1025.000000* values[0]: 0.693065F (some fields omitted in printout)25]~?)2  rAdjusting time to match Gazebo time: 1743034124.883165 s.ypI~,<8%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034124.883298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8ǽ@A?ǽ@A^~? AfA%&"AAluNA"AZAbAjArAzAAA!C՚6@A  mrAg@ATĻA=Ap @AAU?AԼ*Aw9?2Aȝֽ:A=BAw9?JAȝֽRA=٘i)I9g@Y! G JBѼC=JJJJcE&K YL]~?yTGAEj7Z7 .9"B)BڹE[[)@[ ]~?[[[[[ZZ¸BZYY i¸=) EڼIt?D?i\=- : <7))<7y5Z@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034124.903165 s, next control iter: 1743034125.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034125.303165 s.SpI~,jgS%AAq= ףǽ@AFYǽ@A7^~? AaA &"AAPuNA"AZAbAjArAzAAAԑ5@A1rAd.g@Au;A=A~,"@A$A?Aۼ*Ac9?2A2ֽ:A;=BAc9?JA2ֽRA;=٘i)I9.g@Y G JؼJJJJfE&K Y]~?yrFAE{77k .9$B)B׹E[[*@[]~?[[[[[ZZBZYY i) μI@D?i==eP: 9z6))9z6|[@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034125.323165 s, next control iter: 1743034125.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7624., header.stamp.nsec: 0.0 temperature: 13.387773.* salinity: 33.391743., density: 1025.000000.* values[0]: 0.691671.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034125.723165 s.pI~,Hn%AJ"J*J2J:JBJnJvJA(\Ƚ@AFǽ@A^~? A[A~&"AA3uNA"AZAbAjArAzAAA8uHy5@Aꈴ洙rAaf@AI<AR=A=n#@AsA`TF?A?*AF9?2Aս:A~<BAF9?JAսRA~<٘i)I9af@Y6 G JJJJJhE&K YS\~?y$aFAE7b7.9)B[[+@[\~?[[[[[ZZBZYY i) ¼I;CD?i{+>: d 5))d 5Q]@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034125.743165 s, next control iter: 1743034126.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034126.143165 s.W/pI~, *%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743034126.143277F (some fields omitted in printout)AGzȽ@A`Ƚ@A~^~? ASVA&"AAuNA"AZAbAjArAzAAA &RWq5@AqrfurASe@A`<As͘=A$@A`/A@%?Ae *Aʛ9?2Aֽ:A<BAʛ9?JAֽRA<٘i)I9e@Y G JJJJJkE&K Y\~?yEA E7.9%B)BԹE[[_I-@[\~?[o[[[[ZZBZYY i) ԶIwFD?ip>; 83))83}^@ye=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034126.163165 s, next control iter: 1743034126.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034126.563165 s.pI~,p %AJ"J*J2J:JBJnJvJAffffȽ@A2PȽ@Aj^~? A QAN&"AAtNA"AZAbAjArAzAAAk*55@AL|CIrAd@A;At=A &@AA`U?A2M*AG9?2AEֽ:An<BAG9?JAEֽRAn Y\~?yAEA&@Eb77,.9'B)BѹE[[ݮ.@[]\~?[[[[[ZZBZYY i) qIDJD?iv>5; 12))12_@yYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034126.583165 s, next control iter: 1743034126.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7625, header.stamp.nsec: 00 temperature: 13.388147* salinity: 33.391747, density: 1025.000000* values[0]: 0.690008F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034126.983165 s.pI~,%AAQɽ@A7ɽ@AV^~? ALA&"AAntNA"AZAbAjArAzAAAw4@A{׼0rAwc@Al4AX/=A!b'@A_A6?Aͼ*AV9?2A`ֽ:As;BAV9?JA`ֽRAs;٘i)I9c@Y G JJJJJqE&K Y\~?yDEAE77{7.9*B) B͹E[[80@[ \~?[[[[[ZZBZYY i) SIND?iP>yT; 0))0 [a@4wYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034127.023165 s, next control iter: 1743034127.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034127.403165 s.&pI~,%AJ"J*J2J:Jn0?BJn0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743034127.403292F (some fields omitted in printout)A ףpɽ@AH]ɽ@AB^~? AGA&"AAtNA"AZAbAjArAzAAAR4@A,rAbFc@A;}EANr<A (@A A@DZ?AD*A9?2AVֽ:A"*BA9?JAVֽRA"*٘i)I9Fc@YR G JWJJJJsE&K Yd\~?yDAEZ7Z7V.9)B[[Bs1@[ԇ\~?[k[[[[ZZBZYY i) ISD?i>fy; Y/))Y/b@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034127.423165 s, next control iter: 1743034127.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7626", header.stamp.nsec: 0"0 temperature: 13.388530"* salinity: 33.391754", density: 1025.000000"* values[0]: 0.688457"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034127.823165 s.pI~,:%AA\(ʽ@Afiʽ@A(-^~? AKBAht&"AAGtNA"AZAbAjArAzAAA9G,~z4@A.B;rAkb@A{A&<A)@AWA?A&w*A9?2ADֽ:Aj#BA9?JADֽRAj#٘i)I9b@Y G JJJJJvE&K Y;{\~?yDAE)7ŧ7".9,B)BʹE[[2@[n\~?[v[[[[ZZBZYY i) \ωIZD?i>I; -))-0d@}gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034127.863165 s, next control iter: 1743034128.223181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034128.243165 s.qI~,m%AJ"J*J2J:JBJnJvJAGzʽ@Abzʽ@A^~? A=AG&"AAx|tNA"AZAbAjArAzAAAFt@)h:4@Ad_rAob@A1AλAH+@A =A?A +*AЧ9?2APֽ:A8BAЧ9?JAPֽRA8٘i)I9ob@Y G JWJJJJyE&K Yc\~?yݧMDAE777&.9)BǹE[[,4@[?U\~?[[[[[ZZBZYY i) #}I"aD?i[? #; ,)), e@x(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034128.263165 s, next control iter: 1743034128.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034128.663165 s. qI~,q*%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034128.663279F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7627, header.stamp.nsec: 00 temperature: 13.388758* salinity: 33.391773, density: 1025.000000* values[0]: 0.687513F (some fields omitted in printout)A˽@A qʽ@A^~? A9A+&"AA0\tNA"AZAbAjArAzAAA20S3@AwrA_4b@A:uAEڨA,@AȂA@ ?Aʻ*A9?2Aֽ:A뭼BA9?JAֽRA뭼Y@:,@y@ڨnGuٓHPۿ?@0?S䃿?BNA?)@ I٘i)I94b@Y G J B=JCJJJ{E&Kw> YI\~?y"ڧjDA,@E77*.9-B)BĹE[[)5@[x;\~?[[[[[ZZBZYY ijn=) ' kIhD?ip?FR; 0+))0+g@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034128.683165 s, next control iter: 1743034129.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034129.083165 s.DqI~,RE%AJ"J*J2J:JBJnJvJARk˽@AnQ˽@A]~? A4A$&"AAr;tNA"AZAbAjArAzAAAL5X3@A rAb@Ag<A A-@A KA@8?A*A9?2ARֽ:A=мBA9?JARֽRA=м٘i)I9b@Y G JC=JJJJ~E&K Y/\~?yV֧DAE7ŧ7-.9/B)BE[[O6@[!\~?[[[[[BZYY i =) }XI%qD?iU?; ))))ih@57*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034129.123165 s, next control iter: 1743034129.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034129.503165 s.qI~,;4`%AAp= ˽@AU˽@A]~? A`0A &"AACtNA"AZAbAjArAzAAA!t~t3@AMLrAb@Ah<A 7A<;/@AA`i?AP@;*A9?2Aֽ:A*BA9?JAֽRA*弙٘i)I9b@Y G J7_9JJJJE&K Yr\~?yҧDA E77A1.9)[[#D8@[\~?[e[[[[BZYY i) YFIIzD?i*?; -P())-P(i@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034129.543165 s, next control iter: 1743034129.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7628, header.stamp.nsec: 00 temperature: 13.388862* salinity: 33.391773, density: 1025.000000* values[0]: 0.687119F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034129.923165 s.8qI~,{%AJ"J*J2J:J/?BJ/?nJr85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743034129.923290F (some fields omitted in printout)A(\B̽@AS=(̽@Ae]~? A>,A;* &"AAsNA"AZAbAjArAzAAAYU03@A)Da|rAw8b@Am=<A[A0@A`EA?A{;*A"9?2Aֽ:AyBA"9?JAֽRAy٘i)I98b@Y G J;JJJJE&K Y[~?yΧDA#E{7j74.91B)BE[[^9@[5[~?[T[[[[BZYY i) 4IQD?i:?3; &))&4k@yȤ=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034129.943165 s, next control iter: 1743034130.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034130.343165 s.<%qI~,%AAHz̽@Ao$̽@AΩ]~? AA(Ay &"AAsNA"AZAbAjArAzAAAPN2@AٔVzrA*ub@A/;A(zA1@AA?A4<*A9?2ALUֽ:A%OBA9?JALUֽRA%O٘i)I9ub@Y G J<JJJJE&K YT[~?yʧDA&E{7l8.93B)E[[:@[[~?[sߧ[[[[BZYY i) )"ISD?iL?< :%)):%{l@E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034130.363165 s, next control iter: 1743034130.743180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7629&, header.stamp.nsec: 0&0 temperature: 13.388855&* salinity: 33.391773&, density: 1025.000000&* values[0]: 0.687269&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034130.763165 s.<+qI~,4ذ%AJ"J*J2J:JBJnJvJAͽ@A_B̽@A]~? Ag$Ad &"AA9sNA"AZAbAjArAzAAA_= 2@AwrAb@AAA 3@A`At?Am<*A9?2Aս:ABA9?JAսRAY%@3@y lٓH\@տ@? x?``m?@Bj?)%@ I٘i)I9b@Y G JN<JJJJE&K/w> Y[~?yǧ7EA3@(Eb77<.94B)BE[[I<@[[~?[ݧ[[[[BZYY ïe=) 1ID?i.X?[ < $$))$$m@ڹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034130.803165 s, next control iter: 1743034131.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034131.183165 s.2qI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056039< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743034131.183286F (some fields omitted in printout)AQͽ@A&Skͽ@A{]~? A AS!&"AAnsNA"AZAbAjArAzAAA_R a2@AHB=۹urA8c@A`ghAQAQ4@AA?A <*A(9?2Aiս:AxBA(9?JAiսRAx٘i)I98c@YJ G Jo<JJJJE&K Y#[~?yŧEA+E77?.95B)BE[[=@[[~?[-ܧ[[[[BZYY i) -IFD?i]e?y< "))"+\o@V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034131.203165 s, next control iter: 1743034131.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034131.603165 s.449qI~,%AJ"J*J2J:JBJnJvJA= ףͽ@A 2ͽ@Ad]~? A"AnW!&"AAFnsNA"AZAbAjArAzAAA P2@Ag{ZsrA c@AFXAїA?5@A(A A?A \<*A9?2A+ֽ:ALBA9?JA+ֽRAL٘i)I9c@Y G Jy<JJJJE&K Y[~?y §EA.E7,C.9)B[[@>@[[~?[ڧ[[[[BZYY i) ZCIiD?iQt?0]< b!))b!p@k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034131.623165 s, next control iter: 1743034132.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7630 , header.stamp.nsec: 0 0 temperature: 13.388743 * salinity: 33.391792 , density: 1025.000000 * values[0]: 0.687899 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034132.023165 s.Z@qI~,-|%AA(\ν@ATBν@AL]~? AA!&"AAJsNA"AZAbAjArAzAAA!Ӈ1@AxqrA6Ad@ApATAd6@A?]Abb?A<*A9?2Ahlֽ:ANBA9?JAhlֽRAN٘i)I9Ad@Y G J|<JJJJE&K Yx[~?yKFA1E7777F.96B)BE[[;D@@[*m[~?[٧[[[[BZYY i) 3ɻIqD?i? '<  )) r@ye=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034132.043165 s, next control iter: 1743034132.423188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743034132.443165 s.:FqI~,J]%AJ"J*J2J:J70?BJ70?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056039< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743034132.443327F (some fields omitted in printout)Azν@Aν@A45]~? AuA!&"AA&sNA"AZAbAjArAzAAAoEɊ1@A{6zorA&d@AX;AVA&R8@AޏA}?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9d@YB G J+<JJJJE&K YU^[~?yFA3E77WJ.98B)BE[[`A@[S[~?[ا[[[[BZYY i.Ӆ=) "IwD?i?/2< #))#ys@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034132.463165 s, next control iter: 1743034132.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7631, header.stamp.nsec: 00 temperature: 13.388554* salinity: 33.391754, density: 1025.000000* values[0]: 0.688827F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034132.863165 s.+MqI~,>7%AA33333Ͻ@AҦϽ@A5]~? AYAL"&"AAsNA"AZAbAjArAzAAAɥB1@A9?mrA_e@AW<AG"AA9@A`AԜ?Ag<*A#9?2A ׽:A`BA#9?JA ׽RA`Y+@9@y}X<ٓHࢀο_?Ҋ?Dt`K?`?f?)+@ I٘i)I9_e@Y G J5<JJJJE&K6x> YB[~?yGA9@6ESI7SI7M.99B)BE[[B@[9[~?[ק[[[[BZYY i) qID?iz?O6:< BI))BIst@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034132.883165 s, next control iter: 1743034133.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034133.283165 s.8RTqI~,R%AJ"J*J2J:JBJnJvJAQϽ@AϽ@A]~? AdAV"&"AA1rNA"AZAbAjArAzAAA;0@Ao;krA@e@Ag<AOA:@ATA ?A"ȧ<*AQ9?2A ֽ:A0BAQ9?JA ֽRA0٘i)I9e@Y G Ji<JJJJE&K Y'[~?y緧uGA9Eb77Q.9:B) BE[[x3D@[[~?[ ק[[[[BZYY i) |[IuD?i?B< *))*2v@*YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743034133.303165 s, next control iter: 1743034133.683179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7632*, header.stamp.nsec: 0*0 temperature: 13.388360** salinity: 33.391766*, density: 1025.000000** values[0]: 0.689847*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034133.703165 s.պZqI~, m%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065344< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034133.703267F (some fields omitted in printout)Aףp= н@A2Ͻ@A\~? A A"&"AAcrNA"AZAbAjArAzAAA4e 0@A'-jrA{f@At;AᷔA=<@AAI?AƧ<*A9?2A$ֽ:AoBA9?JA$ֽRAo٘i)I9{f@YF G J<B=JJJJE&K Y [~?y˵GA;E77U.9;B)BE[[E@[<[~?[֧[[[[BZYY i)  IE?i?RL< ))w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034133.723165 s, next control iter: 1743034134.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034134.123165 s.8aqI~,a%AJ"J*J2J:JBJnJvJA)\uн@ApD[н@A \~? A An"&"AAMrNA"AZAbAjArAzAAA E77X.9)B[[F@[Z~?[&֧[[[[BZYY i) 8WźIE?i?jW< 7))7x@yͅ=_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034134.163165 s, next control iter: 1743034134.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034134.543165 s.IhqI~,â%AA{Gн@A42н@AQ\~? AqA"&"AAnrNA"AZAbAjArAzAAAV>0@A4frAg@Ay@AOA@>@AieA?A֨<*A9?2A+ֽ:ABA9?JA+ֽRA٘i)I9g@Y G J:<JJJJE&K YBZ~?yHAAEj7j7B\.9 elevatorAngleAction: 0.065344< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743034134.963323F (some fields omitted in printout)ALѽ@Ap(|2ѽ@Al\~? AA:&#&"AAZIrNA"AZAbAjArAzAAA~z/@AǝB~erA0!h@A0nA<A @@A AD?Aʣ<*A[9?2A6ֽ:ABA[9?JA6ֽRAY02@S@@ylAnٓHޜ?@[?` 璘 ?ō ?)02@ I٘i)I9!h@YG G J5<Jl<JJJE&Kx> YIZ~?y[IA@@CE7ŧ7_.9>B)BE[[M_I@[޹Z~?[է[[[[BZYY i) Ż9Ii;E?i?{)j< d))dQ{@˿*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034134.983165 s, next control iter: 1743034135.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034135.383165 s.uqI~,/%AAQѽ@A28ѽ@Aa\~? AAR#&"AA#rNA"AZAbAjArAzAAA/@A/-(drANh@ASA剽AM_A@AAm?AU<*Aj9?2A|ֽ:Ag/BAj9?JA|ֽRAg/٘i)I9h@Y G J<JJJJE&K YQZ~?y!fIAFE77lc.9?B)BE[[J@[oZ~?[֧[[[[BZYY i) Ee:IOE?i?r< 2))2|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034135.403165 s, next control iter: 1743034135.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7634", header.stamp.nsec: 0"0 temperature: 13.387936"* salinity: 33.391758", density: 1025.000000"* values[0]: 0.691858"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034135.803165 s.xA|qI~,g%AJ"J*J2J:J1?BJ1?nJ95vJAq= #ҽ@Az ҽ@A1p\~? AA{#&"AAvqNA"AZAbAjArAzAAA p֝j.@A#nbrA(i@A9AfAB@AA8?A=<*A9?2Aֽ:AqLBA9?JAֽRAqL٘i)I9(i@Y G J<JJJJE&K YXZ~?y歧IAIE7g.9AB)BE[[K@[-Z~?[L֧[[[[BZYY i) ;IdE?i?.|< !))!4~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034135.823165 s, next control iter: 1743034136.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034136.223165 s.gqI~,H%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065344< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743034136.223332F (some fields omitted in printout)A(\ҽ@ANGuҽ@AV\~? AAߡ#&"AA3qNA"AZAbAjArAzAAAor-@A=2m@arAi@Ak&<ApAD@AA?A@<*AJ9?2A(׽:A;ABAJ9?JA(׽RA;A9٘i)I9i@Y1G J<JJJJE&K Y_eZ~?y#JAKEŧ7ŧ7j.9BB)BE[[5M@[!nZ~?[֧[[[[BZYY i) P;I {E?iR?g< ))y@˵*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034136.243165 s, next control iter: 1743034136.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034136.643165 s.xЉqI~,*)%AJ"J*J2J:JX1?BJX1?nJ95vJAGҽ@A75ҽ@Aq=\~? ASA#&"AAqNA"AZAbAjArAzAAAgj67-@AA7a`rAj@AIp<AA bE@A@A?A<*A 9?2A'׽:AnBA 9?JA'׽RAn켙٘i)I9j@YwG J<JJJJE&K YfIZ~?yrJANEb77-n.9)BE[[QxN@[PUZ~?[Nק[[[[BZYY i=) 6;IE?iu?@< mc))mc$^@߳*YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7635, header.stamp.nsec: 00 temperature: 13.387775F* salinity: 33.391766, density: 1025.000000* values[0]: 0.692755F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743034136.663165 s, next control iter: 1743034137.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034137.063165 s.qI~,| D%AAfffffӽ@AmXSYLӽ@A#\~? AA#&"AAqNA"AZAbAjArAzAAA.ҰT,@AaR_rAj@Ay;<A*AF@AkA`?Am<*A9?2Aֽ:ABA9?JAֽRAYƙ8@F@y'];<ٓHGf{?`t?`y?b?@o?`?)ƙ8@ I٘i)I9j@YG J<J5<JJJE&Kx> Y'-Z~?yJAF@QE{7Z7q.9CB)BE[[O@[B elevatorAngleAction: 0.074218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034137.483314F (some fields omitted in printout)J"J*J2J:JBJnJvJAӽ@As'طӽ@AC \~? AhA;$&"AAXcqNA"AZAbAjArAzAAAm,@AR^rAcj@A_v;AA|G@A,A?A <*A39?2Aֽ:AwBA39?JAֽRAw٘i)I9j@YG J<JJJJE&K YZ~?yƪ2KASEj7Wu.9)B[[Q@[i#Z~?[ا[[[[BZYY i) ;I&E?i? < ))[@M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034137.523165 s, next control iter: 1743034137.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7636, header.stamp.nsec: 00 temperature: 13.387625* salinity: 33.391762, density: 1025.000000* values[0]: 0.693569F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034137.903165 s.ȝqI~,y%AA ףp=Խ@A%#ga#Խ@A[~? A0A$&"AAoA@_?Au<*A9?2AYֽ:AcBA9?JAYֽRAcZI٘i)I9dk@YDG J<JJJJE&K YY~?ypKAVE77x.9DB)BE[[DR@[ Z~?[٧[[[[BZYY i) \;INE?i?•<  )) zD@yM=$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034137.923165 s, next control iter: 1743034138.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034138.323165 s.qqI~,%AJ"J*J2J:J1?BJ1?nJI:5vJA\Խ@A$aߎԽ@A[~? A!A!1$&"AAfqNA"AZAbAjArAzAAA*Z{*@Aú]rAk@AiA AGA NA5?A+M<*Am9?2Aj?ֽ:A-BAm9?JAj?ֽRA-٘i)I9k@YG J3<JJJJE&K YvY~?yKAYE77{7|.9EB)BE[[S@[eY~?[&ۧ[[[[BZYY i) o] elevatorAngleAction: 0.074218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034138.743290F (some fields omitted in printout)AGzս@A+nbԽ@A[~? A<AYD$&"AACpNA"AZAbAjArAzAAAr~9+*@A]rAfJl@ARA AqWFA[A Ҳ?A)<*A9?2Agֽ:ABA9?JAgֽRA٘i)I9Jl@YG JH<JJJJE&K Y:Y~?yĩ:LA[E)7ŧ7.9FB)BE[[T@[GY~?[vܧ[[[[BZYY i)  YY~?yTLAD^E)7.9GB)BE[[V@[Y~?[ݧ[[[[BZYY i) [! elevatorAngleAction: 0.074218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034140.003287F (some fields omitted in printout)Ap= Wֽ@A9B<ֽ@A o[~? AAj$&"AAbxpNA"AZAbAjArAzAAAQ?fUS(@AL[rAϝm@A[<AAQBAmuA?AɅ<*A9?2A{:׽:ABA9?JA{:׽RA٘i)I9m@YG JT<JJJJĂE&K YgY~?ysKMAcE77׊.9)ۯB|E/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #40q/(^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) @<)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034140.043165 s, next control iter: 1743034140.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034140.423165 s.uqI~,{%AA(\ֽ@A,yֽ@AU[~? AMAq$&"AAPpNA"AZAbAjArAzAAAߡ/'@AٰD[rA`n@A b<ArAAAxA Mt?Aw<*A9?2A׽:Ag:BA9?JA׽RAg:٘i)I9n@YG J0<JJJJǂE&K YrKY~?yMAfEj7j7m.9IB)ٯByE[[Y@[zY~?[/[[[[BZYY i֪=) /UP[rATn@Ao;AuA@AAioAd<*Ax:?2Ax½:A?CBAx:?JAx½RA?C٘i)I9n@Y,G J<JJJEJɂE&K Y?/Y~?yNAiE7ŧ7.9JB)֯BvE[[AZ@[[cY~?[0[[[[BZYY i) _ elevatorAngleAction: 0.083418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199082 time: 1743034141.263287F (some fields omitted in printout)A׽@Ax҆׽@A [~? AfAr$&"AApNA"AZAbAjArAzAAAXƫy&@AS[rAo@Ab8AA]?A@PAUA<*A:?2A@)ý:Aޏ BA:?JA@)ýRAޏ YɿD@Y?yu8ٓH݌yR?@QS?8Lÿǒ? m?[ g?)ɿD@ I٘i)I9o@YwG J\<JaJJĴE&KV> YUY~?y筧eNAY?lEŧ7b7.9)үB[[O-\@[LY~?[Y[[[[BZYY i) o'oA ]AmA<*AǓ:?2AŽ:A72BAǓ:?JAŽRA72٘i)I9o@YG J<JJJJςE&K YlX~?y<NAnE)7)7-.9EB)ɯBsE[[xf]@[ 5Y~?[[[[[BZYY i) vf~ elevatorAngleAction: 0.083418nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743034142.523277F (some fields omitted in printout)A(ؽ@Aؽ@AZ~? AvAc$&"AAooNA"AZAbAjArAzAAA&$@A!Cˏ\rAp@Ao$AܜA;A~A%Ap<*A:?2Aʽ:ATBA:?JAʽRAT٘i)I9p@YmG J}<B=JJJJԂE&K YX~?y屧OAtEj7SI7X.9EB)BnE[[_@[Y~?[[[[[BZYY i) "t%AvJA3333ٽ@A=#ٽ@AZ~? AAJ$&"AA YJX~?y^_PAU9yE7777.9)BhE[[-;b@[X~?[[[[[BZYY i) ~ elevatorAngleAction: 0.083418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034143.783282F (some fields omitted in printout)AQڽ@A~ڽ@ĀZ~? AA-:$&"AA>oNA"AZAbAjArAzAAA?NG"@A $^rABr@ASl<A5A7A`Y[A淿A'<*Aa:?2AFҽ:ABAa:?JAFҽRA٘i)I9Br@YrG J<JJJJ܂E&K YlX~?yPA|E77.9)BeE[[oc@[X~?[[[[[BZYY i)  elevatorAngleAction: 0.083418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034145.043279F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga۽@A7n1G۽@A}7Z~? AAy#&"AAnNA"AZAbAjArAzAAAVjz @AڎP`rAmt@AGDAA4A@ AxAez<*A YGX~?yRA2E77{7n.9)B\E[[/h@[EqX~?[[[[[BZYY i) h elevatorAngleAction: 0.083418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034146.303298F (some fields omitted in printout)Aq= ףܽ@A{ ܽ@AY~? AAД#&"AA+nNA"AZAbAjArAzAAAF@A}7crA0#v@ATA-"A0AAB ǿA,<*A}):?2Anֽ:ABA}):?JAnֽRA٘i)I9#v@YG J<JJJJE&K YFW~?yƧvSAE77{7.9)BVE[[Ƌj@[pHX~?[ [[[[BZYY i) @ӆ< ))꿩g@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034146.323165 s, next control iter: 1743034146.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7645., header.stamp.nsec: 0.0 temperature: 13.385890.* salinity: 33.391685., density: 1025.000000.* values[0]: 0.702570.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034146.723165 s.+rI~,H%AJ"J*J2J:J3?BJ3?nJ<5vJA(\ݽ@AjGܽ@AY~? AAKn#&"AAnNA"AZAbAjArAzAAAՅK@A<drA#v@A(;AAD.A@A ȿAj<*AO":?2A׽:ABAO":?JA׽RA٘i)I9v@Y9G J?<JJJJE&K YðW~?yɧSAE)7b7..9)B[[ck@[4X~?[G[[[[BZYY iݼ=) ' elevatorAngleAction: 0.092220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034147.563290F (some fields omitted in printout)Affffݽ@AjTQݽ@AY~? A{ A#&"AAmNA"AZAbAjArAzAAAM3@A&grA,x@AVc<AZA ,A fA@̿A%<*A:?2A5j׽:A3%BA:?JA5j׽RA3%YW@,yyV6d<ٓHt?@3?ۿ`?@zc?@j??)W@ I٘i)I9,x@Y G J[<J2JJJE&Kz> Y|W~?yЧTA,Eŧ77X.9CB)BQE[[s n@[m X~?[[[[[ZZZZ¸>BZYY i¸>() `x@AA;A4Av*A"?A nοAd{<*A:?2A׽:A6BA:?JA׽RA6٘i)I9x@YuG J^<JJJJE&K YcW~?yԧRUAEj7j7.9)|BNE[[8o@[6W~?[[[[[ZZZZBZYY i) \Ѽ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034148.003165 s, next control iter: 1743034148.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034148.403165 s. 'FrI~,6%AJ"J*J2J:J\4?BJ\4?nJ=5vJA ףp޽@A`޽@AnY~? AA"&"AAnmNA"AZAbAjArAzAAAklF`@AjrA$y@A45HAЮA)AKA'пA>=*A :?2Aֽ:A1BA :?JAֽRA1٘i)I9y@YG J<JJJJE&K Y$JW~?yاUAE777.9)vBKE[[Kbp@[SW~?[[[[[ZZZZBZYY i) ?WY~? AAtF"&"AA$mNA"AZAbAjArAzAAA@A3 PnrASY{@AjedAgvA&A`AѿA<*A:?2Aֽ:AxBA:?JAֽRAx٘i)I9Y{@YG J=JJJJE&K YhW~?y2VAE77.9BB)hBHE[[r@[W~?[\&[[[[ZZZZBZYY i) N YVV~?yVA%E)7ŧ7C.9)aBEE[[s@[xW~?[*[[[[ZZZZBZYY i闽) 9rrA|@AaH:A ӼAQ$A@YA@ӿAG<*A:?2Agֽ:A6:BA:?JAgֽRA6:٘i)I9|@YG Jl<C=JJJJE&K YIV~?yy2WAEj7j7.9)[BBE[[(u@[W~?[7/[[[[ZZZZBZYY i) 5vJA(\B@A,y(@AcX~? A"AE!&"AAzlNA"AZAbAjArAzAAA>@ACs׊vrA}@A{<A%;A!A+AXտA3b<*A:?2AҪֽ:A`ր<BA:?JAҪֽRA`ր<٘i)I9}@YWG JO<JJJJ E&K Y+V~?yWAEZ7Z7.9)UB@E[[Nw@[|W~?[b8[[[[ZZZZBZYY iѪ) :pJJJE&K~x> YV~?yWAE7)7..9@B)QB:E[[y@[ZW~?[A[[[[BZYY iܝm) /IAm׿A*A9?2A@׽:As<BA9?JA@׽RAs<٘i)I9}@Y J-JJJJE&K Y?rV~?y&WAEb77.9)[[z@[kJW~?[F[[[[BZYY i>W) 7c*A9?2Aֽ:A =BA9?JAֽRA =٘i)I99}@YG JCJJJJE&K Y.V~?yJWAE{7{7.9)UB1E[[w%~@[W~?[U[[[[BZYY i) aw%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068037< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743034153.863276F (some fields omitted in printout)A33333@Ar@A]CX~? A7?A&"AAvkNA"AZAbAjArAzAAA+58g@AE\rA|@AS*;A}=AA4AKۿA͊*AZ9?2AExֽ:A=BAZ9?JAExֽRA=Yk@yߑ=ۼ;ٓHh1$?%欿Clx@8;%|??)k@ IYI٘i)I9|@YG JzB=J=JJJE&Kw>  /9YoV~? /9yWVAEb7b7/9)XB[[]H@[ W~?[[[[[[BZYY i3el) (;Iiu@6"= &))&*Ƙ@cȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034153.903165 s, next control iter: 1743034154.263174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743034154.283165 s.7RrI~,%AJ"J*J2J:Je5?BJe5?nJ4>5vJAQ@A @A9.X~? ACA=&"AA+kNA"AZAbAjArAzAAAg@A/Y>rAcS|@Au)d<A==AYAA`ۿA"*A9?2ALֽ:A=BA9?JALֽRA=٘i)I9S|@YG JNC=JJJJE&K YV~?ycDVAE77/9>B)\B.E[[5@[V~?[V`[[[[BZYY i) ;Iiw@>|= 7㾿))7㾿 W@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034154.303165 s, next control iter: 1743034154.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 76532, header.stamp.nsec: 020 temperature: 13.3848182* salinity: 33.3915792, density: 1025.0000002* values[0]: 0.7081752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034154.703165 s.ֺrI~,%AAףp= @AbQ+@AeX~? AHA]&"AAXfkNA"AZAbAjArAzAAAeЦm@A_FG4rA{@Ap`<A׉=Az A xAKܿAҬ*A9?2Aoֽ:A=BA9?JAoֽRA=٘i)I9{@Y>G JߥJJJJ"E&K YdU~?yp$UAEŧ7b7D/9)`B[[zŀ@[V~?[e[[[[BZYY i) ;Iiz@" = ))u@ZתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034154.723165 s, next control iter: 1743034155.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034155.123165 s.9rI~,e%AJ"J*J2J:J,5?BJ,5?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743034155.123313F (some fields omitted in printout)A)\u@Ak[@AX~? AMA&"AAGkNA"AZAbAjArAzAAA[.?Ab Nz?rA3{@AU;A=AAXA]ݿAn*AY9?2Axֽ:Aҝ=BAY9?JAxֽRAҝ=٘i)I93{@YG JJJJJ%E&K YU~?y}*UAĂE77 /9.B)UB+E[[,U@[V~?[ k[[[[BZYY i) f;Ii|@ != b))b'w@ylتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034155.163165 s, next control iter: 1743034155.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034155.543165 s.IrI~,%AA{G@AiP4@AW~? ARA}&"AA((kNA"AZAbAjArAzAAAw_~)&?A(^rAz@AXA=AyXAK A޿Ak*A9?2A 4׽:A=BA9?JA 4׽RA=٘i)I9z@YG JLJJJJ'E&K YZU~?y0UAǂE7n/9/B)ZB)E[[7@[@V~?[xp[[[[BZYY i)  [;Ii@8#= &))&2@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034155.583165 s, next control iter: 1743034155.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7654, header.stamp.nsec: 00 temperature: 13.385061* salinity: 33.391567, density: 1025.000000* values[0]: 0.707166F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034155.963165 s.}rI~,%AJ"J*J2J:JBJnJvJAL@AS2@AW~? A XAx6&"AA kNA"AZAbAjArAzAAA d?AVYrAz@AQA5=AA@A޿A:*A9?2A'l׽:A+=BA9?JA'l׽RA+=Y r@y=7SRٓHyA?68+>(°NK 7?) r@ I٘i)I9z@Y-G JٱJQ$<JJJ*E&Kx> YU~?y47TAɂE77{7/9)_B[[;t@[V~?[v[[[[BZYY i) [;IiӀ@6$= 浿))浿6@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034155.983165 s, next control iter: 1743034156.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034156.383165 s.rI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034156.383294F (some fields omitted in printout)AQ@AGq:@AiW~? A~]A&"AAjNA"AZAbAjArAzAAAky?A@PmؚrAty@AmAi=AWA`{hA͔߿A *A9?2A_׽:A=<BA9?JA_׽RA=<٘i)I9ty@YG J%JJJJ-E&K Y}U~?y=OTÂE77/9.B)cB&E[[@[V~?[{[[[[BZYY i) ::Ii@&= ))%@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034156.403165 s, next control iter: 1743034156.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7655", header.stamp.nsec: 0"0 temperature: 13.385343"* salinity: 33.391548", density: 1025.000000"* values[0]: 0.706102"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034156.803165 s.{ArI~,g3%AJ"J*J2J:JBJnJvJAq= #@A=e @AIW~? AbA e&"AAjNA"AZAbAjArAzAAAa(?AQM^2rA@x@A*! AŪ=AiAAB$A5*A:?2A׽:A<BA:?JA׽RA<٘i)I9x@Y{G JJJJJ/E&K Y U~?yDSAςE77./9)gB[[@[AV~?[@[[[[BZYY i) k:Ii҂@kt'= _k))_k@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034156.843165 s, next control iter: 1743034157.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034157.223165 s.grI~,HN%AA(\@ACu@AW~? AhA&"AAjNA"AZAbAjArAzAAAd 6 ?A]LrASx@AЏ:Adޏ=A(AA{A*A}:?2Asֽ:A><BA}:?JAsֽRA><٘i)I9Sx@Y$G JJJJJ2E&K Y~U~?y5KSAтEŧ7b7/9)kB#E[[!@[V~?[[[[[BZYY i) 7Ii@)= 0))0C@MƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034157.263165 s, next control iter: 1743034157.623180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034157.643165 s.J "J *J 2J vrI~:J4?,*i%ABJ4?nJG=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066894< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034157.643279F (some fields omitted in printout)AG@A@A!W~? AQnA6&"AAԕjNA"AZAbAjArAzAAAi](?AsrAyw@A27<Aˀ=A A kA`CA*A :?2Aֽ:A<BA :?JAֽRA<٘i)I9w@YG JCJJJJ5E&K Y/lU~?yQSAԂE)7ŧ7Y!/9)pB!E[[@[V~?[[[[[BZYY i) tRIi@E*= ))ѝ@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7656, header.stamp.nsec: 00 temperature: 13.385573* salinity: 33.391556, density: 1025.000000* values[0]: 0.705120F (some fields omitted in printout)yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034157.663165 s, next control iter: 1743034158.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034158.063165 s.rI~,_ %AAfffff@Av;OL@AW~? A(tAe&"AA5zjNA"AZAbAjArAzAAA"?Ad5rA@>w@Ap<ANj=A8 AA %AEW*AQ:?2Aֽ:Ah<BAQ:?JAֽRAhw@YzG J\JڢJJJ7E&Kx> Y\U~?yYRA DׂEb7b7$/9)tB[[>@[fV~?[[[[[BZYY i) Ii@+= ))`@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034158.083165 s, next control iter: 1743034158.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034158.483165 s.{_rI~,%AJ"J*J2J:Jc4?BJc4?nJ&=5vJA@A\3ٷ@AzmW~? AzAZ&"AA*_jNA"AZAbAjArAzAAAl%)?AZPrAev@A*<AƵ=A?G A@s߿AxAW*A::?2Aֽ:A2@<BA::?JAֽRA2@<٘i)I9v@Y*G JJJJJ:E&K YKU~?yR`_RAقEŧ7(/9-B)xBE[[Nͅ@[~V~?[g[[[[BZYY i) MIi߆@,= G))GI@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034158.523165 s, next control iter: 1743034158.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7657, header.stamp.nsec: 00 temperature: 13.385823* salinity: 33.391552, density: 1025.000000* values[0]: 0.704145F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034158.903165 s.rI~,͹%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066894< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743034158.903334F (some fields omitted in printout)A ףp=@A)t^#@A>\W~? A,A1&"AADjNA"AZAbAjArAzAAA+1ǿA: [rA=v@Aj^1:A =AA`޿AAa*A:?2Af#׽:A<<BA:?JAf#׽RA<<٘i)I9=v@YG JpJJJJ=E&K Y;U~?ygRA܂E{7j7,/9)|B[[[@[!sV~?[U[[[[BZYY i) Ii·@-= +I))+I}@¶YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034158.943165 s, next control iter: 1743034159.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034159.323165 s.rI~,W%AJ"J*J2J:J&4?BJ&4?nJ<5vJA\@ABގ@AiKW~? AXA&"AA*jNA"AZAbAjArAzAAA)ؿAD=dȳrAru@A6A{)=AAݿA@Ay^*A:?2Af׽:A<BA:?JAf׽RA<٘i)I9u@YG JJJJJ@E&K Y+U~?ynQA߂Eb77//9)BE[[X@[hV~?[M[[[[BZYY i) +Ii@*C/= ))S @ŴYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034159.343165 s, next control iter: 1743034159.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7658*, header.stamp.nsec: 0*0 temperature: 13.386033** salinity: 33.391518*, density: 1025.000000** values[0]: 0.703297*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034159.743165 s.WrI~,m%AAGz@Ag@A:W~? AA:@&"AAjNA"AZAbAjArAzAAALFA(ArAXu@AuXoArx=ABA;ݿA hAa*A:?2At׽:A!<BA:?JAt׽RA!<٘i)I9Xu@YSG JڄJJJJBE&K YRU~?yuJQAEŧ7b7D3/9.B)BE[[v@[T^V~?[O[[[[BZYY i ) yĻIi:@'0= ܡ))ܡ@ƳYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034159.783165 s, next control iter: 1743034160.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034160.163165 s.|}sI~,q %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034160.163286F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AZe@A*W~? AA&"AAiNA"AZAbAjArAzAAAXAQǂrAt@AhFADU=AA#zܿA޳A2*A:?2AE׽:Ath<BA:?JAE׽RAth Y U~?y}PAE{7j76/9-B)BE[[@[eTV~?[f[[[[BZYY i) zIi@p1= ˤ))ˤ&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034160.183165 s, next control iter: 1743034160.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034160.583165 s.sI~,R%%AAR@A'jin@AjW~? A|A1G&"AAiNA"AZAbAjArAzAAAƊJA?ԍwrA~t@AERAR=AAۿA`Aq*A:9?2A ֽ:Ar<BA:9?JA ֽRAr<٘i)I9~t@YG JӁJJJJHE&K YT~?ybPAE7777o:/9)B[[w@[JV~?[[[[[BZYY i) sIi5@/2= m))mr@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034160.603165 s, next control iter: 1743034160.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7659, header.stamp.nsec: 00 temperature: 13.386225* salinity: 33.391525, density: 1025.000000* values[0]: 0.702553F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034161.003165 s.y sI~,P4@%AJ"J*J2J:JBJnJvJAp= W@A{<@AB W~? AA&"AAiNA"AZAbAjArAzAAAu5#AW-{rAt@A?s;A%=A5qAڿA`BA`s*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9t@YG J؃B=JJJJJE&K YT~?yDPAEj7SI7>/9)B[[ @[AV~?[[[[[BZYY i) *Ii@,3= o7))o7A@yꇜvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034161.043165 s, next control iter: 1743034161.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034161.423165 s.usI~,[%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743034161.423297F (some fields omitted in printout)A(\@ArOWw@AV~? AAF&"AAiNA"AZAbAjArAzAAAbAj(ڿA EA*A9?2AGzֽ:A\=BA9?JAGzֽRA\=٘i)I9s@YEG JꇼC=JJJJME&K YbT~?yǔOAEZ7A/9.B)BE[[@[8V~?[¨[[[[BZYY i) q Ii@fd4= 7))7 Ϣ@*YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743034161.443165 s, next control iter: 1743034161.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7660, header.stamp.nsec: 00 temperature: 13.386417* salinity: 33.391495, density: 1025.000000* values[0]: 0.701813F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034161.843165 s.sI~,u%AJ"J*J2J:JBJnJvJAHz.@A@A@V~? A~A&"AAiNA"AZAbAjArAzAAA> ;HAЫrA%)s@A[<A=AA ?[ٿA@AS*A9?2A_ֽ:A=BA9?JA_ֽRA=٘i)I9)s@YG JJJJJPE&K YT~?y{OAE77/E/9)B[[9@[D0V~?["ɨ[[[[BZYY i) 0Ii@)5= Ж))Ж[@0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034161.863165 s, next control iter: 1743034162.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034162.263165 s.$sI~,#ؐ%AA@A3@AjV~? AWA>&"AAŇiNA"AZAbAjArAzAAAproAA?rAr@AF;A)=A AؿA@/ A F*AZ9?2A3ֽ:A\=BAZ9?JA3ֽRA\=YV͂@y~(=X;ٓH43ٿe?hUGٿɮa@]w??)V͂@ I٘i)I9r@YG J}JB(<JJJRE&Kpx> YT~?y7OAE77j7H/9-B)BE[[Ɗ@[(V~?[nϨ[[[[BZYY i) @IiL@$6= ))@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034162.303165 s, next control iter: 1743034162.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 76612, header.stamp.nsec: 020 temperature: 13.3865882* salinity: 33.3914952, density: 1025.0000002* values[0]: 0.7010242F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034162.683165 s.l*sI~,x%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034162.683277F (some fields omitted in printout)AQ@A>[@A V~? AFA7&"AA siNA"AZAbAjArAzAAAzAbA-}rA9?r@A0Aэ=AnVAS׿A@IA񰊼*A9?2AjD׽:A =BA9?JAjD׽RA =٘i)I9?r@YpG JJJJJUE&K YYT~?yNAEŧ7ŧ7ZL/9)B[[T@[J V~?[ը[[[[BZYY i) OIi@6= {g)){gu@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034162.683165 s, next control iter: 1743034163.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743034163.103165 s.1sI~,Ú%AA= ףp@AmV@AV~? AK©A 0&"AA-_iNA"AZAbAjArAzAAA6<AX`rAeq@AVTA=AKAֿAAK *A9?2A(q׽:A=BA9?JA(q׽RA=٘i)I9q@Y)G JJJJJXE&K Y3T~?y|NAE777O/9.B)BE[[@[V~?[!ܨ[[[[BZYY i) _IiP@q7= 74))74@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034163.123165 s, next control iter: 1743034163.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034163.523165 s.7sI~,|%AJ"J*J2J:J[3?BJ[3?nJ<5vJA(@A@AV~? AeɩA@&"AAKiNA"AZAbAjArAzAAA)G<AprABSq@AgA/=AQ A@ֿAAɻ*A9?2AX׽:A9=BA9?JAX׽RA9=٘i)I9Sq@YG JȍB=JJJJZE&K Y T~?yڼNAEŧ77S/9)BE[[dm@[V~?[[[[[BZYY i) ~nIi@q8= ))_@-˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034163.543165 s, next control iter: 1743034163.923185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7662, header.stamp.nsec: 00 temperature: 13.386776* salinity: 33.391487, density: 1025.000000* values[0]: 0.700237F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034163.943165 s.Yd>sI~,F]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199292 time: 1743034163.943301F (some fields omitted in printout)AzG@A4c-@AV~? AЩA&"AAe9iNA"AZAbAjArAzAAA\OAYNrAp@AA=A~A +տA gA*AQ9?2A׽:A8 =BAQ9?JA׽RA8 =٘i)I9p@YG JC=JJJJ]E&K YT~?yĨMAE7{7W/9)B[[|@[ V~?[[[[[BZYY i) }Ii@x9= ы))ыw@(ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034163.963165 s, next control iter: 1743034164.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034164.363165 s.EsI~,p>%AJ"J*J2J:JBJnJvJA3333@AT@A2V~? AשA-&"AA'iNA"AZAbAjArAzAAAAّ*rAsSp@A*;A#=A3A@QԿA U-A*A?9?2A]ֽ:Ao=BA?9?JA]ֽRAo=Y@y"=y^+;ٓHwӿ ? rr4*ӿ! z\e??)@ I٘i)I9Sp@YDG JJ!<JJJ`E&K%x> YtT~?yWͨ[MAEŧ7ŧ7Z/9)B[[@[V~?[c[[[[BZYY i) _Ii@9= ))@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034164.403165 s, next control iter: 1743034164.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7663&, header.stamp.nsec: 0&0 temperature: 13.387010&* salinity: 33.391468&, density: 1025.000000&* values[0]: 0.699437&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034164.783165 s.WKsI~,2%AAQ@A)U@A)V~? A#ߩA&"AAtiNA"AZAbAjArAzAAA[A?FrAo@Ax?<A=AxA$vӿA`_AsL*A9?2AVֽ:Aq^=BA9?JAVֽRAq^=٘i)I9o@YG JJJJJbE&K YT~?yըLAE77{7E^/9)BE[[q@[U~?[[[[[BZYY i) jIi]@:= m))ml4@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034164.823165 s, next control iter: 1743034165.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034165.203165 s.SsI~,M%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034165.203311F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@AE&p@AV~? AAp&"AAiNA"AZAbAjArAzAAAw&9 ^AD=}rAB;o@Awp<A4=AA`MҿA gA쫼*AI9?2AhTֽ:Ae(=BAI9?JAhTֽRAe(=٘i)I9;o@YG JqJJJJeE&K YT~?y$ިLAE77a/9)B[[@[U~?[e[[[[BZYY i) 󡕼Iiˑ@ǝ:= <))<@yy٪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034165.223165 s, next control iter: 1743034165.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034165.623165 s.UYsI~,Tg%AA)\@A-@AV~? AA&"AAfhNA"AZAbAjArAzAAA%Aޓ; rAn@A)#<AI=A<AMѿA JA*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9n@YAG JJJJJhE&K Y}T~?y&LAEb77oe/9)B[[*@[U~?[[[[[BZYY i) .Iig@e;= W ))W L@,ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034165.643165 s, next control iter: 1743034166.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7664 , header.stamp.nsec: 0 0 temperature: 13.387226 * salinity: 33.391453 , density: 1025.000000 * values[0]: 0.698483 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034166.043165 s.`sI~,Â%AJ"J*J2J:JBJnJvJA{Ga@Ad .G@AyV~? A{AM&"AA|hNA"AZAbAjArAzAAA.0 QAU|rAqn@A."8A=AAwпA>Ap*A9?2A ׽:A{=BA9?JA ׽RA{=٘i)I9n@YG JgJJJJkE&K YtT~?yKA E{7j7i/9)B[[@[U~?[y [[[[BZYY i) xIi2@i<= _݀))_݀ب@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034166.083165 s, next control iter: 1743034166.443181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034166.463165 s.gsI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743034166.463342F (some fields omitted in printout)A@A8k@ApV~? A A&"AAThNA"AZAbAjArAzAAAxoLA=rAGm@AE!Aʺ=AA |ϿA@AO*A9?2A!M׽:A=BA9?JA!M׽RA=YQ@/y=)"ٓH`ɿZZ?@}{>>ɿ 洿2Ѵ 3x?)Q@ I٘i)I9m@YG JB=JR<JJJmE&K_x> YnT~?yOKA E{7l/9/B)ïBE[[B@[BU~?[[[[[BZYY i) YIi@C<= mZ}))mZ}d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034166.503165 s, next control iter: 1743034166.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7665, header.stamp.nsec: 00 temperature: 13.387441* salinity: 33.391438, density: 1025.000000* values[0]: 0.697487F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034166.883165 s.J "J *J 2J :J 2?ymsI~BJ2?nJ:;5vJ,U%AAQ8@A#D@AShV~? AA>&&"AAhNA"AZAbAjArAzAAAaLA:OsAl@AdnA;ީ=A(A@ͿA>Ad*Am9?2A,V׽:A^=BAm9?JA,V׽RA^=٘i)I9l@Y4G JC=JJJJpE&K YTiT~?y.JAE7ŧ70p/9)ȯB[[ΐ@[U~?[[[[[BZYY i) xIi&@Y<= x))x@cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034166.923165 s, next control iter: 1743034167.283183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743034167.303165 s.RtsI~,fg%AAq= ף@AÉ@AC`V~? AZ A&"AAOhNA"AZAbAjArAzAAAXl] AzsAUUl@Ak=A9=AyݿA _#̿A`cAY\*AY9?2AW׽:As=BAY9?JAW׽RAs=٘i)I9Ul@YG JJJJJsE&K YcT~?ypJAE7777s/9)ͯB[[qZ@[9U~?[I[[[[BZYY i) ֺIif@׫<= ut))utl|@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034167.343165 s, next control iter: 1743034167.703174 s, wait time: 0.360009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7666., header.stamp.nsec: 0.0 temperature: 13.387708.* salinity: 33.391430., density: 1025.000000.* values[0]: 0.696451.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034167.723165 s.{sI~,H%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200712 time: 1743034167.723345F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@ARE@AXV~? AA&"AAphNA"AZAbAjArAzAAA= ek))ek@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034168.163165 s, next control iter: 1743034168.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034168.563165 s.sI~,_ $%AJ"J*J2J:JBJnJvJAffff@AXP@AKV~? A#A: &"AAhNA"AZAbAjArAzAAAJXB^ A}sA5[j@Ah<A1=AEֿAƿAAy:ռ*A9?2Aֽ:AY =BA9?JAֽRAY =Y2@]տy=|ei<ٓH`ˆ ?c`y&@o? ?)2@ I٘i)I9[j@YG JѼJ.w<JJJ{E&Kw> YUT~?y"IAտE{7~/9,B)[[T@[U~?[:1[[[[BZYY i) oмIi(@== ]g))]gO@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034168.583165 s, next control iter: 1743034168.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7667, header.stamp.nsec: 00 temperature: 13.387977* salinity: 33.391426, density: 1025.000000* values[0]: 0.695331F (some fields omitted in printout).UT~?)." rAdjusting time to match Gazebo time: 1743034168.983165 s.sI~,>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034168.983268F (some fields omitted in printout)AQ@A{7@AEV~? A+AZ2 &"AAfhNA"AZAbAjArAzAAA z AsAi@A:!U<A۴=ABpӿA KĿAA2ؼ*A9?2A @ֽ:A=BA9?JA @ֽRA=٘i)I9i@Y4G J׼JJJJ}E&K YRT~?y+HAEb7b7/9)߯B[[@[U~?[7[[[[BZYY i) ׼Ii @w== &c))&c@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034169.023165 s, next control iter: 1743034169.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034169.403165 s.&sI~,Y%AJ"J*J2J:JBJnJvJA ףp@A=e5]@A?V~? Ae3A &"AAhNA"AZAbAjArAzAAAa v AAisAh@A;A?=A9пA¿AA׼*Aŗ9?2Aֽ:A=BAŗ9?JAֽRA=XI٘i)I9h@Y G JhؼJJJJE&K YOT~?yJ4&HAE{7Z7/9+B)B E[[@[U~?[>[[[[BZYY i) &߼Ii@== %^))%^6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034169.443165 s, next control iter: 1743034169.803174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7668", header.stamp.nsec: 0"0 temperature: 13.388254"* salinity: 33.391407", density: 1025.000000"* values[0]: 0.694082"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034169.823165 s.sI~,2t%AA\(@A>;@A:V~? AP;Aq &"AAhNA"AZAbAjArAzAAA2 AAV?"sA elevatorAngleAction: 0.083430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034170.243287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A"5bz@A6V~? ACCAc &"AAf|hNA"AZAbAjArAzAAA2[L\ A:'sAg@A&ZYA41=A= V))VM@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034170.283165 s, next control iter: 1743034170.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034170.663165 s.sI~,q%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7669, header.stamp.nsec: 00 temperature: 13.571982* salinity: 33.375000, density: 1025.000000* values[0]: 0.569992F (some fields omitted in printout)A@A@A 2V~? A YEJT~?yNFAȿ'E777p/9)B[[M@[U~?[R[[[[ZZBZYY i) p"IiY@== Q))QHٮ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034170.683165 s, next control iter: 1743034171.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034171.083165 s.DsI~,S%AJ"J*J2J:J?BJ?nJ5vJARk@AKuQ@A.V~? A;SA?, &"AAaphNA"AZAbAjArAzAAAيqA0sAe@Ae/A™=AN+ƿA ADA*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9e@Y G JC=JJJJE&K YPJT~?yaWIFA*E)77/9)BE[[B@[(U~?[iY[[[[ZZBZYY i) *Ii@== UWM))UWMd@y1=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034171.123165 s, next control iter: 1743034171.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034171.503165 s.sI~,4%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034171.503305F (some fields omitted in printout)Ap= @A\@A+V~? A>[A &"AAkhNA"AZAbAjArAzAAA`(UAjװ5sAe@A=t0;Aw=A{ÿAﲿAQA!*A˲9?2Awֽ:Aj<BA˲9?JAwֽRAj<٘i)I9e@Yi G JJJJJE&K Y[JT~?y,`EA-E77/9)B[[ɿ[U~?[!`[[[[ZZBZYY i) 2Ii@8b== H))HHlYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034171.543165 s, next control iter: 1743034171.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7670, header.stamp.nsec: 00 temperature: 13.572371* salinity: 33.374989, density: 1025.000000* values[0]: 0.569023F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034171.923165 s.7sI~,%AJ"J*J2J:JBJnJvJA(\B@A_|(@An)V~? AFcAY&"AAghNA"AZAbAjArAzAAAQ7A~:sAKd@A6<A2=AeAJA}]AO\׼*A9?2Aֽ:A;BA9?JAֽRA;٘i)I9Kd@Y G J_JJJJE&K YgJT~?yh]EA/E77j70/9) B[[ƿ[,U~?[f[[[[ZZBZYY i) 9Ii@{== D))DDG{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034171.943165 s, next control iter: 1743034172.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034172.343165 s.@))>@>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034172.363165 s, next control iter: 1743034172.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7671&, header.stamp.nsec: 0&0 temperature: 13.572747&* salinity: 33.374969&, density: 1025.000000&* values[0]: 0.568076&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034172.763165 s.;sI~,00%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743034172.763277F (some fields omitted in printout)A@A/@AB&V~? A`sA+&"AAahNA"AZAbAjArAzAAA0.AVwDsAhc@AJ<A|<AỿA3A@nAm*A9?2Aֽ:A< BA9?JAֽRA< Y@ ߻y/<<ٓHhU?S?@Z}3P? -]܀? a?)@ I٘i)I9c@Y9 G JJ:JJEJE&Kgw> Y\MT~?yzDA߻5E77[/9)B[[3w¿[U~?[Lt[[[[ZZBZYY ir[=) teIi@<= ;));;/fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034172.803165 s, next control iter: 1743034173.163182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034173.183165 s.sI~,gK%AAQ@A>[k@Av%V~? Ap{A&"AA5`hNA"AZAbAjArAzAAA'fAcIsA4b@A кA7.ApIAA4sA/*Aа9?2AXֽ:ApBAа9?JAXֽRAp٘i)I9b@Y G JeJJJJE&K YEPT~?ySDA7Eb77/9,B)BE[[;F[U~?[{[[[[ZZBZYY i=) oIi0@pf<= |7))|7|7)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034173.203165 s, next control iter: 1743034173.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034173.603165 s.:4sI~,f%AJ"J*J2J:JBJnJvJA= ף@A4ތ@A1%V~? AA4~&"AA[_hNA"AZAbAjArAzAAAwAyurPNsA@b@A|2A AA7?AuAO*A߭9?2A$ֽ:A=BA߭9?JA$ֽRA=٘i)I9b@Y G J6JJJJE&K Y/ST~?yDA:E7/9)B[[[U~?[Ł[[[[ZZBZYY i) }[[Ii@p <= 73))7373)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034173.623165 s, next control iter: 1743034174.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7672 , header.stamp.nsec: 0 0 temperature: 13.573001 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.567509 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034174.023165 s.ZsI~,B|%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074961< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034174.023315F (some fields omitted in printout)A(\@AƠB@Aq%V~? AA&"AAN_hNA"AZAbAjArAzAAA_QA"|=SsAKqb@AWpA(Ab$A?AtA2\*A29?2Aֽ:AӼBA29?JAֽRAӼ٘i)I9qb@Y G J4JJJJE&K YVT~?y㔩DA=E77/9)BE[[}⻿[U~?[[[[[BZYY i) ʢGIiђ@;= .))..yjܚ=]5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034174.043165 s, next control iter: 1743034174.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034174.443165 s.@sI~,d]%AJ"J*J2J:J>?BJ>?nJL5vJAz@A?Q@A9&V~? AAC&"AA `hNA"AZAbAjArAzAAA (`A}*XsA9|b@A3AE3AyAv?AXqA"v;*Ai9?2A=:ֽ:ABAi9?JA=:ֽRA٘i)I9|b@Y G J&:JJJJE&K YYT~?yDA?E77{7/9)B[[k[U~?[7[[[[BZYY i) 3Ii@ <= P*))P*P*p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034174.463165 s, next control iter: 1743034174.843182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7673, header.stamp.nsec: 00 temperature: 13.573077* salinity: 33.374992, density: 1025.000000* values[0]: 0.567329F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034174.863165 s.+sI~,>%AA33333@AW@A'V~? AA&"AAahNA"AZAbAjArAzAAA.+AE]sAb@A(޺A>XAޮAQ?A kA?y;*A9?2A;ֽ:AHBA9?JA;ֽRAHYU@ۮy>XRx޺ٓH?U?I? h?`?@[ ?)U@ I٘i)I9b@Y G J3;JJJJE&Kw> Y^T~?yLDAۮBE)7ŧ7F/9)B[[[U~?[啩[[[[BZYY iKFh=) #Ii@T:= '%))'%'%*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034174.883165 s, next control iter: 1743034175.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034175.283165 s.5RsI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743034175.283271F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AҤ@Aa)V~? A£A.&"AAchNA"AZAbAjArAzAAANLďAsgbsAb@A<AwA0A?A(bA$<*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G Ji <JJJJE&K YdT~?y9EAEE77۷/9)B[[/O[U~?[[[[[BZYY i) JIiu@/:= !))!!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034175.323165 s, next control iter: 1743034175.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7674., header.stamp.nsec: 0.0 temperature: 13.572987.* salinity: 33.374981., density: 1025.000000.* values[0]: 0.567506.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034175.703165 s.غsI~,%AAףp= @Ap;4@A+V~? A̫Ak&"AA#ghNA"AZAbAjArAzAAAS(VAI6hfsA*c@Aa<AiAʼnA`,?AVA[<*An9?2A2ֽ:A BAn9?JA2ֽRA ٘i)I9*c@YA G J><B=JJJJE&K YAjT~?yEAGEb7q/9)BE[[[U~?[?[[[[BZYY iQ=) Ii@Ӝ9= )))))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034175.723165 s, next control iter: 1743034176.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034176.123165 s.5tI~,T%AJ"J*J2J:JT?BJT?nJc5vJA)\u@Aͪ[@A.V~? AҳAB&"AAkhNA"AZAbAjArAzAAA\wAKjksAc@A&C<AA A ?ALIA<*A69?2Aֽ:A= BA69?JAֽRA= ٘i)I9c@Y G JFr<C=JJJJE&K YpT~?y1EAJE{7{7/9-B)BE[[=갿[hU~?[穩[[[[BZYY i) [Ii@%F9= ))yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034176.143165 s, next control iter: 1743034176.523174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034176.543165 s.ItI~,"%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034176.543300F (some fields omitted in printout)A{G@Ap]1@A2V~? AһA1&"AAohNA"AZAbAjArAzAAA?`? ilD? ?`R?`ńzv?)@ I٘i)I9d@Y G JC<J]JJJE&Kw> YC~T~?y7ѩ{FAڡOEb770/9.B) BE[[y[CU~?["[[[[BZYY i) BIi@P7= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034176.983165 s, next control iter: 1743034177.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743034177.383165 s.tI~,+X%AAQ@A3<@A:V~? A˪A+&"AA{hNA"AZAbAjArAzAAAqf AJVyizsAme@A\YAXAaA?A`HAY<*A9?2Aֽ:ABA9?JAֽRA٘i)I9e@Yp G Jn<JJJJE&K YdžT~?y٩FARE777/9)B[[cT[=U~?[[[[[BZYY i) Ii@6=  ))  @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034177.423165 s, next control iter: 1743034177.783176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7676&, header.stamp.nsec: 0&0 temperature: 13.572541&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.568544&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034177.803165 s.{AtI~,gs%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034177.803295F (some fields omitted in printout)Aq= #@A @Az?V~? AӪA!_&"AAނhNA"AZAbAjArAzAAAVw Ap?sAʲe@A VA5AJŜA?A 3A<*A9?2A.*ֽ:A^/BA9?JA.*ֽRA^/٘i)I9e@Y G J<JJJJE&K YJT~?yKGAUE{7[/9)B[[![U~?[Gĩ[[[[BZYY i) >TIiC@6= _2))_2_2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034177.823165 s, next control iter: 1743034178.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034178.223165 s.g#tI~,H%AA(\@A@Iu@ADV~? A۪A%"AAƊhNA"AZAbAjArAzAAA2hH Ad}sAJf@ACƻA AA ?AAV<*AD9?2Aֽ:AO BAD9?JAֽRAO ٘i)I9Jf@Y( G J<JJJJE&K YΗT~?yeGAWEj7Z7/9/B)BE[[쥿[OU~?[ʩ[[[[BZYY i) yIiԍ@5= g))gg*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034178.243165 s, next control iter: 1743034178.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034178.643165 s.t)tI~,)%AJ"J*J2J:JBJnJvJAG@A*@AJV~? AkA*%"AAxhNA"AZAbAjArAzAAA&:G` ANۈsAf@AY;AԉA.cA`?AIA <*A}9?2A-ֽ:A BA}9?JA-ֽRA ٘i)I9f@Y G J<JJJJE&K YQT~?yHAZE777/9)BE[[۷[eV~?[Zѩ[[[[BZYY i) Ii@!95= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034178.663165 s, next control iter: 1743034179.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7677, header.stamp.nsec: 00 temperature: 13.572242* salinity: 33.374992, density: 1025.000000* values[0]: 0.569261F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034179.063165 s.0tI~,V %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743034179.063291F (some fields omitted in printout)Afffff@AMSL@AQV~? A<A%"AAhNA"AZAbAjArAzAAAVX AgꠍsAmqg@AH<AAyAؕ?AAt<*Ax9?2A׽:A*BAx9?JA׽RA*Y,؜@tҔyǭ@I<ٓHT?[?@ 褿 HJ s?v@?2?@ ?@?),؜@ I٘i)I9qg@Y G J<B=J;JJJE&K'x> YT~?yHAҔ]E7/9)B[[1[ V~?[ש[[[[BZYY i) ^Iim@3= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034179.103165 s, next control iter: 1743034179.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034179.483165 s.s_7tI~,%AJ"J*J2J:J?BJ?nJ5vJA@ABԷ@AXV~? AA%"AA;hNA"AZAbAjArAzAAAs AmU_sAg@Azc<AAA`No?A`jAԧ<*A)9?2A׽:ABA)9?JA׽RA٘i)I9g@Y2 G JG<C=JJJJE&K YT~?yHA`E/90B)B E[[P[V~?[Cީ[[[[BZYY i) 9Iit@22= #))#뾩#l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034179.503165 s, next control iter: 1743034179.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7678, header.stamp.nsec: 00 temperature: 13.571930* salinity: 33.375000, density: 1025.000000* values[0]: 0.569981F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034179.903165 s.=tI~,%AA ףp=@A֪]#@A'`V~? AAQb%"AAFhNA"AZAbAjArAzAAA }_ A7sAQh@AJ<A"A$A@A?A-bAt<*A9?2Auֽ:AuBA9?JAuֽRAu٘i)I9h@Y G J<JJJJÃE&K YT~?y NIAbEj7SI7F/9)B[[[V~?[[[[[BZYY i) :Ii@1= ~K))~K⾩~K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034179.923165 s, next control iter: 1743034180.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034180.323165 s.tDtI~,%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034180.323294F (some fields omitted in printout)A\@ABގ@A8hV~? AhA%"AAhNA"AZAbAjArAzAAArYA-*8ƛsA2i@ATAnAA-?A@<A%<*A9?2A xֽ:AQBA9?JA xֽRAQ٘i)I9i@Y G J<JJJJƃE&K Y$T~?yIAeE{7{7/91B)B!E[[㚿[U!V~?[[[[[BZYY i) bz;Ii@޺0= nپ))nپnپ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034180.343165 s, next control iter: 1743034180.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7679*, header.stamp.nsec: 0*0 temperature: 13.571631** salinity: 33.375019*, density: 1025.000000** values[0]: 0.570652*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034180.743165 s.WKtI~,q/%AAGz@Ac@ApV~? A Ag6%"AAhNA"AZAbAjArAzAAA7$AYkmsAdi@A 0AAA4?A`DA_Ƨ<*A9?2A?ֽ:ABA9?JA?ֽRA٘i)I9i@Y4G J<JJJJɃE&K YYT~?y0JAhEŧ7b7q/92B)B$E[[a[?)V~?[x[[[[BZYY i) Q;Ii@20= ΍о))΍о΍оR*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034180.783165 s, next control iter: 1743034181.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034181.163165 s.u}RtI~,qJ%AJ"J*J2J:J-?BJ-?nJG5vJA@AJ_e@AyV~? AA%"AAhNA"AZAbAjArAzAAA':AޟR sAT2j@AsfAxA뇿A`?ACAJ<*A9?2ABֽ:A:BA9?JABֽRA:Y@ˇyWuˈgٓH)?)?Wܕ`-?@Z/??/ߌ?)@ I٘i)I92j@YG J<JU<JJJ˃E&Kx> Y#T~?y"zJAˇjE{7j7/9)B[[u[x1V~?[[[[[BZYY i) 1̇;IiV@ۂ.= Ǿ))ǾǾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034181.203165 s, next control iter: 1743034181.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034181.583165 s.XtI~,Re%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034181.583271F (some fields omitted in printout)AR@Aps@AcV~? AA%"AAhNA"AZAbAjArAzAAA WATɢsA`j@A$AAFA ?A`Az(<*A09?2Aֽ:A^BA09?JAֽRA^٘i)I9j@YG J<JJJJ΃E&K YT~?y*JAmEj7/9)ݯB'E[[C>[:V~?[ [[[[BZYY ivř=) ;Ii3@@-= Vپ))VپVپ\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034181.623165 s, next control iter: 1743034181.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7680, header.stamp.nsec: 00 temperature: 13.571324* salinity: 33.375004, density: 1025.000000* values[0]: 0.571340F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034182.003165 s.w `tI~,H4%AJ"J*J2J:JBJnJvJAp= W@A0H<@AnV~? A Aw|%"AAhNA"AZAbAjArAzAAAHIA/J/sA: elevatorAngleAction: 0.075084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034182.843271F (some fields omitted in printout)AHz.@A3K@AV~? AE/A[%"AAiNA"AZAbAjArAzAAA5Y AIi(sA)l@Ae<ALiAzAY?A(AlK<*A 9?2A-׽:A@BA 9?JA-׽RA@٘i)I9)l@YG JO<JJJJփE&K YHU~?yAKAuE7\/94B)ӯB+E[[G[&VV~?[[[[[BZYY i) :<ٓH@U?@.?o#d?{?@ ?N?`H?)[@ I٘i)I9l@YG JɆ<J4;JJJكE&K+x> Y-U~?yHRLAuxE/9)ϯB[[T['`V~?[[[[[BZYY i) m(= 2))22*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034183.303165 s, next control iter: 1743034183.663176 s, wait time: 0.360011 s-U~?)H.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7682., header.stamp.nsec: 0.0 temperature: 13.570763.* salinity: 33.375031., density: 1025.000000.* values[0]: 0.572569.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034183.683165 s.lztI~,%AJ"J*J2J:JBJnJvJAQ@A@AvV~? A=A@%"AA7iNA"AZAbAjArAzAAA\`A&*%sA m@A~G;AAAHpA ?ASA<*A9?2Aֽ:A elevatorAngleAction: 0.075084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034184.103303F (some fields omitted in printout)A= ףp@A6rݔV@AV~? ADA%"AAIiNA"AZAbAjArAzAAA2EAIsAm@AA+ًAn@kA@?AQAc<*Ag9?2AYֽ:AsBAg9?JAYֽRAs٘i)I9m@YG J<B=JJJJރE&K  09YMU~? 09yAW MA}E7{709)ʯB[[uۆ[RuV~?["[[[[BZYY i) 40W%A:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034185.363286F (some fields omitted in printout)A3333@AS@AV~? AYA%"AAiNA"AZAbAjArAzAAA($xA6sA#n@AEtAސAU[AS?AA0<*Ay9?2AEֽ:A BAy9?JAEֽRA Yg@ {[yݐ治ٓH@?`4?y"?0?@?Nvd?)g@ IWI٘i)I9n@YuG J<J!JJJE&K+x> YU~?yVl!NA{[Eb77 09)B5E[[?[V~?[4[[[[BZYY i) M^ elevatorAngleAction: 0.084105< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034186.623310F (some fields omitted in printout)A)\@APN@AW~? AmA%"AA9iNA"AZAbAjArAzAAAx0AFၔ.sA@yp@AG_<A+AJKA յ?A ADՖ<*A9?2Au׽:AG BA9?JAu׽RAG ٘i)I9yp@Y[G Jϕ<C=JJJJE&K YUU~?yPEOAEŧ7ŧ709:B)B Y]U~?yPArAEb7709;B)B?E[[i[V~?[Q[[[[BZYY i) ,t elevatorAngleAction: 0.084105< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200732 time: 1743034187.883391F (some fields omitted in printout)AQ8@AE_A@AJW~? AA%"AAjNA"AZAbAjArAzAAAu -ٿAȿASLƜsAmr@A hA颽AO7A֨?AA<*AН9?2Am"ֽ:AJBAН9?JAm"ֽRAJ٘i)I9r@YG J<JJJJE&K YtV~?yPAE77&09)B[[lj`[V~?[[[[[[BZYY i) r*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743034188.743165 s, next control iter: 1743034189.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034189.143165 s.[/tI~,*I%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084105< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034189.143304F (some fields omitted in printout)AGz@A^h`@An~W~? AڒAд%"AA[jNA"AZAbAjArAzAAA7ja&?AsAs@AErA§A,A ?A@A<*AB9?2Aֽ:ABAB9?JAֽRA٘i)I9s@YgG Ji<B=JJJJE&K Y1V~?y&QAE7.09>B)BIE[[/]W[W~?[f[[[[BZYY i) r YGV~?y'RA`'E777109)B[[R[ W~?[k[[[[BZYY i) ĺ elevatorAngleAction: 0.084105< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743034190.403277F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@A}b@AuW~? AA@b%"AAXjNA"AZAbAjArAzAAA:H?A$hsA(u@A7<AAAt?AAY<*A 9?2AZֽ:AדBA 9?JAZֽRAד٘i)I9u@YG Jm<B=JJJJE&K YtV~?y3 SAEj7j7809@B)BPE[[ӡI[7@W~?[ v[[[[BZYY i) i elevatorAngleAction: 0.092878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743034191.663309F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7690, header.stamp.nsec: 00 temperature: 13.568093* salinity: 33.375107, density: 1025.000000* values[0]: 0.578201F (some fields omitted in printout)A @ATrN @AW~? AAo$%"AAkNA"AZAbAjArAzAAA Z3?Ak}8tAcw@A<`A۲A% A?A`޿Aq'<*A9?2Aս:AZBA9?JAսRAZYa@Y yDײ`aٓH$? ?) z8?vh?@S?`?)a@ I٘i)I9w@YG J<J&JJJE&Kw> YV~?yĪhTAY EC09BB)BVE[[K;[qW~?[Ä[[[[BZYY i) BBZYY i¸>w) p@uI~,;%AJ"J*J2J:J@?BJ@?nJt5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083310< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743034192.923323F (some fields omitted in printout)A(\B @A?( @A-X~? AëA%"AAakNA"AZAbAjArAzAAAbK@A \WtAy@AW;AAqA?AۿAC<*A9?2A"ֽ:AXBA9?JA"ֽRAX٘i)I9y@YG J<B=JJJJE&K YW~?yZҪUAEj7j7]N09DB)uB^E[[-[IW~?[[[[[ZZZZBZYY i) x9uI~, Y 3W~?yڪVAE77U09EB)iBdE[[m$[W~?[[[[[ZZZZBZYY i) ))'~`>`>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034193.803165 s, next control iter: 1743034194.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034194.183165 s."uI~,Z%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248665@ elevatorAngleAction: -0.083310< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743034194.183281F (some fields omitted in printout)AQ @ACk @AmX~? AЫA%"AA:kNA"AZAbAjArAzAAA ]^@Aܼ+tA9E|@A}<A5A8>ܾAc?A@qٿA,*<*A9?2A@ֽ:Ak»BA9?JA@ֽRAk»٘i)I9E|@YG JI<C=JJJJE&K Y{LW~?yުVAE77{7Y09)cB[[K[W~?[ן[[[[ZZZZBZYY i) Ъ)) @R%>@R%>{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034194.223165 s, next control iter: 1743034194.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034194.603165 s.54)uI~,%AJ"J*J2J:J?BJ?nJ5vJA= ף @A @AX~? AիA'%"AAEkNA"AZAbAjArAzAAA k7r @A{[]tA|@AA;޼A2ҾA c?AYؿA"<*A19?2Aս:A/:BA19?JAսRA/:٘i)I9|@YG J<JJJJ!E&K YeW~?y|BWAEZ7Z7\09)^BgE[['[W~?[ [[[[ZZZZBZYY i) d)):8>:8>A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034194.643165 s, next control iter: 1743034195.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7693 , header.stamp.nsec: 0 0 temperature: 13.566726 * salinity: 33.375126 , density: 1025.000000 * values[0]: 0.581111 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034195.023165 s.Z0uI~,{%AA(\ @A`#IB @ANX~? AA٫A1C%"AAlNA"AZAbAjArAzAAAY> @A/tAn}@A^,A)AȾA2?A ׿Ag2<*A9?2AFս:A1I<BA9?JAFսRA1I<٘i)I9n}@Y?G J<JJJJ$E&K YZW~?ySWAÃE77G`09FB)ZBjE[[?[X~?[%[[[[ZZZZBZYY i) ))?K>?K>s)Y -YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034195.063165 s, next control iter: 1743034195.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034195.443165 s.96uI~,F]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J8 propOmegaAction: 25.132812*J< rudderAngleAction: -0.2617992J@ elevatorAngleAction: -0.083310:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4200112 time: 1743034195.443306F (some fields omitted in printout)Az @Asd嗭 @AѯX~? AJݫA%"AA&lNA"AZAbAjArAzAAA߬>@Aѝ`!tA}@AX+WAd;AA`o?A׿AA<*A9?2Aս:An<BA9?JAսRAn<٘i)I9}@Y}G Jlq<JJJJ'E&K Y˘W~?y*WAŃEj7j7c09)WBmE[[Cx[X~?[*[[[[ZZZZBZYY i) -m))`^^>`^^>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034195.483165 s, next control iter: 1743034195.843180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7694, header.stamp.nsec: 00 temperature: 13.566363* salinity: 33.375145, density: 1025.000000* values[0]: 0.581867F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034195.863165 s.+=uI~,>%AA33333@AF!@AX~? A/AR%"AAHlNA"AZAbAjArAzAAA|/Bl@Ai#tAZ~@A A]<AjA 1?A5ֿA;*A9?2Aս:A<BA9?JAսRAJJJ)E&Kt> YcW~?y3WAȃE777sg09)VBpE[[{ [+X~?[[[[[ZZZZBZYY i-q) [)){Qq>Qq>cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034195.903165 s, next control iter: 1743034196.263182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034196.283165 s.HRDuI~, %AJ"J*J2J:JBJnJvJAQ@AGŧ@AX~? AAZ%"AAklNA"AZAbAjArAzAAARg@ALU &tA4~@AVa:A =A.A;?A@aտAf:*Ao9?2A2ս:Ad<BAo9?JA2սRAd<٘i)I94~@YG J;JJJJ,E&K YW~?y:WA˃ESI7SI7k09HB)qE[[[?X~?[ϳ[[[[BZYY i) I)) 3>3>Z=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034196.303165 s, next control iter: 1743034196.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7695., header.stamp.nsec: 0.0 temperature: 13.566118.* salinity: 33.375153., density: 1025.000000.* values[0]: 0.582232.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034196.703165 s.ںJuI~,!-%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034196.703336F (some fields omitted in printout)Aףp= @A 8@AX~? AA%"AAlNA"AZAbAjArAzAAA)@AYJ>(tAi+~@A#<A8=A5A ?A,ԿAy*A9?2A_Խ:AG<BA9?JA_ԽRAG<٘i)I9+~@YG JB=JJJJ/E&K YW~?yCWA̓Eŧ77n09)WBtE[[{'[`TX~?[[[[[BZYY i) l7))Ћ>Ћ>`}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034196.723165 s, next control iter: 1743034197.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034197.123165 s.5QuI~,TG%AJ"J*J2J:J?BJ?nJM5vJA)\u@A-X[@A] Y~? AAK%"AAlNA"AZAbAjArAzAAAn{@Ay[*tA~@Aff<A\=AW5A`N?AzӿA9R *A9?2A0Խ:A5=BA9?JA0ԽRA5=٘i)I9~@YG J]̻C=JJJJ1E&K Y"X~?yJwWAЃE77772r09IB)YBwE[[[EiX~?[[[[[BZYY i) ;\%))y>y>yُbYCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034197.163165 s, next control iter: 1743034197.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034197.543165 s.IXuI~,b%AA{G@At/@A$Y~? ATA%"AAlNA"AZAbAjArAzAAA'@Aʉb,tA0}@A^2<A:?z=A7ۊAx?AeҿAд>*As9?2A߫Խ:A =BAs9?JA߫ԽRA =٘i)I9}@YnG J"JJJJ4E&K YX~?yR[WA DӃEj7Z7u09)[BzE[[5[~X~?[[[[[BZYY i) F))2>2>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034197.583165 s, next control iter: 1743034197.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7696, header.stamp.nsec: 00 temperature: 13.566035* salinity: 33.375187, density: 1025.000000* values[0]: 0.582232F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034197.963165 s.x^uI~,}%AJ"J*J2J:J ?BJ ?nJJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743034197.963324F (some fields omitted in printout)AL@AB#ظ2@A Y9X~?yVA#փEj7]y09)^B}E[[UT[X~?[[[[[BZYY ii) ))ya˨>a˨>лYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034198.003165 s, next control iter: 1743034198.363179 s, wait time: 0.360014 s9X~?) rAdjusting time to match Gazebo time: 1743034198.383165 s.euI~,/%AAQ@A.9@A TY~? AA%"AAUmNA"AZAbAjArAzAAAx @A∽)0tAN|@ASUA =AjA?AѿAd*A&9?2Aս:A?=BA&9?JAսRA?=٘i)I9|@YG JvJJJJ9E&K YvTX~?yVA؃E77|09)aBE[[e߾[8X~?[Ū[[[[BZYY i) e;Ii'@a< Qv>)) Qv>Qv>ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034198.403165 s, next control iter: 1743034198.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7697", header.stamp.nsec: 0"0 temperature: 13.566095"* salinity: 33.375183", density: 1025.000000"* values[0]: 0.581925"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034198.803165 s.zAluI~,g%AJ"J*J2J:JBJnJvJAq= #@A @AtlY~? AbAC%"AA CmNA"AZAbAjArAzAAA?G@A$ 1tAY|@AqZA =AVA ?A*пA *Af9?2AGԽ:AZ0 =BAf9?JAGԽRAZ0 =٘i)I9|@YG JgJJJJ))94>94>ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034198.843165 s, next control iter: 1743034199.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034199.223165 s.gsuI~,H%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034199.223293F (some fields omitted in printout)A(\@A;4,Fu@AY~? AA%"AA hmNA"AZAbAjArAzAAA f..q@ACA類3tA|@A.DA=AAA4?AοAv*A9?2AԽ:Ah =BA9?JAԽRAh =٘i)I9|@YbG JxJJJJ?E&K Y4X~?y UAރE709JB)iBE[[̾[RX~?[1˪[[[[BZYY i) <=;Ii@< >))>>yfi֪Y-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034199.243165 s, next control iter: 1743034199.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034199.643165 s.yuI~,5*%AJ"J*J2J:J?BJ?nJ5vJAG@A^@AY~? AAk%"AARmNA"AZAbAjArAzAAA~Y@A 5tAt{@AEAp/=A.AY?A`̿AQ*A9?2A~Խ:A  =BA9?JA~ԽRA  =٘i)I9t{@Y G JDB=JJJJBE&K YX~?y;UAE7)709)nBE[[ A¾[X~?[Ϊ[[[[BZYY i/ԇ) %;Ii@̵< >))>>[تYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7698, header.stamp.nsec: 00 temperature: 13.566195* salinity: 33.375183, density: 1025.000000* values[0]: 0.581445F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743034199.683165 s, next control iter: 1743034200.043185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743034200.063165 s.uI~,t %AAfffff@AESL@AY~? AAQ:%"AAײmNA"AZAbAjArAzAAA׻@AdK6tAz@ANܹ;A&+=AaA}?A`q˿A0߶*AX9?2AԽ:A< =BAX9?JAԽRA< =Y?@Ǟy*=f;ٓHs?c/?`?2ÿS?kx;w?@?)?@ I٘i)I9z@YG JNC=J<JJJDE&Kzt> Y~X~?y'UAE777H09)sBE[[[EY~?[Ъ[[[[BZYY i) 7=Z;Ii[ @Я< ->))w->->תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034200.083165 s, next control iter: 1743034200.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034200.483165 s.t_uI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241268@ elevatorAngleAction: -0.066323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743034200.483272F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A>n׷@AY~? ARA %"AAmNA"AZAbAjArAzAAAG@Aut7tACz@AN<AAڙ=AAz?A`IɿAp4*A9?2Ab ս:Ah =BA9?JAb սRAh =٘i)I9Cz@YQG JJJJJGE&K YhX~?yTAEZ7Z7ݎ09)xBE[[1[ Y~?[aӪ[[[[BZYY i) ,;Ii@W< n>))^n>n>ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034200.503165 s, next control iter: 1743034200.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7699, header.stamp.nsec: 00 temperature: 13.566356* salinity: 33.375198, density: 1025.000000* values[0]: 0.580859F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034200.903165 s. ȍuI~,9%AA ףp=@A-\#@AY~? AkA%"AAmNA"AZAbAjArAzAAAqu)@ALǀA9tAêy@A%$S<A=AA@?A`fǿA*A:?2Aӽ:A1*=BA:?JAӽRA1*=٘i)I9y@YG JKJJJJJE&K YRX~?y-UTAE{7{7s09)}BE[[ˤ[$0Y~?[ժ[[[[BZYY i) D.:Ii5@Dc< S>)) S>S>fЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034200.943165 s, next control iter: 1743034201.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034201.323165 s.quI~,T%AJ"J*J2J:J?BJ?nJ5vJA\@A))iJ>iJ>y/ć̪YbYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034201.343165 s, next control iter: 1743034201.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7700*, header.stamp.nsec: 0*0 temperature: 13.566534** salinity: 33.375206*, density: 1025.000000** values[0]: 0.580236*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034201.743165 s."WuI~,o%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034201.743280F (some fields omitted in printout)AGz@Aa@AVZ~? A%Aϕ%"AA6KnNA"AZAbAjArAzAAA# \H @A';tAzx@A3hAB=AF4A?A )ÿAf*AC:?2AzԽ:A<BAC:?JAzԽRA<٘i)I9x@YCG JuJJJJOE&K Y%2Y~?y SAE77709)BE[[А[<_Y~?[pڪ[[[[BZYY i) KIig?< ڧ?))ڧ?ڧ?$ȪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034201.763165 s, next control iter: 1743034202.143189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743034202.163165 s.w}uI~,q%AJ"J*J2J:Jv?BJv?nJ5vJA@Ah$e@A4Z~? A AVt%"AAqnNA"AZAbAjArAzAAAl @A񺻅ٓH ?&???ᛀ?@!ձ 0 ?)s@ I٘i)I9x@YG J JJJJRE&Ks> Y\NY~?y? #SALE{7309)B[[]冾[vY~?[ܪ[[[[BZYY i) H Ii?`< ,?))u,?,?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034202.183165 s, next control iter: 1743034202.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034202.583165 s.uI~,S%AAR@A_!s@AzNZ~? A< AU%"AAnNA"AZAbAjArAzAAA+v&u~!@AHj=tAL~w@A]A=AA)?A A(Y*A:?2Aս:A <BA:?JAսRA <٘i)I9~w@YG JJJJJTE&K YjY~?y RAE77Ƞ09)BE[[y[Y~?[nު[[[[BZYY i) Ii8?k<  ?))p ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034202.623165 s, next control iter: 1743034202.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7701, header.stamp.nsec: 00 temperature: 13.566688* salinity: 33.375248, density: 1025.000000* values[0]: 0.579651F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034203.003165 s. uI~,4%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259815@ elevatorAngleAction: -0.066323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743034203.003303F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@AE<@A2hZ~? A A:%"AAqnNA"AZAbAjArAzAAAWi"@Aq76>tAv@A A =AJA`@?A`CA<*AR.:?2AԽ:A,f<BAR.:?JAԽRA,f<٘i)I9v@YTG JJJJJWE&K YdžY~?y dRAE7^09)BE[[;e[Y~?[:[[[[BZYY i) NIi]?d< ?)) ??ۿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034203.023165 s, next control iter: 1743034203.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034203.423165 s.uuI~,{%AA(\@A'Nw@AZ~? A A"%"AA}nNA"AZAbAjArAzAAA }I"@A>tAv@AZ:A茉=A*<A`|Q?AwA|*A1:?2Adӽ:A<BA1:?JAdӽRA<٘i)I9v@YG J?JJJJZE&K YY~?y RAE77709)BE[[ZQ[^Y~?[[[[[BZYY i)  IiX?y< .?)).?.?YYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743034203.443165 s, next control iter: 1743034203.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7702, header.stamp.nsec: 00 temperature: 13.566790* salinity: 33.375233, density: 1025.000000* values[0]: 0.579133F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034203.843165 s.ݼuI~,%AJ"J*J2J:JBJnJvJAHz.@A@AZ~? AA %"AA oNA"AZAbAjArAzAAA>S#@Aa?tAfv@AZj$<A=APW<A@_?AI A)*AK1:?2A3Խ:A<BAK1:?JA3ԽRA<٘i)I9v@YG J͗JJJJ\E&K Y3Y~?y QAE)7b709)BE[[#<[Y~?[h[[[[BZYY i) @ϤIi*?< ?))??Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034203.883165 s, next control iter: 1743034204.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034204.263165 s.uI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743034204.263287F (some fields omitted in printout)A@AU@AεZ~? AA%"AA4oNA"AZAbAjArAzAAAZF#@ANji@tAOu@AH_`<AѤ=A/I=A`Cl?A }YA*A90:?2AܨԽ:AV}<BA90:?JAܨԽRAV}?`?^?Y`Ѱ ? ?)/@ I٘i)I9u@YlG JJJ!JJJ_E&Ks> YkY~?y JQAL=E77j709IB)BE[[([Y~?[[[[[BZYY iH) HĻIi?@{< ?))^bu??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034204.303165 s, next control iter: 1743034204.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7703., header.stamp.nsec: 0.0 temperature: 13.566896.* salinity: 33.375248., density: 1025.000000.* values[0]: 0.578625.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034204.683165 s.luI~,c+%AJ"J*J2J:J ?BJ ?nJR5vJAQ@AK@AZ~? A+A%"AA9\oNA"AZAbAjArAzAAA!qƊ$@AAɇ?A@sAj*A<:?2ACս:Al<BA<:?JACսRAl<٘i)I9s@YQG JƁC=JJJJjE&K YKLZ~?y OAE77s09)B[[[UZ~?[[[[[BZYY i) (e IiŦ?uwU< y3?))y3?y3?xYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034205.983165 s, next control iter: 1743034206.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034206.363165 s.uI~,y>%AJ"J*J2J:JBJnJvJA3333@Az@A8[~? A4A%"AAoNA"AZAbAjArAzAAA!P&'@A0PR AtA-Cs@A,N<A@G=AW]>Aq?A x?Am߄*Ae5:?2Agս:A9=BAe5:?JAgսRA9=YT@>yD=A<ٓH?8ÿ???`?@E?)T@ I٘i)I9Cs@YG JvJ;JJJmE&Ks> Y8hZ~?y} OA> EZ7SI7 09HB)BE[[&[nZ~?[I[[[[BZYY i) /Ii:?$AI< v8?))uv8?v8?0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034206.403165 s, next control iter: 1743034206.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7705&, header.stamp.nsec: 0&0 temperature: 13.567079&* salinity: 33.375278&, density: 1025.000000&* values[0]: 0.577730&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034206.783165 s.VuI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239891@ elevatorAngleAction: -0.077287< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743034206.783297F (some fields omitted in printout)AQ@A}@AR[~? AA%"AA!pNA"AZAbAjArAzAAA6'@A$:q@tAJr@A`AA]=A.>A?A3?Af狼*A-:?2Aս:A\=BA-:?JAսRA\=٘i)I9r@YG JJJJJoE&K Y'Z~?y-&OAEb7709)BE[[,4[sZ~?[[[[[BZYY i) c?Ii?~>< =?))=?=?lªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034206.803165 s, next control iter: 1743034207.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034207.203165 s.uI~,%AJ"J*J2J:JBJnJvJAףp=@AޫV&p@A%l[~? AA"%"AA$IpNA"AZAbAjArAzAAA?w«B(@A͘VP@tAXr@AK.;AZn=AA?A`f?A$h*AeD:?2AVӽ:A =BAeD:?JAVӽRA =٘i)I9Xr@YG JJJJJrE&K YZ~?yNAE77309)BE[[׾[CZ~?[[[[[BZYY i) [NIi?'4<  C?))  C? C?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034207.223165 s, next control iter: 1743034207.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034207.623165 s.WuI~,]%AA)\@Ab@A/[~? AHA%"AAppNA"AZAbAjArAzAAA0f(@A/"0~@tAZq@AS<A;=AsU>Az?A@?A d*AA:?2Aӽ:A_3=BAA:?JAӽRA_3=٘i)I9q@Y2G JJJJJuE&K YZ~?ymNAE{709GB)BE[[ A[FZ~?[[[[[BZYY i) [c^Ii?;*+< NH?))NH?NH?{ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034207.663165 s, next control iter: 1743034208.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7706 , header.stamp.nsec: 0 0 temperature: 13.567168 * salinity: 33.375301 , density: 1025.000000 * values[0]: 0.577294 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034208.043165 s.vI~,%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077287< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034208.043300F (some fields omitted in printout)A{Ga@AP0G@A0[~? AA %"AApNA"AZAbAjArAzAAAtl9~)@A @tAUq@AqO<A=Afj>A:q?Aj?Az*A;:?2ASԽ:Aҕ=BA;:?JASԽRAҕ=٘i)I9Uq@YG JvJJJJwE&K YZ~?y:NAE77^09)BE[[<[uZ~?[ [[[[BZYY i) OmIi@?Q\#< HM?))HM?HM?ͪYN YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034208.083165 s, next control iter: 1743034208.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034208.463165 s.ZvI~,%AA@A캷@A$[~? AA%"AAppNA"AZAbAjArAzAAADy*@A &/?tAkp@At;AZӗ=Aȧ>Ae?A B?A*A5:?2A!ս:A&=BA5:?JA!սRA&=Y<- >yҗ=);ٓHW?Ͽּ?? ?@ ?w?]?)< I٘i)I9p@YG JJJ<JJJzE&Kt> YOZ~?y MA >Ej7Z709FB)BE[[t=[VZ~?[[[[[BZYY i) o}IiZl?-D< R?))vR?R?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034208.483165 s, next control iter: 1743034208.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7707, header.stamp.nsec: 00 temperature: 13.567296* salinity: 33.375336, density: 1025.000000* values[0]: 0.576767F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034208.883165 s.z vI~,8%AJ"J*J2J:J?BJ?nJ5vJAQ8@AjJ>@A [~? A Am%"AApNA"AZAbAjArAzAAA3t*@A r ?tACGp@AAݙ=A1>A5V?A ?Aʠ*AW/:?2Aս:A/ =BAW/:?JAսRA/ =٘i)I9Gp@Y=G J⠼JJJJ}E&K Y[~?yDMAE77709MB)ʯB[[Oq=[l [~?[j[[[[BZYY i) Ii.[?F < $X?))4$X?$X?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034208.903165 s, next control iter: 1743034209.283185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743034209.303165 s.SvI~,jgS%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261072@ elevatorAngleAction: -0.077287< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743034209.303276F (some fields omitted in printout)Aq= ף@A `@A[~? A A}%"AA qNA"AZAbAjArAzAAATCFU+@A4_>tAo@ABA=A >AnF?A`?A*AE:?2AԽ:AB =BAE:?JAԽRAB =٘i)I9o@YG J]JJJJE&K Y*[~?yLAEŧ7b709LB)ίB¹E[[M=[$[~?[[[[[BZYY i-) IiK?*h< y]?)) y]?y]?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034209.343165 s, next control iter: 1743034209.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7708., header.stamp.nsec: 0.0 temperature: 13.567430.* salinity: 33.375328., density: 1025.000000.* values[0]: 0.576214.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034209.723165 s.vI~,Hn%AJ"J*J2J:J?BJ?nJ5vJA(\@As۾G@A\~? A A2%"AA 5qNA"AZAbAjArAzAAA=5s+@A;Xe=tAj6o@A"ZAޝ=AN>AM3?A`?A*A_@:?2A<ս:Ah =BA_@:?JA<սRAh =٘i)I96o@YG JwJJJJE&K YbE[~?yxLA!Ej7j709KB)үBŹE[[ E=[?[~?[[[[[BZYY i) M7Ii>?>U; |b?))|b?|b? ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034209.763165 s, next control iter: 1743034210.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034210.143165 s.W/"vI~, *%AAGz@A`@AK!\~? A AM%"AA\qNA"AZAbAjArAzAAA}Uvo,@ATZfA V?A@p?Ab*Av6:?2A-ս:A=BAv6:?JA-սRA=٘i)I9n@YAG JJJJJE&K Y`[~?yULA#E77I09)֯BȹE[[ =[Y[~?[-[[[[BZYY i) [ȜIi<2?$; ?h?))?h??h?ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034210.163165 s, next control iter: 1743034210.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034210.563165 s.(vI~,_ %AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034210.563296F (some fields omitted in printout)Affff@A1"Q@A:\~? AAcj%"AAׂqNA"AZAbAjArAzAAAs(-@AB;tAn@A:AƢ=A[>A?Au?A**A,:?2A:ս:A3=BA,:?JA:սRA3=YS{>n>yƢ=:ٓH?տA?J?y?@T?`ES!_??)S{> I٘i)I9n@YG JJP<JJJE&Kt> Y@{[~?yPKAn>&E77{709JB)ٯB˹E[[">[s[~?[[[[[BZYY i) 4Ii?a; m?))KXxm?m?yxߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034210.603165 s, next control iter: 1743034210.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7709, header.stamp.nsec: 00 temperature: 13.567559* salinity: 33.375347, density: 1025.000000* values[0]: 0.575673F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034210.983165 s./vI~,%AAQ@Ac7@AQT\~? AAЊ%"AAqNA"AZAbAjArAzAAA!z-@Az:tAkm@A--<Ao=Am>A?AG?A*A!#:?2ARս:A=BA!#:?JARսRA=٘i)I9m@YG JJJJJE&K Y[~?yJ8KA)EZ7SI7t09)ޯBιE[['>[[~?[[[[[BZYY i) oIi?; r?)) r?r?UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034211.023165 s, next control iter: 1743034211.383181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034211.403165 s.&6vI~,%AJ"J*J2J:JBJnJvJA ףp@A;5Y@Am\~? AAc%"AAqNA"AZAbAjArAzAAAз\.@Ar*&9tAl@Aa<A=A(>A ?A/?AHQ*A?4:?2Aӽ:A.=BA?4:?JAӽRA.=٘i)I9l@Y-G J]JJJJE&K YD[~?yEJA+E 09IB)BѹE[[t=>[[~?[_[[[[BZYY i) = Ii> ; lx?))lx?lx?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034211.443165 s, next control iter: 1743034211.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7710", header.stamp.nsec: 0"0 temperature: 13.567702"* salinity: 33.375374", density: 1025.000000"* values[0]: 0.575059"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034211.823165 s.A ?A B?Al*A,:?2AԽ:Au=BA,:?JAԽRAu=٘i)I9Bl@YG JǿJJJJE&K Y[~?y?]JA.E7709GB)BйE[[YS>[ [~?[[[[[BZYY i) vIiE>; V}?))V}?V}?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034211.863165 s, next control iter: 1743034212.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034212.243165 s.CvI~,~%AJ"J*J2J:JBJnJvJAGz@Ajez@A\~? AA%"AAprNA"AZAbAjArAzAAAx_/@A 6tAhk@A :ADo=A>A 2?A?Ak*A$:?2ARս:Ai=BA$:?JARսRAi=٘i)I9k@YhG JxJJJJE&K YH[~?y:IA1E77409FB)BӹE[[ci>[[~?[ߪ[[[[BZYY i) WIiy>$; j?))j?j?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034212.283165 s, next control iter: 1743034212.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034212.663165 s.JvI~,q*%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7711, header.stamp.nsec: 00 temperature: 13.567911* salinity: 33.375359, density: 1025.000000* values[0]: 0.574375F (some fields omitted in printout)A@AN ^@A۸\~? A.Az+%"AASBrNA"AZAbAjArAzAAA5. 0@Aq5tA^j@AM(A=A^R>A |h?A?A¼*A:?2A)ֽ:A7=BA:?JA)ֽRA7=Y}m>>y簮=ٓH`?ۿ{? ? ?(? Vϵ`?)}m> I٘i)I9j@YG J¼B=Jb<JJJE&K"u> Y[~?ydzIA>3E{7j709EB)BֹE[[4>[[~?[ݪ[[[[BZYY i) %ɼIiO>FY; n?))jzn?n?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034212.683165 s, next control iter: 1743034213.063176 s, wait time: 0.380011 s"[~?)"d rAdjusting time to match Gazebo time: 1743034213.083165 s.DQvI~,RE%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244920@ elevatorAngleAction: -0.086025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743034213.083332F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@AlQ@A\~? AAI[%"AAgrNA"AZAbAjArAzAAA;]0@A$ů3tAXj@A"]A=A>A?A?Avh?A"ż*A:?2Aqֽ:A~=BA:?JAqֽRA~=٘i)I9Xj@YG JüC=JJJJE&K Y\~?yIA6E77{7_09DB)BٹE[[s>[\~?[۪[[[[BZYY i) =gмIiʼn>Y0;  .?))  .? .?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034213.103165 s, next control iter: 1743034213.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034213.503165 s.WvI~,@4`%AAp= @A6Z@A0\~? AA4%"AA^rNA"AZAbAjArAzAAAjV0@A@2tAްi@AY#6A?=A>A[?A`m!?A˼*Ar":?2A ս:A[=BAr":?JA սRA[=٘i)I9i@Y:G JȼJJJJE&K Yt1\~?yުHA9E7709CB)BܹE[[>[J,\~?[`٪[[[[BZYY i)  ׼IiY>S ; ?))??qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034213.523165 s, next control iter: 1743034213.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7712, header.stamp.nsec: 00 temperature: 13.568062* salinity: 33.375370, density: 1025.000000* values[0]: 0.573683F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034213.923165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 9^vI~,{%AA(\B @Az( @A]~? AA%"AArNA"AZAbAjArAzAAAHP30@A2Lu0tAi@A%=AR:=AB?A@Y?A?A0vӼ*A:?2A7Խ:AM=BA:?JA7ԽRAM=٘i)I9i@Y G JϼJJJJE&K  19YJ\~? 19yڪHA;Eb7719)B[[wؠ>[F\~?[֪[[[[BZYY i) ޼Ii4'>:  ?)) ? ?YkYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034213.963165 s, next control iter: 1743034214.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034214.343165 s.E7719BB)B߹E[[>[`\~?[ Ԫ[[[[ZZ¸BZYY i¸Φ=) ҼIiN=d: ?))?? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034214.363165 s, next control iter: 1743034214.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7713&, header.stamp.nsec: 0&0 temperature: 13.568257&* salinity: 33.375408&, density: 1025.000000&* values[0]: 0.572977&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034214.763165 s.5kvI~,ذ%AJ"J*J2J:JBJnJvJA!@A b @A2]~? AA8%"AArNA"AZAbAjArAzAAAFу1@ASA,tAg@AAV<A`׷=A ?A`?A?A*A:?2A#ս:A =BA:?JA#սRA =YZH>< ?yWӷ=W<ٓHw$?3M??@E? T?Ȋ?Q?)ZH> I٘i)I9g@Y G J޼J-<JJJE&K`u> Y@|\~?yrҪ*GA< ?AE{7{719)BE[[2>[z\~?[#Ѫ[[[[ZZBZYY i) ƼIiY=h : tT?))~tT?tT?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034214.783165 s, next control iter: 1743034215.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034215.183165 s.rvI~,k%AAQ!@Ak!@AJ]~? AAw%"AA) sNA"AZAbAjArAzAAAl1@A!*tAf@AJ<A1=A ,?A@6^?A ?A*A:?2A3ս:A=BA:?JA3սRA=٘i)I9f@Yr G JJJJJE&K YB\~?yͪFACEj7Z7I 19>B)BE[[kh>[\~?[Ϊ[[[[ZZBZYY i) кII?iU u?)) u?u?4YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743034215.203165 s, next control iter: 1743034215.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034215.603165 s.64yvI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034215.603287F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף!@A۟!@A1b]~? ABA%"AADsNA"AZAbAjArAzAAAq2@A4(tAe@A;AY=Au?A)?A@o?APx*A2:?2AԽ:A|<BA2:?JAԽRA|<٘i)I9e@Y G JJJJJE&K YG\~?y;ɪ3FAFE77719)B[[ǵ>[M\~?[ʪ[[[[ZZBZYY i) [II?i={@ ?))??yL ="ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034215.623165 s, next control iter: 1743034216.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7714 , header.stamp.nsec: 0 0 temperature: 13.568526 * salinity: 33.375397 , density: 1025.000000 * values[0]: 0.572158 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034216.023165 s.ZvI~,|%AA(\"@ADB"@Ay]~? AA%"AAgsNA"AZAbAjArAzAAA }8Z2@Ar5|&tA e@A挬Av=A?A?AE?A*A19:?2A^ս:Ad<BA19:?JA^սRAd<٘i)I9 e@Ye G JJJJJE&K YL\~?yĪEAIE77t19=B)BE[[>[\~?[3Ǫ[[[[ZZBZYY i) ݧIm I?iyܽ ?))??̫Y%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034216.043165 s, next control iter: 1743034216.423184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034216.443165 s.7ÆvI~,>]%AJ"J*J2J:JY?BJY?nJu5vJAz"@Au䛭"@A]~? AAED%"AA݊sNA"AZAbAjArAzAAAJ2@A#!{5$tAId@AVAӌ2=A~!?A?Ah?Avͼ*A;:?2A߮ս:A0X;BA;:?JA߮սRA0X;٘i)I9Id@Y G JJJJJE&K YP\~?y=EAKE{7j7 19[\~?[|ê[[[[ZZBZYY i) FIi I?i w?))w?w?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034216.463165 s, next control iter: 1743034216.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7715, header.stamp.nsec: 00 temperature: 13.568809* salinity: 33.375420, density: 1025.000000* values[0]: 0.571222F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034216.863165 s.+vI~,>7%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198992 time: 1743034216.863282F (some fields omitted in printout)A33333#@A.2#@A]~? AޫAT%"AAsNA"AZAbAjArAzAAAoՠ2@Am!tA٩c@AjA*<A$&'?A ?A@?AZ*A8:?2A'ս:A.BA8:?JA'սRA.Y2>8 '?yt<٤jٓH`j?@ I٘i)I9c@Y G JJJJJE&Ku> Y\~?yEA '?NEŧ7ŧ719;B)BE[[3>[\~?[[[[[ZZBZYY i؍=) 2*3@A'RetA)c@AAW!#<AQ,?A@H?AX?AҢ*A1:?2A")ֽ:ABA1:?JA")ֽRAUI٘i)I9)c@YA G JJJJJE&K YI ]~?yLDAQEZ7Z7419)!B[[d>[]~?[[[[[ZZBZYY iUן=) 恼II?ij0 "?)) "?"?wYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743034217.303165 s, next control iter: 1743034217.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7716., header.stamp.nsec: 0.0 temperature: 13.568995.* salinity: 33.375423., density: 1025.000000.* values[0]: 0.570542.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034217.703165 s.غvI~,m%AAףp= $@A,#@A}]~? AիA*%"AAPsNA"AZAbAjArAzAAA8]Um3@A"HRtAb@A^:Ad-Aw1?A ?A?A6*A;:?2Aս:AsBA;:?JAսRAs٘i)I9b@Y G JcB=JJJJE&K Y]~?yDASE777!197B) BE[[z?[-]~?[A[[[[ZZBZYY i) JoIcI?iԅQ ԥ?))ԥ?ԥ?^(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034217.723165 s, next control iter: 1743034218.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034218.123165 s.5vI~,T%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034218.123300F (some fields omitted in printout)A)\u$@A9d[$@A]~? AѫAl}%"AAtNA"AZAbAjArAzAAAU3@A5;tAb@A-<A랼AT6?A #?A,l?A+ *A,1:?2Aiս:ACBA,1:?JAiսRAC٘i)I9b@Y G JuC=JJJJE&K YD6]~?yDAVEj7j7_%195B)!BE[[K ?[E]~?[IJ[[[[ZZBZYY i) pZIfH?im Ԭ?))Ԭ?Ԭ?y۠=)Y&YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034218.163165 s, next control iter: 1743034218.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034218.543165 s.IvI~,â%AA{G$@A&L1$@A\^~? A*ͫA%"AAE5tNA"AZAbAjArAzAAAMh3@A9tA,hb@AƑ^<AA;?A็?A 6?A*A%:?2A&ֽ:AƼBA%:?JA&ֽRAƼ٘i)I9hb@Y G J䠻JJJJE&K YL]~?y9DAYE777(19)"B[[%?[^]~?[[[[[BZYY i) EIH?i˾G >?))>?>?0/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034218.563165 s, next control iter: 1743034218.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7717, header.stamp.nsec: 00 temperature: 13.569041* salinity: 33.375446, density: 1025.000000* values[0]: 0.570226F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034218.963165 s.yvI~,%AJ"J*J2J:JBJnJvJAL%@AY2%@A^~? AȫAw*%"AAVtNA"AZAbAjArAzAAA0e+44@AJtAfb@A<A!2AA?A@=C?A?A@;*AJ:?2A1ֽ:A>ZBAJ:?JA1ֽRA>ZY?@?y 2<ٓH ~P?`?S?<4B?@ނ?@?)? I٘i)I9fb@Y G JoJ*JJJE&K3v> Yca]~?y/DA@?\Eb77,194B)!BE[[?[v]~?[A[[[[BZYY ii=) 4IH?i꾉MO wZ?))wZ?wZ? o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034218.983165 s, next control iter: 1743034219.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034219.383165 s.صvI~,'%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057015< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034219.383297F (some fields omitted in printout)AQ%@AD<%@A+^~? AëA%"AA}vtNA"AZAbAjArAzAAA#=/tt4@ADtAb@A_A`ZALF?A?A@?A=&;*A#:?2A7ֽ:A6BA#:?JA7ֽRA6٘i)I9b@Y G JU;JJJJE&K Yv]~?y&DA^E 0193B)BE[[o?[]~?[9[[[[BZYY i3=) p$IH?i&^ߧ 1?))1?1?K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034219.423165 s, next control iter: 1743034219.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7718", header.stamp.nsec: 0"0 temperature: 13.568945"* salinity: 33.375465", density: 1025.000000"* values[0]: 0.570271"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034219.803165 s.~AvI~,g%AJ"J*J2J:JBJnJvJAq= #&@A &@A?^~? A A%"AAjtNA"AZAbAjArAzAAA=7ͳ4@AFtAb@ArA<5zA*K?A@\?A\?As=<*A :?2Aս:A BA :?JAսRA ٘i)I9b@Y G JY<JJJJÄE&K Y]~?y9EAaE77{7319)B[[ ?[F]~?[[[[[BZYY i) JIH?i[ ?))??X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034219.823165 s, next control iter: 1743034220.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034220.223165 s.gvI~,H%AA(\&@Ai9Cu&@AT^~? AAA%"AAݵtNA"AZAbAjArAzAAA@/4@AV tA*c@AhAAhNP?Ai?AV@?A6q<*A:?2Aֽ:ABA:?JAֽRA٘i)I9c@Y8 G JV<JJJJńE&K YE]~?yuEAdE{7j7J719/B)BE[[&?[]~?[[[[[BZYY i) yIH?i|û ?))??yY=N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034220.243165 s, next control iter: 1743034220.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034220.643165 s.tvI~,))%AJ"J*J2J:J?BJ?nJ/5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034220.643293F (some fields omitted in printout)AG&@A@l&@Ah^~? AA%"AAtNA"AZAbAjArAzAAAj/5@AtAec@A9A'AvU?A5?Ak?Ah<*AV:?2ADVֽ:AIBAV:?JADVֽRAI٘i)I9c@Y{ G J<B=JJJJȄE&K Y]~?y EAfEZ7Z7:19-B)BE[[,?[]~?[쓪[[[[BZYY i) KI H?i ͻ ?))??**tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7719, header.stamp.nsec: 00 temperature: 13.568707* salinity: 33.375469, density: 1025.000000* values[0]: 0.570664F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034220.663165 s, next control iter: 1743034221.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034221.063165 s.vI~,c D%AAfffff'@A/QL'@A|^~? AƯA(%"AAEtNA"AZAbAjArAzAAARk5@AnȬtAd@AՆ)A'AZ?A.?A?A_<*Ag:?2Aֽ:A(IBAg:?JAֽRA(IY"?E[?y'N)ٓH? Y'é@?? ? 0e?)"? I٘i)I9d@Y G J<C=JܓJJJ˄E&Kx> Yl]~?ygFA[?iEŧ77u>19) B[[o2?[j]~?[-[[[[BZYY i) ĻIH?i/ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034221.103165 s, next control iter: 1743034221.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034221.483165 s.{_vI~,^%AJ"J*J2J:JBJnJvJA'@A+ݷ'@A@^~? AnA9o%"AA2uNA"AZAbAjArAzAAA] [65@AN!QtAmd@AO;A8Ae`?A y?A@t?A:C<*A:?2A6:׽:A BA:?JA6:׽RA ٘i)I9d@Y G J<JJJJ̈́E&K Y]~?yy|FAlEb77 B19,B)BE[[_8?[^~?[:[[[[BZYY i) ӮIH?i;0* ?))??8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034221.503165 s, next control iter: 1743034221.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7720, header.stamp.nsec: 00 temperature: 13.568383* salinity: 33.375477, density: 1025.000000* values[0]: 0.571260F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034221.903165 s.vI~,y%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034221.903295F (some fields omitted in printout)A ףp=(@AY#(@Ar^~? AA%"AA.uNA"AZAbAjArAzAAA0h5@AGsAe@A5!^<A#ŝAe?A%?A@?Ax<*AU:?2Ahg׽:A BAU:?JAhg׽RA ٘i)I9e@Yh G J<JJJJЄE&K Yt]~?ysFAnE77{7E19)B[[Y>?[^~?[[[[[BZYY i) [bIH?i5F ʇ?))ʇ?ʇ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034221.943165 s, next control iter: 1743034222.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034222.323165 s.ovI~,%AJ"J*J2J:JBJnJvJA\(@AJ(@AG^~? A^AD%"AAjKuNA"AZAbAjArAzAAAe~6@AݗvDsAe@AL<AA/j?A?A@ n?A`<*A :?2AI׽:Aɸ BA :?JAI׽RAɸ ٘i)I9e@Y G Jݨ<B=JJJJӄE&K Y]~?yvlGGAqE{7j75I19$B)BE[[[D?[9-^~?[{[[[[BZYY i) TIĦH?iNZ x?))x?x?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034222.343165 s, next control iter: 1743034222.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7721*, header.stamp.nsec: 0*0 temperature: 13.568040** salinity: 33.375500*, density: 1025.000000** values[0]: 0.571975*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034222.743165 s.WvI~,%AAGz)@A>j(@A^~? AAղ%"AAguNA"AZAbAjArAzAAA^SuR6@AYsAn0f@A;AAlp?Az?A ?A<*A:?2A}ֽ:A] BA:?JA}ֽRA] ٘i)I90f@Y G J<C=JJJJՄE&K Y^~?yeGAtE7)7L19#B)BE[[cJ?[kB^~?[8u[[[[BZYY i) zIJH?i`U on?))on?on?*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743034222.783165 s, next control iter: 1743034223.143182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034223.163165 s.s}vI~,q%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034223.163282F (some fields omitted in printout)J"J*J2J:JBJnJvJA)@At e)@A^~? AדAL#%"AAjuNA"AZAbAjArAzAAA YI6@A*osA(f@AwA"Au?Ab#?A@?Ak<*A`:?2Aֽ:AF BA`:?JAֽRAF Y_ =?"u?y/"ٓH\? A)S?cm?.??@uy?)_ =? I٘i)I9f@Yu G Jݵ<JJJJ؄E&Kx> Y ^~?y^HA"u?vE{7{7`P19)B[[ZaP?[V^~?[n[[[[BZYY i) HXIH?ib  $V?))$V?$V?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034223.183165 s, next control iter: 1743034223.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034223.583165 s.vI~, S%AAR)@Ap)@A^~? A荫A%"AAuNA"AZAbAjArAzAAAm6@A]sA0eg@AOA3A7z?A@?A`]j?An\<*A:?2Aֽ:Au BA:?JAֽRAu ٘i)I9eg@Y G J¹<JJJJۄE&K Y0^~?ylWHAyE777S19"B)B E[[iV?[,k^~?[g[[[[BZYY i) |ITH?im^B ~E?))~E?~E?*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034223.603165 s, next control iter: 1743034223.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7722, header.stamp.nsec: 00 temperature: 13.567650* salinity: 33.375519, density: 1025.000000* values[0]: 0.572761F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034224.003165 s.{ wI~,Y4%AJ"J*J2J:J?BJ?nJ5vJAp= W*@AU<*@A^~? A݇A %"AAuNA"AZAbAjArAzAAA 7q6@Aʃ7sA5h@A[AmAQ?A ?A?A}ʷ<*AY :?2ALֽ:A1 BAY :?JALֽRA1 ٘i)I9h@Y3 G JJJJJ݄E&K Y;A^~?y9PHA|E77W19)B[[z\?[~^~?[`[[[[BZYY i) Nf9I uH?i)w/ ;?));?;?a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034224.043165 s, next control iter: 1743034224.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034224.423165 s.uwI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034224.423280F (some fields omitted in printout)A(\*@A<y*@A_~? AÁ%"AAuNA"AZAbAjArAzAAAI4e&7@A :vsA|h@AjAqAmU?A"?A ?A1<*A :?2Aֽ:AdBA :?JAֽRAd٘i)I9h@Y G JE<JJJJE&K YzQ^~?yIUIA~E [19B)ٯB E[[%b?[J^~?[Y[[[[BZYY i) rѯ:I]gH?id~" 7?))7?7?M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034224.463165 s, next control iter: 1743034224.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7723, header.stamp.nsec: 00 temperature: 13.567283* salinity: 33.375530, density: 1025.000000* values[0]: 0.573555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034224.843165 s. wI~,5%AJ"J*J2J:JBJnJvJAHz.+@AZ+@A@_~? As{A%"AAnuNA"AZAbAjArAzAAA_~bX7@A{ sAK+i@AI;A A ?Ab?A@kZ?Aע<*A :?2AH׽:ABA :?JAH׽RA٘i)I9+i@Y G J<JJJJE&K Ya^~?yAIAE^19)ԯB[[հh?[!^~?[4R[[[[BZYY i) z;IiYH?iʁ!& 8?))8?8?=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034224.883165 s, next control iter: 1743034225.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034225.263165 s.wI~,P%AA+@Aj+@AV/_~? AuAv%"AA%vNA"AZAbAjArAzAAA&y7@Aߚ9sAi@A@a=<A퐽Aֹ?A ?A` ?Aՠ<*AC :?2A}׽:ABAC :?JA}׽RAYX%W??yu됽=<ٓH3 Yo^~?y&:!JA?E{7Jb19)ЯB[[n?[P^~?[J[[[[BZYY i)  Q;IJH?i- b-?))b-?b-?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034225.283165 s, next control iter: 1743034225.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7724., header.stamp.nsec: 0.0 temperature: 13.566921.* salinity: 33.375542., density: 1025.000000.* values[0]: 0.574327.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034225.683165 s.lwI~,ck%AJ"J*J2J:J?BJ?nJ+5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743034225.683319F (some fields omitted in printout)AQ,@AMN +@A>_~? AnAA%"AA9vNA"AZAbAjArAzAAAH7@AEsA:j@AEe<AOAZ?A??A*?Aܛ<*A :?2Abu׽:ABA :?JAbu׽RA٘i)I9:j@YG JS<JJJJE&K Y]}^~?yx2JAE777e19B)ʯBE[[t?[ ^~?[C[[[[BZYY i) |,;I;H?i%4 ()?))()?()?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034225.683165 s, next control iter: 1743034226.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743034226.103165 s.!wI~,%AA= ףp,@A?V,@A9N_~? AhA`r%"AA4vNA"AZAbAjArAzAAA &7@A}sAj@A1<A#ƌA?A?A`8?A5/<*A :?2A}6׽:A}BA :?JA}6׽RA}٘i)I9j@YG J͚<JJJJE&K Y/^~?y*JAE7)7ui19B)ïB E[[ {?[>^~?[L;[[[[BZYY i) Fϥ;I(,H?i9 +?))+?+?ڿ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034226.123165 s, next control iter: 1743034226.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034226.523165 s.'wI~,{%AJ"J*J2J:JBJnJvJA(,@Ap,@A]_~? AgaA^%"AAqKvNA"AZAbAjArAzAAAp8@Aυ=sA>k@AA Ap?A@gK?Ak}?A"<*AQ :?2Aֽ:AoBAQ :?JAֽRAo٘i)I9>k@Y,G J%<JJJJE&K Y^~?y#EKAE77{7 m19B)BE[[?[^~?[U3[[[[BZYY iŚ=) r;IOH?ie7< g2?))g2?g2?~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034226.543165 s, next control iter: 1743034226.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7725, header.stamp.nsec: 00 temperature: 13.566586* salinity: 33.375538, density: 1025.000000* values[0]: 0.575002F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034226.943165 s.Xd.wI~,B]%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075571< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034226.943291F (some fields omitted in printout)AzG-@A--@Abk_~? AZA*v%"AAavNA"AZAbAjArAzAAA?8@AIssA[k@A"A]A0?A?A .?A<*A :?2A+ֽ:AKfBA :?JA+ֽRAKf٘i)I9k@Y{G J<JJJJE&K YѦ^~?ynKAEj7j7p19)B[[L?[^~?[:+[[[[BZYY i) ;IC H?i9k? h>?))h>?h>?.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034226.963165 s, next control iter: 1743034227.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034227.363165 s.5wI~,u>%AJ"J*J2J:JBJnJvJA3333-@Ab!-@ANy_~? ASA%"AA wvNA"AZAbAjArAzAAAg i8@A@qssA@l@AeAb!A?A?A?AFv<*A:?2A<ֽ:ABA:?JA<ֽRAY;q?.?y?fٓH j?`aW)"J?@y?S? u ?);q? I٘i)I9@l@YG J<J'<JJJE&Kdx> Y^~?yYLA?E6t19B)BE[[̆?[b _~?[#[[[[BZYY i) ?))>?>?t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034227.383165 s, next control iter: 1743034227.763175 s, wait time: 0.380010 s^~?)Y&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7726&, header.stamp.nsec: 0&0 temperature: 13.566274&* salinity: 33.375561&, density: 1025.000000&* values[0]: 0.575655&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034227.783165 s.S;wI~,%AAQ.@A(.@Adž_~? ALA%"AAҋvNA"AZAbAjArAzAAAN8@AHu9sA&l@A@/A`чAS/?A I?A@@?Aڮ<*A+:?2Aֽ:AHBA+:?JAֽRAH٘i)I9l@YG JC<JJJJE&K YO^~?yE ]LAE77{7w19B)BE[[?[5_~?[[[[[BZYY i)  elevatorAngleAction: 0.075571< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034228.203286F (some fields omitted in printout)Aףp=.@A&p.@Aɓ_~? AEA%"AAvNA"AZAbAjArAzAAAF 8@A'sAe5m@AAMA?ߙ?A ?A}?AvY<*A9?2A"׽:ABA9?JA"׽RA٘i)I95m@Y^G J&<JJJJE&K Y^~?y0LAE777`{19)B[[m?[p'_~?[/[[[[BZYY i) P7 Aw%"AANvNA"AZAbAjArAzAAA8@AXsAm@Ap<AA?A@/?A?A]<*A9?2Ah׽:A+QBA9?JAh׽RA+Q٘i)I9m@YG J[<JJJJE&K Y^~?yMAE{7j7~19B)BE[[!?[ 5_~?[ [[[[BZYY i) / elevatorAngleAction: 0.075571< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743034229.463311F (some fields omitted in printout)A/@AH/@A_~? Ae0A-%"AAvNA"AZAbAjArAzAAAu'9@AW&ԷsAn@AwE<AxAС?Aw?A'?A!<*A9?2ADN׽:AQBA9?JADN׽RAQY?^?y򍽙A"F<ٓHZR? _Pm?P?@iձ`?紈??)? I٘i)I9n@Y1G J,<B=J޻JJJE&K\x> Y^~?yMA?E777!19B)BE[[{`?[5N_~?[[[[[BZYY i) N elevatorAngleAction: 0.084436< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034230.723289F (some fields omitted in printout)A(\1@AbE0@A_~? ACA6X%"AA{ wNA"AZAbAjArAzAAAۓ9@AR }QsAp@AXUA*̔Ag?A@>?A?A <*A9?2Anֽ:A~ BA9?JAnֽRA~ ٘i)I9p@YG JE<JJJJE&K Y<_~?ytѩNAEb7719)B[[ʟ?[n_~?[ܩ[[[[BZYY i)  | elevatorAngleAction: 0.084436< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743034231.983293F (some fields omitted in printout)AQ2@AJV72@Ah_~? AA^%"AAe4wNA"AZAbAjArAzAAA9@A"0xsAEq@AIjp;A?8Ae?AS?A ;?Ae<*A9?2A2׽:AGBA9?JA2׽RAG٘i)I9q@YG J`<JJJJE&K Y_~?yF PAE7719)|B[[:?[!_~?[[[[[BZYY i) 4 elevatorAngleAction: 0.084436< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034233.243284F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz3@Aefbz3@A[ `~? AiA%"AAkXwNA"AZAbAjArAzAAA5}!:@A֤TsABs@A<AzA6B?A ?A ?A<*Aj9?2A׽:A"BAj9?JA׽RA"TI٘i)I9Bs@YG J<C=JJJJE&K Y4_~?y(QAE77{7a19B)kBE[[?[_~?[٤[[[[BZYY i) 窬 Yr7_~?yWQAƻ?E{719)fB[[b?[_~?[b[[[[BZYY i)  elevatorAngleAction: 0.084436< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743034234.503301F (some fields omitted in printout)Ap= 4@An4@A`~? AԪA%"AAuwNA"AZAbAjArAzAAA,Y:@AksA$#u@AWeA;A?ALI?A D?AVe<*A9?2A:ֽ:A5BA9?JA:ֽRA5٘i)I9#u@Y2G J]<JJJJ!E&K YK=_~?yׄ~RAE7777!19)ZB[[?[d_~?[N[[[[BZYY i)  elevatorAngleAction: 0.084436< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743034235.763297F (some fields omitted in printout)A6@ADׅ5@Ap*`~? AA,o&"AAwNA"AZAbAjArAzAAAǾ:@AGEhqsAV&w@A[ <AAR?AF,?A7?A|<*AE9?2A0׽:ABAE9?JA0׽RAY}Ĭ??yf, <ٓHh_?@M?`?QDS?@|<;?@}??)}Ĭ? I٘i)I9&w@YlG JY<J_!JJJ)E&K[x> Y2C_~?yjSA?DŽE719B)HBE[[P?[z_~?[k[[[[BZYY i) G J<JJJEJ.E&K YMC_~?yXTĀEb77 19)=B[[X?[ǯ_~?[LX[[[[ZZZZ¸>BZYY i¸>N) Aw%AA333338@A_#8@A6`~? AAV~&"AAlwNA"AZAbAjArAzAAAb2$:@AGX%XsA*z@A TA7AT?A/|?Ak?AO=*AK9?2A5ֽ:A%3BAK9?JA5ֽRA%3Yƹ??y3WUٓHOi`i@v ?;?3?)ƹ? I٘i)I9z@YG J=J<JJJ6E&Kw> Y@_~?y>VA?ԄE77719))B[[?[_~?[;[[[[ZZZZBZYY i) mֽ:A$';BAg9?JA>mֽRA$';٘i)I9}@YG J<JJJJ>E&K Y+8_~?yT$MWA܄Ej719)B[[F?[_~?[[[[[ZZZZBZYY i) +.JJJDE&Kw> Y/_~?yWA?E77{719B)BE[[g?[_~?[, [[[[ZZZZBZYY i> z) GpYFFF]f:Waiting for Gazebo time sync: latest Gz time: 1743034240.823165 s, next control iter: 1743034241.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034241.223165 s.gxI~,HN%AA(\;@AR`Lu;@A/`~? AoTAi &"AAQwNA"AZAbAjArAzAAAb eܐ:@Aft1sA:(~@A3A1$6=A?A IAL?ANK*A9?2Aֽ:Af<BA9?JAֽRAf<٘i)I9(~@YG JEB=JJJJLE&K Y_~?yWAE{7j7w19)[[w?[=|_~?[[[[[[BZYY i) 7JJJQE&Kw> Y_~?y+WA?EZ7SI719)BE[[?[i_~?[>ި[[[[BZYY i|g) 6@ApUj=@AO`~? A$A &"AApwNA"AZAbAjArAzAAA&.r<:@A@KG}sA8{@A :<A<=A'?A@YƿA`?A*A9?2A;ֽ:A"=BA9?JA;ֽRA"=٘i)I9{@Y_G J맼JJJJ\E&K Y^~?yCƨUAE77719B)"B E[[N%@[+<_~?[.[[[[BZYY i) ;I]E?i?% 0@))0@0@ySgMԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034243.763165 s, next control iter: 1743034244.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034244.163165 s.x}BxI~,q %AJ"J*J2J:JBJnJvJA>@AĮe>@A `~? AA= &"AAngwNA"AZAbAjArAzAAA  29Y^~? 29y,sUA?E77j729)&B[[@[3/_~?[[[[[BZYY i) @v;I PE?i~#  ^2@)) ^2@ ^2@yԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034244.183165 s, next control iter: 1743034244.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034244.583165 s.HxI~,R%%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065795< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034244.583292F (some fields omitted in printout)AR>@APl>@A`~? A3A>&"AAP]wNA"AZAbAjArAzAAAf/:@AÙ! sAz@ADAj=A?AʿA?AJ*A9?2Aֽ:AB=BA9?JAֽRAB=٘i)I9z@YG JʫJJJJaE&K Y^~?y UAE77"29)+B[[3@[!_~?[F[[[[BZYY i) ^;IBE?ivyH 3@))3@3@)ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034244.603165 s, next control iter: 1743034244.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7743, header.stamp.nsec: 00 temperature: 13.383807* salinity: 33.391617, density: 1025.000000* values[0]: 0.708866F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034245.003165 s.w PxI~,H4@%AJ"J*J2J:JBJnJvJAp= W?@AjsADrABx@A;A"=A@A$пAU?A*A 9?2A"\ֽ:Atv=BA 9?JA"\ֽRAtv=YG?J@y=| ;ٓH ޿ 2ឿ ?@߿ذ?@ylv??)G? I٘i)I9x@YTG JJJJJlE&Kx> Y^~?yqSA@ Eb7b7w29B)@BE[[KB @[^~?[ [[[[BZYY i) eIE?iSXr D9@))D9@D9@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034246.303165 s, next control iter: 1743034246.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7745., header.stamp.nsec: 0.0 temperature: 13.384368.* salinity: 33.391624., density: 1025.000000.* values[0]: 0.706474.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034246.683165 s.ljxI~,V%AJ"J*J2J:JBJnJvJAQA@Au@@A_~? A A*&"AA+wNA"AZAbAjArAzAAAp[`9@A3trAAx@AGT<A|=A+@AيѿA`?Aͪ*A:9?2A 7ֽ:Av=BA:9?JA 7ֽRAv=٘i)I9x@YG J|JJJJoE&K Y ^~?yg SA Ej7Z7 29B)EBE[[t @[^~?[N[[[[BZYY i) IkE?iQ7 ;@));@;@yȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034246.683165 s, next control iter: 1743034247.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743034247.103165 s.qxI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065795< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034247.103285F (some fields omitted in printout)A= ףpA@AVA@A_~? AA&"AA}wNA"AZAbAjArAzAAAMfRu9@Anv^rAw@A^<A͎=Ax@A[lҿA @?As*A79?2A&Sֽ:A=BA79?JA&SֽRA=٘i)I9w@YG J;JJJJqE&K YX^~?yRAE7729B)KBE[[)E @[^~?[z[[[[BZYY i) E ID?iHq =@))=@=@ĪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034247.123165 s, next control iter: 1743034247.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034247.523165 s.wxI~,{%AJ"J*J2J:JBJnJvJA(A@A>?A@A(_~? A.AN&"AAwNA"AZAbAjArAzAAAu*U9@AZwnrAv@Ai;Ak!=AL@AMӿA Fg?A3*A9?2A`ֽ:A<BA9?JA`ֽRA<٘i)I9v@YRG JJJJJtE&K Y^~?yGRAE{7j77 29)PB[[ @[^~?[Ks[[[[BZYY i) IIlD?i= >@))>@>@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034247.563165 s, next control iter: 1743034247.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7746, header.stamp.nsec: 00 temperature: 13.384635* salinity: 33.391644, density: 1025.000000* values[0]: 0.705324F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034247.943165 s.Zd~xI~,J]%AAzGB@A'-B@A;_~? AةA&"AAvNA"AZAbAjArAzAAAl49@A+ rA#yv@AFqTAÉ=Az' @A.ԿA@3?A*A09?2Aֽ:A<BA09?JAֽRA<٘i)I9yv@YG JaB=JJJJwE&K Yr^~?yLwQAES7ŧ7#29)TB[[?@[^~?[ l[[[[BZYY i) ,rID?i1 @@))@@@@潪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034247.983165 s, next control iter: 1743034248.343181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034248.363165 s.xI~,}>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065795< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034248.363284F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333B@AҦB@AѰ_~? AѩAxl&"AAvNA"AZAbAjArAzAAA6}9@AHurAu@AAA=Ab~ @A`Q տA ?AO*A9?2Af/׽:AR<BA9?JAf/׽RAR Yb^~?ypQAq @Ej7j7b'29 B)YBE[[@[3^~?[d[[[[BZYY iW) EID?i*ڻ ĈA@))ĈA@ĈA@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034248.403165 s, next control iter: 1743034248.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7747&, header.stamp.nsec: 0&0 temperature: 13.384864&* salinity: 33.391666&, density: 1025.000000&* values[0]: 0.704217&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034248.783165 s.WxI~,2%AAQC@AC@A_~? AgʩA&"AA^vNA"AZAbAjArAzAAAfA8@A;d[OrAu@AhA=AE @A[տA w?AR*A9?2A(׽:AZ<BA9?JA(׽RAZ<٘i)I9u@YoG J6JJJJ|E&K YR^~?yh-QAE777*29 B)^BE[[;@[4{^~?[][[[[BZYY i) ID?i"}л C@))C@C@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034248.823165 s, next control iter: 1743034249.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034249.203165 s.xI~,M%AJ"J*J2J:J'4?BJ'4?nJ<5vJAףp=C@A0*pC@A_~? AKéA8&"AAvNA"AZAbAjArAzAAA}'e8@ArA~u@A]Aj=A @AƾֿA@B?Ar*AO9?2AFֽ:AP<BAO9?JAFֽRAP<٘i)I9u@Y)G J_JJJJE&K YB^~?yaPAEZ7Z7.29B)eBE[[@[g^~?[W[[[[BZYY i) ID?i7û D@))D@D@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034249.223165 s, next control iter: 1743034249.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034249.623165 s.VxI~,Xg%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076339< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743034249.623286F (some fields omitted in printout)A)\C@AE`C@A_~? ACAX&"AAvNA"AZAbAjArAzAAA)z8@Ap~;rAt@AH:A͆=AX@A1׿A@MO?A"q*A9?2A'ֽ:A<BA9?JA'ֽRA<SI٘i)I9t@YG JňJJJJE&K Yh2^~?yaZvPAE77"229)iB[[/@[S^~?[lP[[[[BZYY i) I+D?i R. RF@))RF@RF@yjBYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034249.663165 s, next control iter: 1743034250.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7748 , header.stamp.nsec: 0 0 temperature: 13.385096 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.703220 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034250.043165 s.xI~,Â%AJ"J*J2J:JBJnJvJA{GaD@A9@0GD@Ay~_~? AQA&"AAJ`Ԡ 7? ?73d??)@ I٘i)I9s@YRG JJ ;JJJE&Kx> Y^~?yxLOA@%E7)7M929B)uBE[[*@[+^~?[C[[[[BZYY i)  ID?iノ I@))I@I@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034250.503165 s, next control iter: 1743034250.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7749, header.stamp.nsec: 00 temperature: 13.385323* salinity: 33.391693, density: 1025.000000* values[0]: 0.702259F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034250.883165 s.yxI~,Q%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076339< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743034250.883271F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8E@A0/>E@Ab_~? AA&"AAkvNA"AZAbAjArAzAAA8Ի$8@AY6_rAa:s@A3<A=A6@AٿA3?A.*AU9?2AMֽ:A@=BAU9?JAMֽRA@=٘i)I9:s@Y G J B=JJJJE&K Yr]~?yEbOA'E777<29)yB[[@[^~?[q=[[[[BZYY i) .ID?iܾ*& G))G|J@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034250.923165 s, next control iter: 1743034251.283182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034251.303165 s.RxI~,fg%AAq= ףE@AVa3E@AS_~? AA'&"AAUvNA"AZAbAjArAzAAA:އp7@ArAr@A:A=A@A;ڿAH?A莼*Aa9?2Aֽ:AT=BAa9?JAֽRAT=٘i)I9r@YG JC=JJJJE&K Y ]~?y?OA*Ex@29B)~BE[[ @[^~?[t7[[[[BZYY i) m>ID?i1ƾ̯} (F))(FK@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034251.323165 s, next control iter: 1743034251.703174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7750*, header.stamp.nsec: 0*0 temperature: 13.385549** salinity: 33.391712*, density: 1025.000000** values[0]: 0.701250*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034251.723165 s.xI~,H%AJ"J*J2J:J3?BJ3?nJ=<5vJA(\F@AjGE@AD_~? AgA9&"AA}?vNA"AZAbAjArAzAAA7@A krAJr@AA=A@AۿA?At.*A9?2Av'׽:AX=BA9?JAv'׽RAX=٘i)I9Jr@YvG JvJJJJE&K Y]~?ym8NA-Ej7Z7 D29)B[[~@[]~?[1[[[[BZYY i) ܗMI D?i.\ D))DqM@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034251.763165 s, next control iter: 1743034252.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034252.143165 s.W/xI~, * %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076339< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743034252.143278F (some fields omitted in printout)AGzF@ACT`F@As5_~? AꓩA)&"AAa(vNA"AZAbAjArAzAAAG57@Aq* rAq@AdA=A<@A$XܿA?A*A9?2A=׽:Aa=BA9?JA=׽RAa=٘i)I9q@Y-G JJJJJE&K Y8]~?y1MNA/E77{7G29B)BE[[@[]~?[ ,[[[[BZYY i) ]I;D?i퍾Y5 05C))05CN@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034252.163165 s, next control iter: 1743034252.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034252.563165 s.xI~,c $%AJ"J*J2J:Je3?BJe3?nJ<5vJAffffF@AIQF@A%_~? AAۦ&"AAvNA"AZAbAjArAzAAAk7@A MS&rAlWq@AHA+=AU@A`XݿAk?AM*A9?2A׽:A(=BA9?JA׽RA(=Yr @x@y)=FoIٓH v& P *[?:?@꠲ ?)r @ I٘i)I9Wq@YG JJ:Z<JJJE&K8x> Y]~?y+MAx@2E778K29B)BE[[ca@[?]~?[&[[[[BZYY i) PlIܡD?izqz A))AaP@+ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034252.603165 s, next control iter: 1743034252.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7751, header.stamp.nsec: 00 temperature: 13.385814* salinity: 33.391682, density: 1025.000000* values[0]: 0.700285F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034252.983165 s.xI~,>%AAQG@AX7G@A:_~? A<A"&"AA;uNA"AZAbAjArAzAAA<(,:7@A OrA:p@A)jA=A@AݿA s?A-*Ai9?2Abֽ:A =BAi9?JAbֽRA =٘i)I9p@YG JJJJJE&K YA]~?y%MA5Eb7N29B)BE[[a @[j]~?[D![[[[BZYY i) {I D?iQZ (G@))(G@Q@ЪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034253.003165 s, next control iter: 1743034253.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034253.403165 s.&xI~,Y%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076339< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743034253.403280F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpG@A;5YG@A_~? A A&"AA9uNA"AZAbAjArAzAAAx7@A&UrAPp@A9;A=A@ @A޿A?Ax*A9?2AUֽ:AH0=BA9?JAUֽRAH0=٘i)I9Pp@YBG J렼JJJJE&K Yƈ]~?y MA7E777cR29B)BE[[A"@[Y]~?[([[[[BZYY iŮ) \IߜD?i{!.κ 7>))7>~NS@}ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034253.423165 s, next control iter: 1743034253.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7752", header.stamp.nsec: 0"0 temperature: 13.386049"* salinity: 33.391735", density: 1025.000000"* values[0]: 0.699227"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034253.823165 s.xI~,2t%AA\(H@A\H@Ab^~? AzA&"AAuNA"AZAbAjArAzAAA3#6@Ao#XӬrAo@AhY<A#L=AO@AC߿A`Ł?A*Ad9?2A)ֽ:AZ=BAd9?JA)ֽRAZ=٘i)I9o@YG JwJJJJE&K YJt]~?yLA:Ej7j7U29)B[[k#@[y]~?[?[[[[BZYY i) DItD?iҽ M\=))M\=hT@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034253.843165 s, next control iter: 1743034254.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034254.243165 s.xI~,q%AJ"J*J2J:J2?BJ2?nJ;5vJAGzH@AjezH@A^~? AtAC&"AAguNA"AZAbAjArAzAAA.{6@A#R].rA2o@A}[<AƜ=A@A=߿A`/?AJ1*A٭9?2A[Fֽ:AD=BA٭9?JA[FֽRAD=٘i)I92o@YG J JJJJE&K Y_]~?yqXLA=Eb77Y29B)BE[[%@[a]~?[[[[[BZYY i)  ID?i'"ֹ ;));6V@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034254.283165 s, next control iter: 1743034254.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034254.663165 s.xI~,q%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085338< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034254.663292F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7753, header.stamp.nsec: 00 temperature: 13.386307* salinity: 33.391731, density: 1025.000000* values[0]: 0.698101F (some fields omitted in printout)AI@A2H@A^~? A$oA&"AAuNA"AZAbAjArAzAAA<9h6@ArAn@A;A渞=A@ATA]?A×*A9?2AOֽ:Ah=BA9?JAOֽRAh=Y+@P@y =:;ٓH@<`X? Qڪ?`ѳ{z?@=?)+@ I٘i)I9n@Y<G JJ6<JJJE&K&x> YuI]~?yKA@?E{7j7#]29B)BݹE[[M&@[I]~?[ [[[[BZYY i) i IњD?iB` v:))v: W@y=ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034254.683165 s, next control iter: 1743034255.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034255.083165 s.DxI~, S%AJ"J*J2J:JBJnJvJARkI@A/XnQI@A^~? AeiA5o&"AA6uuNA"AZAbAjArAzAAAf\06@ArAn@Ae{A=AO @A@SA?A>*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9n@YG J&JJJJE&K Y3]~?yKABEŧ7ŧ7`29)B[['@[1]~?[ [[[[BZYY i)  IVD?i!=I9 9))9Y@oݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034255.123165 s, next control iter: 1743034255.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034255.503165 s.xI~,D4%AAp= I@A&Q/I@A ^~? AcAE&"AA>YuNA"AZAbAjArAzAAAFc>5@AܪrA;m@AHFAգ=Ab!@A)A`)?A\*A9?2A2׽:A*=BA9?JA2׽RA*=٘i)I9m@YG J䪼JJJJE&K Y]~?yNKAEE777Nd29!B)BڹE[[V)@[>]~?[V[[[[BZYY i) ID?i=ҋf: 7))7Z@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034255.523165 s, next control iter: 1743034255.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7754, header.stamp.nsec: 00 temperature: 13.386609* salinity: 33.391739, density: 1025.000000* values[0]: 0.696927F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034255.923165 s.8xI~,%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085338< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034255.923280F (some fields omitted in printout)A(\BJ@A,y(J@A^~? AE^AJ&"AA": {$6)){$6:[@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034255.943165 s, next control iter: 1743034256.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034256.343165 s.<yI~,%AAHzJ@AJ@A^~? AXA^&"AAuNA"AZAbAjArAzAAAvӃ5@A*M#rAYl@A" Aܩ=A<$@AA`{?A_*A9?2A@ֽ:A"=BA9?JA@ֽRA"=٘i)I9Yl@YG JiJJJJE&K Y\~?yCJAJEŧ7b7xk29)B[[r,@[X\~?[[[[[BZYY i) BIqD?i;W> ; w4))w4>i]@jYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743034256.363165 s, next control iter: 1743034256.743186 s, wait time: 0.380021 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7755&, header.stamp.nsec: 0&0 temperature: 13.386858&* salinity: 33.391743&, density: 1025.000000&* values[0]: 0.695789&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034256.763165 s.7 yI~,0%AJ"J*J2J:J2?BJ2?nJ:5vJAK@AAF@J@Ap^~? ASA\&"AA uNA"AZAbAjArAzAAA} H5@ALДrAk@A:A=AO|%@AA0?AEl*Aϑ9?2A_ֽ:An=BAϑ9?JA_ֽRAn=Y=x@b~%@y=_D:ٓHl?.@e?@"X?@?)=x@ I٘i)I9k@YyG J JL<JJJE&Kw> Y\~?yIA~%@ME77o29$B)ƯBԹE[[^-@[a\~?[[[[[BZYY i) j;IܤD?id~>"; lI3))lI3I^@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034256.803165 s, next control iter: 1743034257.163178 s, wait time: 0.360013 s \~?)  rAdjusting time to match Gazebo time: 1743034257.183165 s.yI~,K%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085338< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034257.183341F (some fields omitted in printout)AQK@AhxkK@A\^~? ANA&"AAtNA"AZAbAjArAzAAAN%< 5@AypTrAk@AE/<A=A&@A`@A u?Ad ʼ*AY9?2Aֽ:A8\=BAY9?JAֽRA8\=٘i)I9k@YG JsżJJJJE&K Y%\~?yD\IAPE77{7r29'B)ίBйE[[5.@[N\~?[Z[[[[BZYY i) ȼID?iy>@; 1))1B`@[YFFF]h:Waiting for Gazebo time sync: latest Gz time: 1743034257.203165 s, next control iter: 1743034257.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034257.603165 s.84yI~,f%AJ"J*J2J:JBJnJvJA= ףK@A7K@AH^~? A}IA&"AARtNA"AZAbAjArAzAAAA`][r4@Al쟎rAij@A3j<Af=A!(@A A=?Aϼ*AS9?2Aֽ:A=BAS9?JAֽRA=٘i)I9ij@YG J̼B=JJJJE&K Y,\~?yHARE7779v29)B)կB͹E[[I0@[&\~?[[[[[BZYY i) nϼID?ip>c; q0))q0%a@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034257.623165 s, next control iter: 1743034258.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7756 , header.stamp.nsec: 0 0 temperature: 13.387159 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.694521 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034258.023165 s.Z yI~,{%AA(\L@AlBL@A3^~? ADAF&"AA6tNA"AZAbAjArAzAAA`4@A0ĥrA{i@A_*<A=A^X)@AA ?AѼ*A9?2AKֽ:A=BA9?JAKֽRA=٘i)I9i@Y@G JмC=JJJJE&K Y5\~?ytHAUEj7j7y29)ۯB[[1@[\~?[[[[[BZYY i) ׼ICD?i>!; o/))o/Fc@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034258.043165 s, next control iter: 1743034258.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034258.443165 s.7&yI~,>]%AJ"J*J2J:J1?BJ1?nJ>:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085338< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034258.443270F (some fields omitted in printout)AzL@A["L@A^~? A?AĤ&"AAtNA"AZAbAjArAzAAA$vgSN4@A:jarAs i@A&:A=At*@AA +?Aм*A69?2Aֽ:Aѵ=BA69?JAֽRAѵ=٘i)I9 i@Y G JѼJJJJE&K Yv; -))-d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034258.463165 s, next control iter: 1743034258.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7757, header.stamp.nsec: 00 temperature: 13.387497* salinity: 33.391750, density: 1025.000000* values[0]: 0.693134F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034258.863165 s.+-yI~,>%AA33333M@AϾ M@As ^~? AB;A1&"AAftNA"AZAbAjArAzAAApK4@A76rAO[h@A1A=A;,@A@cA_?A_ϼ*A9?2A׽:Ax=BA9?JA׽RAx=YX@},@y=ٓH ܿ0? D?@Sy6@ ?)X@ I٘i)I9[h@Yj G JzмJ <JJJE&K3x> Y^\~?y}ݧGA,@ZE7729,B)BǹE[[d4@[*Q\~?[F[[[[BZYY i) gID?ib?+; 6,))6,e@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034258.903165 s, next control iter: 1743034259.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034259.283165 s.6R4yI~,%AJ"J*J2J:JC1?BJC1?nJ95vJAQM@A3M@A]~? A6AX&"AAFtNA"AZAbAjArAzAAAO3@A5rA}g@A>fA#=Ad-@A@A͑?Aм*Aā9?2A׽:A]=BAā9?JA׽RA]=٘i)I9g@Y G J#мJJJJE&K YE\~?y٧GA]E77{729-B)BĹE[[5@[7\~?[[[[[ZZ¸BZYY i¸V=) ټID?iz?m; *))*Og@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034259.303165 s, next control iter: 1743034259.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7758., header.stamp.nsec: 0.0 temperature: 13.387802.* salinity: 33.391758., density: 1025.000000.* values[0]: 0.691772.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034259.703165 s.Ӻ:yI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082685< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743034259.703265F (some fields omitted in printout)Aףp= N@A+M@A]~? At2A&"AA %tNA"AZAbAjArAzAAA@H}E3@AH\~?[[[[[ZZBZYY i) IPD?i -?; ())(j@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034260.143165 s, next control iter: 1743034260.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034260.543165 s.IHyI~,"%AA{GN@A&L1N@AE]~? A5*AS &"AAsNA"AZAbAjArAzAAA 3@A:{rANWe@A;ATޘ=AO/1@A f`A ?AR*AϘ9?2ABֽ:Ad<BAϘ9?JABֽRAd<٘i)I9We@Y G JJJJJDžE&K Y[~?yΧEAeE777N291B)BE[[V9@[[~?[[[[[ZZBZYY i) dxID?i~>?; Q&))Q&d~k@y!=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034260.563165 s, next control iter: 1743034260.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7759, header.stamp.nsec: 00 temperature: 13.388170* salinity: 33.391773, density: 1025.000000* values[0]: 0.690315F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034260.963165 s.wNyI~,=%AJ"J*J2J:J0?BJ0?nJN95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082685< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743034260.963302F (some fields omitted in printout)ALO@A̛õ2O@A]~? AL&A &"AAsNA"AZAbAjArAzAAAIG2@AX+%yrA}d@AaT<AQu=A@v2@A gAL?AP*A9?2A7ֽ:A\s<BA9?JA7ֽRA\s<٘i)I9}d@Y G J_JJJJʅE&K Y([~?y5ʧ+EAhEb7b7293B)BE[[;@[=[~?[8ߧ[[[[ZZBZYY i) qID?iQ?f0< ?%))?%&l@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034261.003165 s, next control iter: 1743034261.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034261.383165 s.UyI~,X%AAQO@A6DO@A]~? A"A &"AAsNA"AZAbAjArAzAAAVx2@A1GxvrAc@AG<ABf0=A3@A>A~v?AIԼ*Aީ9?2AKֽ:A;BAީ9?JAKֽRA;٘i)I9c@Y G JB=JJJJͅE&K Y[~?yZƧDAjE7y294B)BE[[rm<@[[~?[ݧ[[[[ZZBZYY i) hI;D?if?W< #))#@n@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034261.403165 s, next control iter: 1743034261.783174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7760&, header.stamp.nsec: 0&0 temperature: 13.388567&* salinity: 33.391785&, density: 1025.000000&* values[0]: 0.688638&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034261.803165 s.}A\yI~,gs%AJ"J*J2J:JBJnJvJAq= #P@A} P@Ail]~? AAJ4!&"AAzsNA"AZAbAjArAzAAA͟0*22@AXtrAc@A4;At<AV5@A` Ac?A;*A>9?2ATֽ:AsٺBA>9?JATֽRAsٺ٘i)I9c@Y4 G JüC=JJJJυE&K Yt[~?y§:DAmE77295B)BE[[-=@[Ş[~?[ܧ[[[[ZZBZYY ia=) "bI E?i%}?K"< "))"o@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034261.843165 s, next control iter: 1743034262.203181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034262.223165 s.gcyI~,H%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.091495< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034262.223278F (some fields omitted in printout)A(\P@AjIGuP@AT]~? AnAy!&"AAVsNA"AZAbAjArAzAAA1|1@AD3rrAKb@ANTA=R<Ac6@ABAW?Az*AQ9?2A&>ֽ:ABAQ9?JA&>ֽRA٘i)I9b@Y G JJJJJ҅E&K Y[~?yCApE729)!B[[&?@[҅[~?[ڧ[[[[ZZBZYY i) #[IE?i?<1< &!))&!p@j^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034262.263165 s, next control iter: 1743034262.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034262.643165 s.uiyI~,*%AJ"J*J2J:JBJnJvJAGP@A5P@AM=]~? AA^!&"AA3sNA"AZAbAjArAzAAAcKX1@AW zprAP:b@ArPZA1AK7@A uA?A((*Aɟ9?2Aֽ:ABAɟ9?JAֽRA􉼙٘i)I9:b@Y G JXJJJJՅE&K Yz[~?yȺHCArEj7j79296B)$BE[[*E@@[m[~?[٧[[[[ZZBZYY i) JrI )E?i?iB< 3))3Qr@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034262.663165 s, next control iter: 1743034263.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7761, header.stamp.nsec: 00 temperature: 13.388883* salinity: 33.391781, density: 1025.000000* values[0]: 0.687414F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034263.063165 s.pyI~,N %AAfffffQ@ALQLQ@Al%]~? AA!&"AAsNA"AZAbAjArAzAAA?Z1@Af'nrAb@AXiA#A8@A@.A?AKT*Ao9?2A\ֽ:ABAo9?JA\ֽRAY*@=8@yiٓH:`2Ͽ@h,??@@d?j:/?)*@ I٘i)I9b@Y G JJJJJׅE&KG> YV_[~?yfCA8@uEb77Τ297B)'BE[[8A@[LS[~?[ا[[[[ZZBZYY i0a=) `I9E?i?+H< r))rs@y=m)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034263.103165 s, next control iter: 1743034263.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034263.483165 s.s_wyI~,%AJ"J*J2J:J/?BJ/?nJm85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.054977< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034263.483285F (some fields omitted in printout)AQ@AzܷQ@AW ]~? AA8"&"AArNA"AZAbAjArAzAAA:F(1@AuQlrAa@AAMSA H:@AA@$?A*A9?2A=Eֽ:ABA9?JA=EֽRA⼙٘i)I9a@Y} G JkJJJJڅE&K YC[~?yfCAxEj7j7d298B))BE[[oB@[9[~?[ק[[[[BZYY i6=) NIxKE?i"?P< )) u@y=A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034263.503165 s, next control iter: 1743034263.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7762, header.stamp.nsec: 00 temperature: 13.389020* salinity: 33.391781, density: 1025.000000* values[0]: 0.686835F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034263.903165 s.}yI~,%AA ףp=R@A[#R@A\~? AAr"&"AArNA"AZAbAjArAzAAA&Q0@A:jrA?a@A;Ai?A,;@ANA">?Adہ;*A$9?2Aֽ:AWBA$9?JAֽRAW󼙘٘i)I9a@Y G Jg:JJJJ݅E&K Y([~?y4CAzEŧ7b7299B)*BE[[i2D@[[~?[ ק[[[[BZYY i) ! elevatorAngleAction: 0.069157< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034264.743296F (some fields omitted in printout)AGzS@A+dR@A\~? A A"&"AA{rNA"AZAbAjArAzAAA&p30@AgfgrApVb@A>d<AAA>@AOA`?A)3<*A}9?2Aֽ:A!BA}9?JAֽRA!٘i)I9Vb@Y G J<JJJJE&K YZ~?yүCAEj7Z7$29 YZ~?y>DA?@Eŧ7ŧ729)'BE[[H@[Z~?[է[[[[BZYY iBe=) 4 IE?i+?2u< ))Sz@Q*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034265.183165 s, next control iter: 1743034265.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034265.583165 s.yI~,Se%AARS@AvSkS@A3\~? AAj;#&"AA0rNA"AZAbAjArAzAAAR+9/@Aw0MdrAnc@AAZBA3@@A A`I elevatorAngleAction: 0.056091< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743034266.003268F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= WT@AW>B)!BE[[J@[*Z~?[֧[[[[BZYY i) ԻIE?iR?g< 2<))2<|@S*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034266.023165 s, next control iter: 1743034266.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034266.423165 s.uyI~,%AA(\T@A-zT@A_\~? AA#&"AAqNA"AZAbAjArAzAAA[R1.@A5]fbrA)d@A5hAvASC@AA ?Az<*A9?2A ս:ABA9?JA սRA٘i)I9)d@Y G J`<JJJJE&K YZ~?yZEAE77y29)BE[[*K@[#Z~?[I֧[[[[BZYY i) ޵IE?i)?l< ))!(~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034266.443165 s, next control iter: 1743034266.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7765, header.stamp.nsec: 0"0 temperature: 13.388789"* salinity: 33.391769", density: 1025.000000"* values[0]: 0.688195"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034266.843165 s.ݬyI~,%AJ"J*J2J:J-0?BJ-0?nJ85vJAHz.U@ApU@AF\~? AAA#&"AAwqNA"AZAbAjArAzAAAdOn-@A$ParAd@A6AA@D@A mAA?A˷<*Aߙ9?2A!ֽ:AIBAߙ9?JA!ֽRAI٘i)I9d@Y: G J:<JJJJE&K YfZ~?yCEAE{7j729?B)BE[[=&M@[SoZ~?[֧[[[[BZYY iy=) IE?i?C< ))4j@yf=a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034266.883165 s, next control iter: 1743034267.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034267.263165 s.yI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065438< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034267.263318F (some fields omitted in printout)AU@A YIZ~?yب!FAF@EZ7Z729@B)BE[[kN@[MVZ~?[Hק[[[[BZYY i) qI> F?i ?M< ?p))?pW@y>e=O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034267.283165 s, next control iter: 1743034267.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 77662, header.stamp.nsec: 020 temperature: 13.3885742* salinity: 33.3917692, density: 1025.0000002* values[0]: 0.6892722F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034267.683165 s.lyI~,Z%AJ"J*J2J:Jt0?BJt0?nJ95vJAQV@Ac#U@A}\~? A-A#&"AAJqqNA"AZAbAjArAzAAA8,@ApYo_rAe@A<AAWG@AA ?Aw<*A9?2Aֽ:A}BA9?JAֽRA}٘i)I9e@Y G J<JJJJE&K Y-Z~?ylFAE777:29AB)BE[[O@[r=Z~?[ا[[[[BZYY i) 5IO%F?i?+< ,)),@yDZ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034267.683165 s, next control iter: 1743034268.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034268.103165 s.yI~,%AA= ףpV@AVV@A[~? AA $&"AAwJqNA"AZAbAjArAzAAA; 2+@A`^rAvf@AMc<AQA^H@A3A@?AƧ<*A9?2A׽:ABA9?JA׽RA٘i)I9f@YK G JI<JJJJE&K YhZ~?yFAEŧ7ŧ729) B[[P@[$Z~?[ا[[[[BZYY i) vdI?F?i?Z< 1))1B@*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034268.123165 s, next control iter: 1743034268.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034268.523165 s.yI~,{!%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065438< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034268.523269F (some fields omitted in printout)J"J*J2J:JBJnJvJA(V@Ai7V@A[~? AAT$$&"AA#qNA"AZAbAjArAzAAA]+@AR,t,]rAg@AN<AْA'HADA`J?A<*A̱9?2Aֽ:AiBA̱9?JAֽRAi٘i)I9g@Y G J<JJJEJE&K Y4Y~?y[GAEb77d29) BE[[0R@[` Z~?[٧[[[[BZYY i) kBvIYF?i?߀<  )) 9@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034268.543165 s, next control iter: 1743034268.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7767, header.stamp.nsec: 00 temperature: 13.388366* salinity: 33.391769, density: 1025.000000* values[0]: 0.690348F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034268.943165 s.XdyI~,B]<%AAzGW@A-W@AB[~? AA8$&"AAppNA"AZAbAjArAzAAAxd*@AqB]]rAg@A2-;A )AFAkSA@?Aߢ<*A9?2A,ֽ:A۬BA9?JA,ֽRA۬٘i)I9g@Y G J^<JJJJE&K YY~?y)GAE77{729BB)BE[[mS@[2Y~?[ۧ[[[[BZYY i)  IFuF?i@7< n ))n ؂@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034268.963165 s, next control iter: 1743034269.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034269.363165 s.yI~,>W%AJ"J*J2J:JBJnJvJA3333W@AW\W@Aa[~? AAmJ$&"AADpNA"AZAbAjArAzAAAKc])@A\rA h@AӸAA\EA_A Ű?AwO<*AC9?2AIֽ:ApBAC9?JAIֽRApY}>@EyDٓH@h?ع?ڊ؁_?qwR?)}>@ I٘i)I9 h@YF G J<J<JJJE&K x> Y̼Y~?y#HAEEŧ7b729)BE[[T@[Y~?[`ܧ[[[[BZYY i) op:I]F?i@A/< =. ))=. x@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034269.383165 s, next control iter: 1743034269.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7768&, header.stamp.nsec: 0&0 temperature: 13.388158&* salinity: 33.391762&, density: 1025.000000&* values[0]: 0.691354&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034269.783165 s.TyI~,r%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065438< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743034269.783275F (some fields omitted in printout)AQX@ARdX@At[~? AUAX$&"AApNA"AZAbAjArAzAAAXg*)@A m{\rAGh@ATAFՊA\DA iAf?Ad6<*A9?2A^(ֽ:AfBA9?JA^(ֽRAf٘i)I9h@Y G J~<JJJJE&K YY~?yHAE{7j7$29CB)BE[[LU@[Y~?[ݧ[[[[BZYY i) :IF?i@3< s ))s !@9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034269.803165 s, next control iter: 1743034270.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034270.203165 s.yI~,%AJ"J*J2J:J1?BJ1?nJ95vJAףp=X@AE&pX@A~x[~? AAc$&"AApNA"AZAbAjArAzAAA(@AiP/0\rA(-i@A\A2ACA`zqA@g?A4<*A9?2AEֽ:A<BA9?JAEֽRA<٘i)I9-i@Y G J1<JJJJE&K YcY~?yHAE77729)BE[[O)W@[ǫY~?[mߧ[[[[BZYY i) 7;IF?i@>:< o))o@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034270.223165 s, next control iter: 1743034270.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034270.623165 s.WyI~,]%AA)\X@AU0*X@A^[~? AAk$&"AAR_pNA"AZAbAjArAzAAAdZ'@A+ܕ[rAάi@AAȅAAAvAw?A<*A@9?2AZֽ:ABA@9?JAZֽRA٘i)I9i@Y8G J<JJJJE&K Y/hY~?y@IAEb77O29)B|E[[:dX@[Y~?['[[[[BZYY i) !%u;IF?i @< w))wT@M*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034270.643165 s, next control iter: 1743034271.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7769 , header.stamp.nsec: 0 0 temperature: 13.387984 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.692323 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034271.043165 s.J "J *J 2J :J <1?BJ <1?nJ 95vJ yI~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065438< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034271.043295F (some fields omitted in printout)A{GaY@AG 1GY@A}D[~? AbAp$&"AA7pNA"AZAbAjArAzAAAt8Q'@Ani[rA%j@AP^;AӃA0b@A@myAzx?Ai<*A9?2A\ֽ:ABA9?JA\ֽRA𼙘٘i)I9%j@YG J<JJJJ E&K YKY~?yIAE77729DB)ByE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #41q/)^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i=) f;)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034271.063165 s, next control iter: 1743034271.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034271.463165 s.}yI~,%AAY@AӹY@Ay*[~? AeAr$&"AA}pNA"AZAbAjArAzAAAm9&@A[rAj@AfB<AwA ?A`xyA܂AU<*Ao9?2A|׽:AdaBAo9?JA|׽RAdaYLE@G?y>u Y0Y~?y窧IA?Eŧ7b7z29)B[[Z@[A@AY>A/Ā<*A:?2A½:Az,BA:?JA½RAz,9٘i)I9k@Y G JW<JJJJE&K Y%Y~?yDNJAEb7729)BvE[[M\@[MY~?[*[[[[BZYY i) @;I)G?i @ < ))q+@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034271.923165 s, next control iter: 1743034272.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034272.303165 s.VzI~,wg%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743034272.303278F (some fields omitted in printout)Aq= ףZ@A `Z@AaZ~? AAi$&"AAoNA"AZAbAjArAzAAA x%@AgF\rA~pk@A <AՂAMT=A3ANA@<*AŸ:?2Aý:AuBAŸ:?JAýRAu٘i)I9pk@YKG J<JJJJE&K Y<$@A`Mr=\rAMl@A,AA?;AxA@Aa><*A8:?2Aǽ:A&BA8:?JAǽRA&٘i)I9Ml@YG J<JJJJE&K YgX~?y^UKAE777729)BnE[[e_@[ Y~?[U[[[[BZYY i) ? elevatorAngleAction: 0.074674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034273.563293F (some fields omitted in printout)Affff[@A&P[@AOZ~? AAK$&"AAKoNA"AZAbAjArAzAAA Zs#@AX&pc]rAl@AwA<ՈA:ApAⲿA5@<*A:?2Aҹʽ:ABA:?JAҹʽRAY#J@v9y;шxٓHM 0?%? /ͿLL?? 5 ?)#J@ I٘i)I9l@YG J <J>JJJE&K~C> YX~?ymKA9Ej7Z7e29)ޯBkE[[`@[rX~?[[[[[BZYY i) x*#@AC5]rA9m@ATAAA۸8A@bdA@mXAӰ<*A:?2Aͅͽ:At.BA:?JAͅͽRAt.٘i)I99m@YaG J<JJJJE&K  39YwX~? 39y| LAE77739)گBhE[[-#b@[SX~?[[[[[BZYY i) +S: elevatorAngleAction: 0.074674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034274.823291F (some fields omitted in printout)A\(]@Am]@AZZ~? AA$&"AA=nNA"AZAbAjArAzAAA|s١!@AKH_rA(n@A2<AbA5A@CAA<*A}:?2A6ҽ:AhBA}:?JA6ҽRAh٘i)I9(n@YG J<C=JJJJ#E&K YRX~?yLAE% 39)ӯB[[d@[X~?[[[[[BZYY i}=) QhY YmX~?yMA^3ƅEŧ7ŧ7O39)̯B_E[[f@[X~?[[[[[BZYY i) K)x elevatorAngleAction: 0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743034276.083327F (some fields omitted in printout)J"J*J2J:JBJnJvJARk^@AnQ^@A Z~? AsA#&"AAj`nNA"AZAbAjArAzAAA:N@A( brAo@AV;AjOA2AA ._ĿA++<*AZ:?2Aս:ABAZ:?JAսRA٘i)I9o@YG JQ<JJJJ+E&K YX~?yMAȅE7{739)ȯB\E[[h@[rX~?[X[[[[BZYY i) l<JJJJ-E&K Y*W~?yqçLNA D˅E77z39)ïBYE[[Hi@[)^X~?[[[[[BZYY i) L&7@AdC`drAp@AbA BAx/A A`:ȿAf<*AC:?2Aս:ABAC:?JAսRA٘i)I9p@YxG J<JJJJ0E&K YW~?y_ƧNA΅E7)739)BVE[[uj@[IX~?[[ [[[[BZYY i)  elevatorAngleAction: 0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034277.343322F (some fields omitted in printout)AHz_@AnN%_@AY~? AgAQ#&"AAmNA"AZAbAjArAzAAANR@AݮerA;q@AiAs<A'.AA)ɿA<*A8:?2A ֽ:AOdBA8:?JA ֽRAOd٘i)I9;q@YG J<B=JJJJ3E&K YW~?yLɧOAЅE77j739)B[[k@[6X~?[[[[[BZYY i)  YbW~?yͧOA,ӅEŧ7b7:"39)BSE[[l@[#"X~?[[[[[BZYY i)  elevatorAngleAction: 0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743034278.603286F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף`@A9Վ`@ALwY~? A A"&"AA{mNA"AZAbAjArAzAAA@L@AQa/jrA$s@AS#L<AA*A-AZdϿAX<*A:?2Aד׽:AڍBA:?JAד׽RAڍ٘i)I9s@YG J<JJJJ;E&K Y_eW~?yԧ`PA؅Eb77e)39)BNE[[&o@[ZW~?[[[[[BZYY i) ưE&K YKW~?y\اPAۅE777,39)BKE[[JPp@[vW~?[[[[[BZYY i) ]%AJ"J*J2J:JBJnJvJAza@Ak+a@AFY~? A{AZ"&"AA1mNA"AZAbAjArAzAAAJz@A=mrA~>t@A<A>ƮAy'AA|ѿAj<*A":?2ALL׽:ABA":?JALL׽RA٘i)I9>t@YG J<JJJJ@E&K Y[2W~?yܧ=QAޅE77{7039)B[[wq@[W~?[![[[[BZYY i) y%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034279.863301F (some fields omitted in printout)A33333b@Amb@Ai.Y~? AA "&"AA mNA"AZAbAjArAzAAA7 Y9W~?yQA8&E777%439BB)BHE[[,r@[{W~?[(&[[[[BZYY i)  elevatorAngleAction: 0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743034281.123285F (some fields omitted in printout)A)\uc@Ay[c@AhX~? A A_!&"AAlNA"AZAbAjArAzAAAJ@A_׺urAv@A8AA\"A` AԿA+<*AA9?2A\ֽ:A?,BAA9?JA\ֽRA?,٘i)I9v@YSG J{<C=JJJJKE&K YV~?yWSAE7777>39)B[[Iv@[ W~?[3[[[[BZYY i=) 9hBZYY i¸>Ǫ) ~l Y/V~?y2TAEb7b7F39)~B=E[[dx@[lW~?[<[[[[ZZZZBZYY i) ePbBA9?JAt(׽RA>Pb٘i)I9z@YG J<JJJJXE&K Y_V~?ypUAE{7{7P39)iB7E[[;{@[G;W~?[K[[[[ZZZZBZYY i) SSVLf@AJX~? Ai=A8&"AAkNA"AZAbAjArAzAAAL@AZ/CrAs/|@AGSAGҼAJ,A&PA@ڿA;<*A;:?2Aֽ:A<:BA;:?JAֽRA<:Yj@&yҼXSٓH`o@?L? -s`?`[?h?)j@ I٘i)I9/|@Y}G JM<B=J@>JJJ^E&Kx> Yd4V~?yd VA&Eb77W39)^B5E[[~@[IW~?[U[[[[ZZZZBZYY iDH) @[2 W~?[Z[[[[ZZZZBZYY i) kUB)VB.E[[1@[tV~?[1`[[[[ZZZZBZYY iƐ) Ʊj5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743034286.163292F (some fields omitted in printout)Ah@A2eh@AuW~? AVA_&"AAkNA"AZAbAjArAzAAA46?ALIrAP}@Am<A3=AxA AW޿A;*A9?2Afֽ:AI<BA9?JAfֽRAIJJJkE&KTw> YU~?y 2^VA E7777i39=B))E[[@[IV~?[tp[[[[BZYY i^Vj) b05vJAHz.j@Aj@AW~? AkAx&"AAjNA"AZAbAjArAzAAA/)T?AArAB0|@AMjAt=A` A~A1A*A9?2AzG׽:Aj =BA9?JAzG׽RAj =٘i)I90|@Y}G J_qJJJJvE&K YU~?yLlUAE7777;x39 YsU~?ySUA$ E{7{7{39=B)_B$E[[i@[V~?[ߌ[[[[BZYY i) +;Ii@aT&= 嬿))嬿d֝@VѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034288.303165 s, next control iter: 1743034288.663179 s, wait time: 0.360014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 77872, header.stamp.nsec: 020 temperature: 13.3849762* salinity: 33.3915442, density: 1025.0000002* values[0]: 0.7079142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034288.683165 s.l {I~,k+%AJ"J*J2J:J95?BJ95?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066531< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034288.683301F (some fields omitted in printout)AQk@AI j@AsW~? AwA&"AAgjNA"AZAbAjArAzAAA9X?A)PҪrA6{@A&A=A9 A߿APAO,*A29?2Aեֽ:A=BA29?JAեֽRA=٘i)I96{@YG JYJJJJ{E&K YWcU~?yZTAE)7ŧ7f39 ԿA*8rA z@AOj<Ai=AMAP޿AsA<ź*A9?2A~Dֽ:A?=BA9?JA~DֽRA?=٘i)I9 z@Y/G JbJJJJE&K YBU~?y:iSAE739.B)]BE[[4b@[rV~?[[[[[BZYY i) C;Ii@)= .))./@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034289.543165 s, next control iter: 1743034289.923181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7788, header.stamp.nsec: 00 temperature: 13.385197* salinity: 33.391521, density: 1025.000000* values[0]: 0.706981F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034289.943165 s.Zd{I~,J]|%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066531< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034289.943276F (some fields omitted in printout)AzGl@A-l@A@W~? AAr&"AAjNA"AZAbAjArAzAAAḰA7c]8rAmy@AYA<Aɟ=AA@mݿA>A]8*A9?2A|ֽ:A@(=BA9?JA|ֽRA@(=٘i)I9my@YG J4JJJJE&K Y42U~?yepmSA!Eŧ77&39/B)cBE[[@[hV~?[[[[[BZYY i) H;Ii@.+= k))k@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034289.983165 s, next control iter: 1743034290.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034290.363165 s.%{I~,}>%AJ"J*J2J:JBJnJvJA3333l@A0 l@A/W~? AVAw&"AAjNA"AZAbAjArAzAAAiAcrALx@AM;A3=A{A<ܿAAظ*A9?2Aֽ:A =BA9?JAֽRA =Yz~@y3=M;ٓH߿?``ۻ`߿ư`p_i??)z~@ I٘i)I9x@YoG JCB=Jh;JJJE&K Y>$U~?y xSA#Eb739.B)hBE[[@[]V~?[[[[[BZYY i) Sٖ:Ii@;+= C))C@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034290.403165 s, next control iter: 1743034290.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7789&, header.stamp.nsec: 0&0 temperature: 13.385460&* salinity: 33.391506&, density: 1025.000000&* values[0]: 0.705876&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034290.783165 s.Y+{I~,%AAQm@Am@A" W~? AĖA{&"AAhiNA"AZAbAjArAzAAAA[νrA6x@AA5#=AHA ܿA AkL*A9?2AJ6׽:A"=BA9?JAJ6׽RA"=٘i)I96x@YG J¶C=JJJJE&K YJU~?yRA&E)7ŧ7Q39)lB[[O@[SV~?[а[[[[BZYY i)  YT~?yPA51EZ7SI739)~B[[F@[|/V~?[ɨ[[[[BZYY i)  aIib@/= ))h@~ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034292.483165 s, next control iter: 1743034292.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7791, header.stamp.nsec: 00 temperature: 13.385953* salinity: 33.391499, density: 1025.000000* values[0]: 0.703847F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034292.883165 s.yM{I~,@8%AJ"J*J2J:J/4?BJ/4?nJ<5vJAQ8o@A]4d<o@AV~? AVAP&"AAxiNA"AZAbAjArAzAAA7AeLrAB`u@A>P<Aj=AA&ؿA*Ac*A9?2AAfֽ:A=BA9?JAAfֽRA=٘i)I9`u@YWG JqJJJJE&K YT~?yĦPA3E777<39)B[[&Պ@[L'V~?[Ш[[[[BZYY i) = Ii@fM0= b))b!@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034292.923165 s, next control iter: 1743034293.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034293.303165 s.YT{I~,gS%AAq= ףo@A*o@AV~? AQAi&"AAdiNA"AZAbAjArAzAAAUO*ArAvt@Ac<Aɍ=AAE׿A|hA*A+9?2A{ֽ:A=BA+9?JA{ֽRA=٘i)I9t@YG JϨJJJJE&K Y@T~?yҮ2PA6E77Ѧ39-B)BE[["c@[yV~?[r֨[[[[BZYY i) nIiE@0= *))*@gêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034293.323165 s, next control iter: 1743034293.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7792*, header.stamp.nsec: 0*0 temperature: 13.386190** salinity: 33.391491*, density: 1025.000000** values[0]: 0.702857*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034293.723165 s.[{I~,Hn%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066531< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743034293.723264F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\p@AsIo@AV~? A`ƩA&"AAQiNA"AZAbAjArAzAAA||A&rAIt@A;AG=AsAoֿAA*AY9?2AHֽ:A<BAY9?JAHֽRA<٘i)I9It@YG JJJJJE&K Y۾T~?yᶨOA9E7g39.B)BE[[@[V~?[ܨ[[[[BZYY i) ̻Ii@1= #))#􏿩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034293.743165 s, next control iter: 1743034294.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034294.143165 s.Z/b{I~,*%AAGzp@A 2`p@ADZV~? AͩA^V&"AA9>iNA"AZAbAjArAzAAA[FA 9rAhs@A&A['=A$AsտAA"*A29?2A׽:A^^<BA29?JA׽RA^^<٘i)I9s@Y^G JJJJJE&K YwT~?yᄄlOAWp@A V~? AԩAB&"AA,iNA"AZAbAjArAzAAA9iAhi[rA#Ms@A5;A=A6A ԿA oAUь*A9?2AT׽:A(<BA9?JAT׽RA( YT~?yQǨOA+>E7739)BE[[ @[2 V~?[[[[[BZYY i) QIij3= ))-@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034294.583165 s, next control iter: 1743034294.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7793, header.stamp.nsec: 00 temperature: 13.386434* salinity: 33.391453, density: 1025.000000* values[0]: 0.701954F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034294.983165 s.o{I~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034294.983306F (some fields omitted in printout)AQq@A/ޏ7q@A̚V~? AܩA<&"AAiNA"AZAbAjArAzAAAMpAI^rAr@AX_kAH=ApA@yӿA_KAO#*AC9?2AN׽:A<BAC9?JAN׽RA<٘i)I9r@YG JC=JJJJE&K Y T~?yϨNAAE77'39)B[[@[V~?[L[[[[BZYY i) aqIi@BO3= P))P@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034295.003165 s, next control iter: 1743034295.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034295.403165 s.&v{I~,%AJ"J*J2J:JBJnJvJA ףpq@AkBZq@AV~? AaA&"AA iNA"AZAbAjArAzAAA?}Aߙ7rAer@AABt=AVAҿA`x}A_w*Au9?2A׽:AƬ<BAu9?JA׽RAƬ<٘i)I9er@YG J"JJJJE&K YXT~?yبZNADE{7{739/B)BE[[@'@[U~?[[[[[BZYY i) .#Iit@3= ));I@4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034295.423165 s, next control iter: 1743034295.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7794", header.stamp.nsec: 0"0 temperature: 13.386622"* salinity: 33.391449", density: 1025.000000"* values[0]: 0.701162"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034295.823165 s.|{I~,W%AA\(r@A1A r@AV~? AAv&"AAhNA"AZAbAjArAzAAA" AߗQrAq@A_8A&=AA[A`ҿAAiH*A9?2AMֽ:Ap=BA9?JAMֽRAp=٘i)I9q@Y?G J*JJJJE&K YT~?ytMAFE777Q39)B[[@[+U~?[j[[[[BZYY i) 3Ii@4= 䄿))䄿֧@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034295.863165 s, next control iter: 1743034296.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034296.243165 s.{I~,q%AJ"J*J2J:Je3?BJe3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034296.243291F (some fields omitted in printout)AGzr@AoUfzr@A{V~? AJA&"AAhNA"AZAbAjArAzAAAeD½Ar$rAuq@AU!!<AZ=A%A`_:ѿA A۔*A89?2Ajֽ:A=BA89?JAjֽRA=٘i)I9uq@YG JJJJJE&K YT~?yMAIEj7Z739.B)BE[[A@[U~?[[[[[BZYY i) hCIi@q5= s))sc@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034296.263165 s, next control iter: 1743034296.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034296.663165 s.{I~,q*%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7795, header.stamp.nsec: 00 temperature: 13.386826* salinity: 33.391430, density: 1025.000000* values[0]: 0.700373F (some fields omitted in printout)As@A˻r@ArV~? AA<&"AA"hNA"AZAbAjArAzAAAA˿@ʨ`ֱŋ? YT~?yqDMA$LE{7{7|390B)BE[[Ϗ@[U~?[ [[[[BZYY i) PRIi@;5= {)){@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034296.683165 s, next control iter: 1743034297.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034297.083165 s.D{I~,SE%AJ"J*J2J:JBJnJvJARks@AXvQs@AiV~? ApAbe&"AA\hNA"AZAbAjArAzAAA3yuAv8C2rA1vp@A_;<A=AzAοAi.A*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9vp@YYG JWJJJJE&K Y|T~?yLANEZ739)B[[z\@[tU~?[G[[[[BZYY i) aIi@B5= -|))-|u~@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034297.123165 s, next control iter: 1743034297.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034297.503165 s.{I~,;4`%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034297.503269F (some fields omitted in printout)Ap= s@Afs@A~aV~? A Aq&"AAYhNA"AZAbAjArAzAAAF4"0? AsAWo@A";A0=A޿A c ͿA@UA*AA9?2AQֽ:A# =BAA9?JAQֽRA# =٘i)I9o@Y G JqJJJJE&K Y"vT~?yLAQE777739)B[[@[IU~?[[[[[BZYY i0-) ?qIiύ@5= %!x))%!x @)ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034297.523165 s, next control iter: 1743034297.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7796, header.stamp.nsec: 00 temperature: 13.387014* salinity: 33.391426, density: 1025.000000* values[0]: 0.699517F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034297.923165 s.7{I~,{%AJ"J*J2J:JBJnJvJA(\Bt@A }(t@AYV~? AAw:&"AAhNA"AZAbAjArAzAAA |:| AK LsAuo@ATA =A=ܿA2˿AzA{*A9?2A;׽:A=BA9?JA;׽RA=PI٘i)I9uo@YG JJJJJE&K Y3pT~?yF $LATE77<39)B[[v@[|U~?[[[[[BZYY i) QIi3@6= us))us옪@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034297.963165 s, next control iter: 1743034298.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034298.343165 s.<{I~,%AAHzt@AKt@AeRV~? AA&"AAhNA"AZAbAjArAzAAA=ClP A*e sAn@A_ dA f=AғٿA`5WɿAAW*A9?2A}U׽:AJ =BA9?JA}U׽RAJ =٘i)I9n@YpG JJJJJE&K YEjT~?yKAVEb7b7391B)BE[[@[U~?[U%[[[[BZYY i) IiƎ@6=  Po)) Po%@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034298.363165 s, next control iter: 1743034298.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7797&, header.stamp.nsec: 0&0 temperature: 13.387222&* salinity: 33.391434&, density: 1025.000000&* values[0]: 0.698650&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034298.763165 s.6{I~,ذ%AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743034298.763299F (some fields omitted in printout)Au@A8Qt@AKV~? A[ A &"AAhNA"AZAbAjArAzAAAç]>Q AsAwn@A:PAY=AֿA 3}ǿA@A*Ac9?2A(׽:AT =BAc9?JA(׽RAT =YE@<׿y*=bPٓH(?Fr?`ַɻ 0m /@ L?)E@ I٘i)I9wn@Y#G JJ@N<JJJE&KKx> Y.gT~?y]KA׿YE{7j7g39)B[[ܐ@[U~?[ ,[[[[BZYY i) =Iiq@S6= j))jײ@y2ӪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034298.803165 s, next control iter: 1743034299.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034299.183165 s.˲{I~,g%AAQu@Aku@AZEV~? A2(A s &"AAhNA"AZAbAjArAzAAAіGf AosAm@AޜAb7=A)uԿA|ſA A墼*A9?2A~ֽ:A =BA9?JA~ֽRA =٘i)I9m@YG J흼JJJJE&K YdT~?yb%JA\E77739)B[[@[TU~?[2[[[[BZYY i) IiK@"6= %f))%f?@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034299.203165 s, next control iter: 1743034299.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034299.603165 s.74{I~,%AJ"J*J2J:JBJnJvJA= ףu@Adwu@A?V~? A0A &"AAhNA"AZAbAjArAzAAA#,u AժubsAfm@A#;A=A[ѿAJÿA`Av*AI9?2Abֽ:A=BAI9?JAbֽRA=٘i)I9fm@Y|G JJJJJE&K Y`T~?y".JA^Eŧ7b739)ƯB[['@[U~?[9[[[[BZYY i) IiT@.6= b))b"ͬ@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034299.643165 s, next control iter: 1743034300.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7798 , header.stamp.nsec: 0 0 temperature: 13.387437 * salinity: 33.391403 , density: 1025.000000 * values[0]: 0.697773 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034300.023165 s.Z{I~,{%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034300.023300F (some fields omitted in printout)A(\v@AQiBv@A[:V~? A7A? &"AAhNA"AZAbAjArAzAAAZ Ad6 sAIl@AjX<AW=AnϿA XA@ A9*A9?2A,ֽ:A=BA9?JA,ֽRA=٘i)I9l@Y"G JJJJJĆE&K Y]T~?y6(JAaE{7j7'393B)̯BE[[>8@[U~?[L@[[[[BZYY i) -Ii@w6=  ])) ]9Z@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034300.063165 s, next control iter: 1743034300.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034300.443165 s.1{I~,%]%AJ"J*J2J:JBJnJvJAzv@A閭v@A5V~? A?A֤ &"AA{hNA"AZAbAjArAzAAAACg AH%sA7l@Ab<A=AM̿A@A$Ac*A/9?2A$Cֽ:AP=BA/9?JA$CֽRAP=٘i)I97l@YG JJJJJdžE&K YZT~?y?IAdE39)ѯB[["Ŕ@[U~?[G[[[[BZYY i) ѷIi@6= EY))EY@YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034300.463165 s, next control iter: 1743034300.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7799, header.stamp.nsec: 00 temperature: 13.387659* salinity: 33.391407, density: 1025.000000* values[0]: 0.696789F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034300.863165 s.+{I~,>7%AA33333w@Auqw@Ak1V~? AGA &"AAuhNA"AZAbAjArAzAAAY' A%)sAək@AW;A,=A&ʿA4]A2AZ*AЦ9?2Aֽ:A =BAЦ9?JAֽRA =Y@Lʿy=%;ٓH(}?n@o{j}??)@ I٘i)I9k@YdG JJi<JJEJɆE&K.x> YZT~?ynHOIAʿfE77R39)֯B[[Q@[SU~?[M[[[[BZYY i)  Iit@kW6= MT))MTs@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034300.883165 s, next control iter: 1743034301.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034301.283165 s.9R{I~,R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034301.283280F (some fields omitted in printout)J"J*J2J:JBJnJvJAQw@Afw@A-V~? AOAm &"AAohNA"AZAbAjArAzAAA}27&A.sAj@ADPA^`=AnǿA@A CA*Aɢ9?2Aֽ:A=BAɢ9?JAֽRA=٘i)I9j@YG J{JJJJ̆E&K Y^ZT~?y:QHAiE7395B)ݯBE[[ޕ@[U~?[T[[[[BZYY i) cIi#@w5= ewP))ewP@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034301.303165 s, next control iter: 1743034301.683178 s, wait time: 0.380013 s^ZT~?):Q.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7800., header.stamp.nsec: 0.0 temperature: 13.571262.* salinity: 33.374973., density: 1025.000000.* values[0]: 0.571739.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034301.703165 s.ں{I~,!m%AAףp= x@A3.w@A*V~? AWA &"AAihNA"AZAbAjArAzAAA5ƹyrAi 3sAZj@AAA9=AĿA&AQA|*A 9?2A<׽:A\b=BA 9?JA<׽RA\b=٘i)I9Zj@YG J/B=JJJJφE&K Y$ZT~?yZlHAlE77}39)B[[l@[U~?[d[[[[[BZYY i) PüIi@5= %L))%L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034301.723165 s, next control iter: 1743034302.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034302.123165 s.7{I~,]%AJ"J*J2J:JBJnJvJA)\ux@A q[x@A'V~? A_A4 &"AAehNA"AZAbAjArAzAAAD<ӱA<8sAi@AxiAgɯ=A¿AMڰA`]AW¼*A9?2A/׽:A=BA9?JA/׽RA=٘i)I9i@Y?G JC=JJJJцE&K YYT~?ybGAnEj7Z739)B[[Zȿ[U~?[-b[[[[BZYY i) q˼Ii@5= G))GGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034302.163165 s, next control iter: 1743034302.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034302.543165 s.I{I~,â%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034302.543299F (some fields omitted in printout)A{Gx@AQ0x@A%V~? AgA&"AAahNA"AZAbAjArAzAAA3:^Awˡ=sAi@A.A]Ʊ=A AAfA[ɼ*Au9?2AEֽ:A<=BAu9?JAEֽRA<=٘i)I9i@Y G JżJJJJԆE&K YYT~?ykGAqE777739)B[[&ƿ[OU~?[h[[[[BZYY i) CeҼIiJ@X"6= #=C))#=C#=CKYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034302.583165 s, next control iter: 1743034302.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7801, header.stamp.nsec: 00 temperature: 13.571590* salinity: 33.374996, density: 1025.000000* values[0]: 0.570986F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034302.963165 s.v{I~,褽%AJ"J*J2J:JBJnJvJALy@AԲ2y@AV$V~? ApA&"AA_hNA"AZAbAjArAzAAAG6 A:kBsAmfh@AngE:Ae=A"A@`A_mAѼ*A9?2AUlֽ:A=BA9?JAUlֽRA=YLɒ@ ye=)F:ٓH:??@q{~?@r?PKeH??)Lɒ@ I٘i)I9fh@Yq G JBͼJC<JJJ׆E&Kw> YV\T~?y`tGA tE7=39,B)BE[[;ÿ[U~?[o[[[[BZYY i) ˗ټIi@9G5= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034303.003165 s, next control iter: 1743034303.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034303.383165 s.{I~,@%AAQy@AL… elevatorAngleAction: 0.084072< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743034303.803329F (some fields omitted in printout)Aq= #z@A' z@A"V~? A'A&"AA[hNA"AZAbAjArAzAAA/A6ZRDLsAbf@AUl<A==AA|A@sA]ܼ*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9f@Y G J ۼJJJJ܆E&K  49YaT~? 49yㅩ FAyEŧ7h49)B[[[zU~?[J}[[[[ZZBZYY i) Ii֌@ F4= '6))'6'6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034303.843165 s, next control iter: 1743034304.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034304.223165 s.g|I~,H%AA(\z@Ai9Cuz@A"V~? A8Ab"&"AAv[hNA"AZAbAjArAzAAA|x95/AD0QsA/f@AI3<A=Ax\A^?AepA*AL9?2AHֽ:ADD<BAL9?JAHֽRADD<٘i)I9/f@Y G JJJJJ߆E&K YCdT~?yEA|E749)B[[T[IU~?[[[[[ZZBZYY i) @Ii@0 4= 1))11YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034304.243165 s, next control iter: 1743034304.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034304.643165 s.y |I~,*)%AJ"J*J2J:JBJnJvJAGz@Aoz@AS#V~? AHA&"AA[hNA"AZAbAjArAzAAA 6"A@VsARe@A:Alh=AAU?A@mAy*A©9?2Aֽ:AtR<BA©9?JAֽRAtR<٘i)I9Re@Y G JJJJJE&K YfT~?ye/EAE7749)BE[[_[xU~?[Պ[[[[ZZBZYY i) aIiʌ@64= .-)).-.-y=ЪYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7803, header.stamp.nsec: 00 temperature: 13.572298* salinity: 33.374989, density: 1025.000000* values[0]: 0.569265F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743034304.663165 s, next control iter: 1743034305.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034305.063165 s.|I~,N D%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084072< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743034305.063320F (some fields omitted in printout)Afffff{@A[}uUL{@Ae$V~? AVA&"AA]hNA"AZAbAjArAzAAAwAG{[sAd@AˌAyAp=AAy?A yhA*Aܲ9?2Aֽ:AX<BAܲ9?JAֽRAX YelT~?y DA E{7Z7( 49)B[[鸿[U~?[[[[[ZZBZYY i) pJIi@$%3= ())((rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034305.103165 s, next control iter: 1743034305.463175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034305.483165 s.w_|I~,^%AJ"J*J2J:J?BJ?nJ5vJA{@Aַ̔{@A%V~? AcAGJ&"AA_hNA"AZAbAjArAzAAAd6A||SA_sAc@AuA`,=Aj[Ay?AaAǼ*Ab9?2Aֽ:Ag;BAb9?JAֽRAg;٘i)I9c@Y G JܼC=JJJJE&K YqT~?yDAE7749-B)BE[[}[U~?[V[[[[ZZBZYY i) IiN@"P2= W$))W$W$>rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034305.503165 s, next control iter: 1743034305.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7804, header.stamp.nsec: 00 temperature: 13.572672* salinity: 33.374973, density: 1025.000000* values[0]: 0.568267F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034305.903165 s.|I~,y%AA ףp=|@A[#|@A (V~? AmA+&"AAahNA"AZAbAjArAzAAAme*1A(6idsA,c@Am]A<AƪA_?AXAҢ*A9?2Aֽ:A[JBA9?JAֽRA[J٘i)I9,c@YB G JٸJJJJE&K Y_wT~?yU=DAE7)7R49)BE[[{[HU~?[[[[[ZZBZYY i) ;هIi׊@ݷ1= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034305.943165 s, next control iter: 1743034306.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034306.323165 s.u$|I~,!%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084072< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743034306.323271F (some fields omitted in printout)J"J*J2J:JBJnJvJA\|@A)|@A*V~? AsAL&"AAhehNA"AZAbAjArAzAAA mA4biisAb@A3A) <A2A&0?A@!MAq}*A`9?2Aֽ:A!BA`9?JAֽRA!٘i)I9b@Y G JKJJJJE&K Y|T~?yCAEb7b749)B[[C[U~?[ҥ[[[[ZZBZYY i) $?yIi@\1= +w))+w+wWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034306.343165 s, next control iter: 1743034306.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7805*, header.stamp.nsec: 0*0 temperature: 13.572955** salinity: 33.374977*, density: 1025.000000** values[0]: 0.567542*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034306.743165 s.W+|I~,%AAGz}@A.e|@A-V~? AuAs&"AAihNA"AZAbAjArAzAAAGl ATnsAQb@A6;AAߗA?A`>A)5*A9?2Aֽ:AKBA9?JAֽRAK٘i)I9Qb@Y G J9`JJJJE&K YYT~?y©CAE)7ŧ7}49)B[[ [ U~?[[[[[ZZBZYY i) WbIix@->1= )) )YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034306.783165 s, next control iter: 1743034307.143185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743034307.163165 s.v}2|I~,q%AJ"J*J2J:JBJnJvJA}@AWZFe}@A1V~? ArA&"AAnhNA"AZAbAjArAzAAAcղS A ssAb@AxT<AA<Aͼ?As-AwKֻ*A9?2Aֽ:ABA9?JAֽRAYhL@y:mT<ٓH ?A?@B? ~s?@sT??`\?)hL@ I٘i)I9b@Y G JJ1DJJJE&K{x> YT~?y˩CAEŧ7b749)B[[kӭ[}U~?[9[[[[ZZBZYY iȬs=) PIix@p/= ))b)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034307.183165 s, next control iter: 1743034307.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034307.583165 s.8|I~,S%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.059491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034307.583278F (some fields omitted in printout)AR}@A~k}@A5V~? AhȪA;&"AAthNA"AZAbAjArAzAAAED>_ A}O^xsAa@A[<AA^\A`H?AAZw*A9?2Aֽ:AsӼBA9?JAֽRAsӼ٘i)I9a@Y G JJJJJE&K YT~?yөCAEj7Z7 49/B)BE[[W[OU~?[繩[[[[BZYY iW=) >Ii@.= $))$$?*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743034307.603165 s, next control iter: 1743034307.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7806, header.stamp.nsec: 00 temperature: 13.573116* salinity: 33.374985, density: 1025.000000* values[0]: 0.567159F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034308.003165 s.x @|I~,L4%AJ"J*J2J:JBJnJvJAp= W~@Ax#<~@A:V~? AWЪA&"AA{hNA"AZAbAjArAzAAA A{Ko6}sAa@A ;AB=A˝A:%?AA&~;*A(9?2A}ֽ:AyBA(9?JA}ֽRAy٘i)I9a@Y G JJ:JJJJE&K Y9T~?y۩CAE7777=$49)[[_[U~?[[[[[BZYY i) >,Ii@.=  ))  ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034308.023165 s, next control iter: 1743034308.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034308.423165 s.uF|I~,%AA(\~@A4y~@A?V~? A>تA&"AAUhNA"AZAbAjArAzAAAU?l AtK sA!b@AWAbADA4?AFA<*A 9?2A#ֽ:AMBA 9?JA#ֽRAM٘i)I9!b@Y G J;JJJJE&K YT~?y`DAEŧ7b7'49)B[[+$[U~?[8ǩ[[[[BZYY i) :Ii@@-= {8)){8{8yL=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034308.443165 s, next control iter: 1743034308.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7807, header.stamp.nsec: 00 temperature: 13.573108* salinity: 33.375004, density: 1025.000000* values[0]: 0.567152F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034308.843165 s.L|I~,5%AJ"J*J2J:J0?BJ0?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743034308.843294F (some fields omitted in printout)AHz.@AA@AEV~? AAk%"AAhNA"AZAbAjArAzAAA"+* A.ֆsAjgb@AMAAA ?AiAӄH<*A,9?2Aս:A BA,9?JAսRA ٘i)I9gb@Y G JT&<B=JJJJE&K YЫT~?y2DAE77h+49)B[[礿[V~?[ͩ[[[[BZYY i) kIiU@0:-= ׿))׿׿n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034308.863165 s, next control iter: 1743034309.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034309.263165 s.T|I~, P%AA@A@ALV~? AA%"AAƔhNA"AZAbAjArAzAAA yG A bsAb@AoAAQ(A?A@A!y<*Aݏ9?2Aqս:A!qBAݏ9?JAqսRA!qY䊜@yϙWpٓH??vk`? o?o? ?)䊜@ I٘i)I9b@Y G J1`<C=JJJJE&K;w> YǶT~?yDAE.490B)B E[[[^V~?[dԩ[[[[BZYY ij=) Ii.@+= N))NN^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034309.303165 s, next control iter: 1743034309.663174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7808., header.stamp.nsec: 0.0 temperature: 13.572936.* salinity: 33.374981., density: 1025.000000.* values[0]: 0.567492.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034309.683165 s.lZ|I~,^k%AJ"J*J2J:JBJnJvJAQ@A@ARV~? AA:%"AAhNA"AZAbAjArAzAAAq肢 AO_sA5c@AAIMAJA`?AےAm <*Aw9?2A>ֽ:AIBAw9?JA>ֽRAI٘i)I95c@YH G Js<JJJJE&K YT~?y DAE{7j7249)B[[1u[ V~?[ک[[[[BZYY i) sӻIi7@{*= ))ᄅn*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034309.683165 s, next control iter: 1743034310.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034310.103165 s.a|I~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057304< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743034310.103326F (some fields omitted in printout)A= ףp@AUV@A!ZV~? AyAP%"AAShNA"AZAbAjArAzAAAU9 AVsAcc@A:AAd͐A`_?AWpA<*A9?2A_ֽ:ABA9?JA_ֽRA٘i)I9c@Y G J<JJJJE&K YT~?y)KEAEb77(649)B[[ 9[V~?[r[[[[BZYY i) Iio@)= ~))~澩~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034310.143165 s, next control iter: 1743034310.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034310.523165 s.g|I~,{%AJ"J*J2J:JBJnJvJA(܀@A€@AaV~? A,A %"AAŴhNA"AZAbAjArAzAAAyr:3 A} ]̙sA ;d@AA/<AALA8?A|KAH<*A9?2APֽ:A BA9?JAPֽRA ٘i)I9;d@Y G J<JJJJE&K YT~?yG EAE79491B)B#E[[[V~?[[[[[BZYY i) vIi؃@(= >ݾ))>ݾ>ݾy k=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034310.543165 s, next control iter: 1743034310.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7809, header.stamp.nsec: 00 temperature: 13.572705* salinity: 33.374989, density: 1025.000000* values[0]: 0.568081F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034310.943165 s.Wdn|I~,>]%AAzG@A-@AKjV~? AAu%"AAhNA"AZAbAjArAzAAA-iAwsAd@A p<AnAuA ?A l$A7<*A9?2A׽:AQBA9?JA׽RAQ٘i)I9d@Y= G Jƨ<JJJJ E&K YT~?yeFAE{7{7S=492B) B$E[[y[b%V~?[f[[[[BZYY ie=) mIip@*>(= .Ծ)).Ծ.Ծ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034310.963165 s, next control iter: 1743034311.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034311.363165 s.u|I~,>%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066599< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034311.363286F (some fields omitted in printout)A3333@AD @A"sV~? AhA%"AAhNA"AZAbAjArAzAAAUAA _sAQ[e@AL2<AaAt䈿Ak?A@\Aְ<*AȮ9?2A ֽ:AMBAȮ9?JA ֽRAMY̟@yq:3<ٓH?@?@`9z?M??lV??)̟@ I٘i)I9[e@Y G JY<B=J<JJJ E&Kx> Y1T~?ypFAEj7j7@49)B'E[[m[-V~?[[[[[BZYY i) 1Ii"@=&= ˾))˾˾y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034311.383165 s, next control iter: 1743034311.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7810&, header.stamp.nsec: 0&0 temperature: 13.572389&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.568759&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034311.783165 s.Z{|I~,%AAQ@A@Aw|V~? AAM%"AAhNA"AZAbAjArAzAAA#@A<ԲsAe@A:AAraA`M?AAI<*A9?2A2zֽ:A}BA9?JA2zֽRA}٘i)I9e@Y G J۱<C=JJJJE&K YT~?y$FAEŧ77}D49)B[[sE[ 6V~?[$[[[[BZYY i) 3Ii@}#%= ¾))¾¾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034311.803165 s, next control iter: 1743034312.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034312.203165 s.|I~,! %AJ"J*J2J:J?BJ?nJ5vJAףp=@AM(p@AHV~? AkAq%"AA/hNA"AZAbAjArAzAAAςA+ BsAHf@AY[A>At߃A@x-?AȢAy<*AҶ9?2A1ֽ:ABAҶ9?JA1ֽRA٘i)I9f@YM G JF<JJJJE&K YH U~?y,BGAEb7b7H49)B[[K[>V~?[z[[[[BZYY i) 1fIi@#= v))vvU*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034312.243165 s, next control iter: 1743034312.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034312.623165 s.T|I~,P'%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066599< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034312.623300F (some fields omitted in printout)A)\@Aޒۂ@AV~? A$A(%"AAehNA"AZAbAjArAzAAAJt4ABkɰsAg@AjA.APQAD ?A sA<*A9?2A!ֽ:ABA9?JA!ֽRA٘i)I9g@Y G J%<JJJJE&K YU~?yI4GAE)7ŧ7K494B)B+E[[Ő[@HV~?[[[[[BZYY i) 08Ii~@"= n))nnyV=d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034312.663165 s, next control iter: 1743034313.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7811 , header.stamp.nsec: 0 0 temperature: 13.572067 * salinity: 33.375000 , density: 1025.000000 * values[0]: 0.569485 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034313.043165 s.|I~,B%AJ"J*J2J:JBJnJvJA{Ga@AX0G@A^V~? A.,A͘%"AAW iNA"AZAbAjArAzAAAڍV֢A\ EsA>g@A JA@Aa}A?A@A<*A%9?2APUֽ:AurBA%9?JAPUֽRAur٘i)I9g@Y G J<JJJJE&K Y`&U~?y<HAEb7b7>O49)B[[[QV~?[ [[[[BZYY i) y:Ii}@G"= N茶))N茶N茶-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034313.063165 s, next control iter: 1743034313.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034313.463165 s.U|I~,]%AÃ@A!o@AV~? Av3A %"AAiNA"AZAbAjArAzAAA 5%aAkb붹sA>h@A&{A/AxA?A A?Y<*AG9?2Aֽ:ABAG9?JAֽRAY@.wy{ٓH@?_?=%N ? ?߱?do ?)@ I٘i)I9>h@YY G JV<J<JJJE&K x> Ya6U~?yDCtHAwEŧ7R495B)B.E[[!E[[V~?[6[[[[BZYY i) :Iiz@j = ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034313.503165 s, next control iter: 1743034313.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7812, header.stamp.nsec: 00 temperature: 13.571733* salinity: 33.375019, density: 1025.000000* values[0]: 0.570203F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034313.883165 s.y|I~,@x%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066599< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034313.883292F (some fields omitted in printout)AQ8@A$xC@AaV~? A:Aq|%"AAn+iNA"AZAbAjArAzAAAGwAosA}h@A;AArA`¦?AXA'J<*A9?2A׽:A BA9?JA׽RA OI٘i)I9h@Y G JG<JJJJE&K YbFU~?yJHAE77iV49)B[[[ elevatorAngleAction: 0.066599< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034315.143288F (some fields omitted in printout)AGz@A-`@AqV~? AOA%"AAciNA"AZAbAjArAzAAAf\VAžsAq6j@A;AևAbA`s)?A`e!A9Q<*A9?2Aֽ:ABA9?JAֽRA٘i)I96j@YG J<JJJJ%E&K YbvU~?yK`IA†Eb7b7)a49)B5E[[w4[V~?[,[[[[BZYY i:=) &;Iir@G_= Ldu))LduLdu *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034315.163165 s, next control iter: 1743034315.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034315.563165 s.|I~,F %AJ"J*J2J:JBJnJvJAffff慾@ATY̅@A V~? AVAU%"AA5xiNA"AZAbAjArAzAAAUL M^A+9sA%j@AcdAֆAd]A?A<An<*A9?2Apֽ:AeBA9?JApֽRAeY0P@]yeֆٓH? e?VǴ??װ?q,?)0P@ I٘i)I9j@YG JԐ<B=JX<JJJ'E&Kw> YU~?ygOJA]ĆEŧ7d49)B[[i[\V~?[{2[[[[BZYY i) ";Iio@S= Kc))KcKc*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034315.603165 s, next control iter: 1743034315.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7814, header.stamp.nsec: 00 temperature: 13.571156* salinity: 33.375038, density: 1025.000000* values[0]: 0.571459F (some fields omitted in printout)2U~?)2g rAdjusting time to match Gazebo time: 1743034315.983165 s.|I~,%AAQ@A.u7@AV~? A]A%"AA iNA"AZAbAjArAzAAAVj.A_sA*k@ANAFAXA1?A@ΠAI<*Ad9?2ABֽ:AhBAd9?JABֽRAh٘i)I9*k@Y G J?<C=JJJJ*E&K YU~?ymJA DdžE77Sh498B)߯B8E[[W}[V~?[\8[[[[BZYY i) M;Iil@ = Q))QQܶ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034316.023165 s, next control iter: 1743034316.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034316.403165 s.&|I~,%AJ"J*J2J:J`?BJ`?nJ}5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034316.403296F (some fields omitted in printout)A ףp@ApW@AW~? A5dAK%"AAiNA"AZAbAjArAzAAAS<AԐ;vxsAޢk@A׹iA|ASA L?A`\Aڎ<*A9?2AdQֽ:ABA9?JAdQֽRA٘i)I9k@YiG Jȏ<JJJJ-E&K Y>U~?yotKAʆE7777k499B)ܯB9E[[;x[ V~?[3>[[[[BZYY i) = ))>>yIe=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034316.423165 s, next control iter: 1743034316.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7815", header.stamp.nsec: 0"0 temperature: 13.570853"* salinity: 33.375027", density: 1025.000000"* values[0]: 0.572091"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034316.823165 s.|I~,%4%AA\(@A1A @A~W~? AjA%"AAiNA"AZAbAjArAzAAA=K"AN|iksAl@Ao AGAYdNAdV?AjAsq<*AM9?2A^ֽ:A$]BAM9?JA^ֽRA$]٘i)I9l@YG JF<JJJJ0E&K YU~?y&{_KĂE7~o49:B)ٯB elevatorAngleAction: 0.075442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034317.663285F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7816, header.stamp.nsec: 00 temperature: 13.570564* salinity: 33.375034, density: 1025.000000* values[0]: 0.572711F (some fields omitted in printout)A@A\=凾@A0W~? AwA%"AAriNA"AZAbAjArAzAAA|CߚxAhsAol@A5<AA/CA ?AA2<*A9?2A0׽:ABA9?JA0׽RAYx@Cy@6<ٓHh?@$?6 ?@ ? R?? ?)x@ I٘i)I9l@Y=G J†<JJJJ5E&K@x> Y4U~?yLAC҆Eb77v49)ӯB[[ k[V~?[WO[[[[BZYY i) 9Aɢ?A` 5A<*Aj9?2A/׽:ABAj9?JA/׽RA٘i)I9om@YG J<JJJJ8E&K YU~?ytLAԆE>z49)ЯBBE[[{tf[V~?[T[[[[BZYY i) gI elevatorAngleAction: 0.075442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034318.923307F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@AZ {(@AvbW~? AiA[%"AA1jNA"AZAbAjArAzAAAK/k嬼Ao{csAn]n@A:AbiA?34A?A lA֕<*A9?2ACֽ:All BA9?JACֽRAll ٘i)I9]n@YG J#<JJJJ=E&K YW#V~?yB.MAچEb77i49=B)ʯBFE[[8][V~?[_[[[[BZYY iJ=) LahB)ǯBIE[[X[ W~?[Ge[[[[BZYY i) w YMV~?yȥMA)߆E7749)ïB[[S[W~?[j[[[[BZYY i) t elevatorAngleAction: 0.084519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034320.183319F (some fields omitted in printout)AQ@A9 k@AԗW~? AA%"AAjNA"AZAbAjArAzAAA}X?A:C)sAo@ACAWA$AΒ?AiAy<*A!9?2A9\ֽ:AIJBA!9?JA9\ֽRAIJ٘i)I9o@YG J <C=JJJJEE&K Y8dV~?y3UNAEj7Z7)49)BLE[[CYO[,W~?[o[[[[BZYY i) htA^p@AD;A)@AA =?A߿Ac<*A9?2A׽:ABA9?JA׽RA٘i)I9p@YG Jp<JJJJJE&K YV~?y  OAE777T49AB)BSE[[F[LW~?[y[[[[BZYY i) A elevatorAngleAction: 0.084519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743034321.443299F (some fields omitted in printout)AzNj@A9Z@AW~? AA%"AAjNA"AZAbAjArAzAAAeϮe?A:tAq@Ab<AHAA`&?A߿A<*A:9?2A4׽:A4BA:9?JA4׽RA4٘i)I9q@YG J<B=JJJJME&K YV~?yvOAE49)B[[WRA[]W~?[~[[[[BZYY i) סw%AA33333@A10&@A1W~? AAN%"AAkjNA"AZAbAjArAzAAA6?A<ƿtAyr@AkV<AAuA`?A1c޿A<*A9?2A ׽:AÌBA9?JA ׽RAÌY\@Zy( W<ٓH?@?@U;m? [a? ? K͊?e?)\@ I٘i)I9r@YXG J<C=JJJJPE&K,x> Y߾V~?y%OAEb7749BB)BVE[[{<[|nW~?[҃[[[[BZYY i) )8 elevatorAngleAction: 0.084519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743034322.703285F (some fields omitted in printout)Aףp= @A$F-@Au X~? A2A %"AA0kNA"AZAbAjArAzAAAtk?A, tAJs@A,;A1 AoAw?A KܿA<*A~9?2A:ֽ:AuTBA~9?JA:ֽRAuT٘i)I9Js@YG J_<B=JJJJUE&K YV~?yɪPAE7749)B[[cJ3[ZW~?[U[[[[BZYY i) A\fA?AR+ܿAP7<*A9?2A9ս:ABA9?JA9սRA٘i)I9s@YwG J<C=JJJJXE&K YW~?y3ΪCQAE777?49CB)B]E[[.[XW~?[[[[[BZYY i) X}I~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743034323.963332F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@Aӹ2@A>KX~? AʫAg%"AA@kNA"AZAbAjArAzAAA}\0(@A0T;tAHu@AoiA:AgAN?A@؝ڿA<*A·9?2Akֽ:AkBA·9?JAkֽRAkYV@_y0/ٓH? +o?`鲿`XJܿЪ?2??-?)V@ I٘i)I9Hu@YIG J<JQJJJ]E&Kx> Y7W~?y֪)RA_Eb77j49EB)BdE[[%[W~?[[[[[BZYY i) ))@>@>(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034324.003165 s, next control iter: 1743034324.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034324.383165 s.E}I~,'%AAQ@A8h>@A`X~? AϫA!%"AAkNA"AZAbAjArAzAAAΜG3@AYtAu@A%;AAA@ݓ?AKٿAr<*A˅9?2A\ֽ:AVBA˅9?JA\ֽRAV٘i)I9u@YG Jx<JJJJ`E&K YPW~?yڪRAE7749)BgE[[_ [W~?[B[[[[BZYY i) */))  "> ">*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034324.403165 s, next control iter: 1743034324.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7823", header.stamp.nsec: 0"0 temperature: 13.568114"* salinity: 33.375122", density: 1025.000000"* values[0]: 0.577753"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034324.803165 s.sAL}I~,jg3%AJ"J*J2J:J?BJ?nJ5vJAq= #@A / @AvX~? AnӫAH%"AAkNA"AZAbAjArAzAAAV&E @A12[tAv@A-<<A3AS&־A@?A ؿA<*Av9?2A%ֽ:A~>BAv9?JA%ֽRA~>٘i)I9v@YG Jb<JJJJcE&K YBjW~?yުSAE77749)B[[O[W~?[[[[[BZYY i) i))05>05>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034324.823165 s, next control iter: 1743034325.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034325.223165 s.gS}I~,HN%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034325.223293F (some fields omitted in printout)A(\@AnEu@AX~? A׫A%c%"AAkNA"AZAbAjArAzAAALW] @A~tANw@Abm<AA˾A?A@X/ؿA,<*A]9?2A00ֽ:ABA]9?JA00ֽRA٘i)I9Nw@YG J<JJJJeE&K YW~?y~SAE77{7*49FB)BjE[[[X~?[[[[[BZYY i`b=) O))`H>`H>:*Y>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034325.263165 s, next control iter: 1743034325.623174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743034325.643165 s.|Y}I~, *i%AJ"J*J2J:JBJnJvJAG@A 2@A%X~? A۫A%"AAlNA"AZAbAjArAzAAA}| @AIdXp tAw@Ac <A(AtAT?A_׿AiQ<*A9?2Aս:AIBA9?JAսRAI٘i)I9w@YG J<JJJJhE&K YќW~?yeTAEb7749)BmE[[[X~?[[[[[ZZZZ¸>BZYYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7824, header.stamp.nsec: 00 temperature: 13.567682* salinity: 33.375149, density: 1025.000000* values[0]: 0.578620F (some fields omitted in printout) i¸>) F))9\>9\>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034325.683165 s, next control iter: 1743034326.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034326.063165 s.`}I~,V %AAfffff@ANL@A̹X~? A߫A%"AA5lNA"AZAbAjArAzAAAؾP@Ak6"tAѰx@A|dPAAƷA?AֿA<*Aj9?2Aeս:A BAj9?JAeսRA Yd@0Ʒy 8QٓH?a{?6Hdֿ ?X? G? @?)d@ I٘i)I9x@Y\G J<JûJJJkE&Ku> Y9W~?y|~TAƷEŧ7b7T49)BpE[[> [s)X~?[[[[[ZZZZBZYY i) ))$~ Go> Go>0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034326.103165 s, next control iter: 1743034326.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034326.483165 s.u_g}I~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248185@ elevatorAngleAction: -0.082547< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743034326.483278F (some fields omitted in printout)J"J*J2J:JBJnJvJAѐ@AP跐@AX~? AAv%"AA XlNA"AZAbAjArAzAAA! @A B-%tAtzy@A!A EAҭA'?AKտAޒ=*A9?2Aކս:ABA9?JAކսRA٘i)I9zy@YG J<B=JJJJmE&K YW~?yTA E77749GB){BsE[[p[=X~?[o[[[[ZZZZBZYY i) >)) >>>>yPL*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034326.503165 s, next control iter: 1743034326.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7825, header.stamp.nsec: 00 temperature: 13.567241* salinity: 33.375141, density: 1025.000000* values[0]: 0.579537F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034326.903165 s.m}I~,͹%AA ףp=@Ac^#@AX~? A0A-%"AAzlNA"AZAbAjArAzAAAT@A% j'tA}[z@AZjAGMA@ƣA??A ԿA,=*A9?2A2bԽ:ABBA9?JA2bԽRAB٘i)I9[z@Y`G J=C=JJJJpE&K YW~?ysUA E77{749)tB[[[fRX~?[&[[[[ZZZZBZYY i) ^|))>>y|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034326.943165 s, next control iter: 1743034327.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034327.323165 s.ut}I~,!%AJ"J*J2J:JBJnJvJA\@AM掑@A0X~? AA%"AA4lNA"AZAbAjArAzAAA} @A6)tA5{@A#4A9vAyAO1?A` ԿA<*A9?2AdԽ:A)-uBA9?JAdԽRA)-u٘i)I95{@YG J=JJJJsE&K YrX~?yUAE749IB)oBwE[[[hgX~?[ź[[[[ZZZZBZYY i) m)))>)>*YW(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034327.363165 s, next control iter: 1743034327.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7826*, header.stamp.nsec: 0*0 temperature: 13.566731** salinity: 33.375168*, density: 1025.000000** values[0]: 0.580662*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034327.743165 s.W{}I~,y%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082547< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743034327.743276F (some fields omitted in printout)AGz@Ae@AY~? AA%"AAlNA"AZAbAjArAzAAA98@Az+tA{@AjкA1A>Ad?AO1ӿA/,<*A9?2A!ս:A˻BA9?JA!սRA˻٘i)I9{@Y[G JN<JJJJuE&K Y X~?ygVAEb7749)iBzE[[}[|X~?[G[[[[ZZZZBZYY i) _))9b>9b>tv*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034327.763165 s, next control iter: 1743034328.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034328.163165 s.t}}I~,q %AJ"J*J2J:J?BJ?nJ5vJA@Ah$e@A.Y~? ARAHc%"AAlNA"AZAbAjArAzAAAm3DY@Aߙ-tAƘ|@A;<A nּAxA$?A`UҿA<*A9?2AvZս:Ae;BA9?JAvZսRAe;YOù@ykּH<ٓH@? _?C=bп ?dH` ̚?Rg??)Où@ I٘i)I9|@YG J<J>JJJxE&Ks> Y4<  >))| > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034328.183165 s, next control iter: 1743034328.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034328.583165 s.}I~, S%%AAR뒾@AQnђ@AFY~? AhAw%%"AA mNA"AZAbAjArAzAAA89L|@ALХ{/tA}@AIx<AA 4tAq?AwѿAw<*A9?2Azս:A= <BA9?JAzսRA= <٘i)I9}@Y G J<JJJJ{E&K YWX~?y\VAEb7749)aBE[[%C[X~?[Ī[[[[ZZZZBZYY iq) 췆)) ܱ>ܱ><`)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034328.623165 s, next control iter: 1743034328.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7827, header.stamp.nsec: 00 temperature: 13.566268* salinity: 33.375175, density: 1025.000000* values[0]: 0.581562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034329.003165 s.t }I~,;4@%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034329.003287F (some fields omitted in printout)Ap= W@A;<@A^Y~? AVA%"AAy.mNA"AZAbAjArAzAAAhѿ@A E1tAn}@Aٞ_<A*;AV_A?AпA/#<*A9?2AEԽ:A;~<BA9?JAEԽRA;~<٘i)I9n}@Y?G JS<JJJJ}E&K YrX~?yVAE)7b7j49JB)^BE[[j־[X~?[ Ȫ[[[[ZZZZBZYY i) x))>>ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034329.043165 s, next control iter: 1743034329.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034329.423165 s.u}I~,[%AA(\“@AQkw@ADwY~? AA%"AAUSmNA"AZAbAjArAzAAAU@Ak 2tAݦ}@Ah;A/<AeKA@?AdϿAG;*AC9?2AԽ:A<BAC9?JAԽRA<٘i)I9}@YaG J<JJJJE&K YHX~?yVAE77749)\B[[ ̾[lX~?[˪[[[[ZZZZBZYY i)  d))>>yٞ#שYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034329.443165 s, next control iter: 1743034329.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7828", header.stamp.nsec: 0"0 temperature: 13.565973"* salinity: 33.375187", density: 1025.000000"* values[0]: 0.582141"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034329.843165 s.ݜ}I~,u%AJ"J*J2J:J?BJ?nJD5vJAHz.@A@AݏY~? AA}%"AAxxmNA"AZAbAjArAzAAAɁ92H@A R4tA }@AAuu=A6A;G?AƛͿA1:*A9?2ARս:AW<BA9?JARսRAW<NI٘i)I9}@YsG J(;JJJJE&K YX~?y#WAEZ7Z749SB)eBE[[¾[+X~?[ͪ[[[[BZYY i) +wO))>>1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034329.863165 s, next control iter: 1743034330.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034330.263165 s.!}I~,Iؐ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034330.263283F (some fields omitted in printout)A@A@AY~? A7AK%"AAޝmNA"AZAbAjArAzAAA0p?!@A6tA}@AZAQ/=A!Al?A b˿AGE*A9?2Aս:A<BA9?JAսRAJJJE&KZu> YX~?yVA""E77{7*49)E[[Q[Y~?[Ъ[[[[BZYY iph) >))Izel>el>gpYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034330.303165 s, next control iter: 1743034330.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 78292, header.stamp.nsec: 020 temperature: 13.5657922* salinity: 33.3751982, density: 1025.0000002* values[0]: 0.5823522F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034330.683165 s.l}I~,^%AJ"J*J2J:J?BJ?nJR5vJAQ@AT딾@AY~? AA%"AAmNA"AZAbAjArAzAAAqO@A~7tA}@AaAW=AW A?AɿA ǻ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9}@YcG J{JJJJE&K YX~?yVA%EZ7Z749)E[[Ʈ[Y~?[[Ӫ[[[[BZYY i) -)) )Y>)Y>̓YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034330.683165 s, next control iter: 1743034331.083175 s, wait time: 0.400010 s X~?)  rAdjusting time to match Gazebo time: 1743034331.103165 s.}I~,%AA= ףp@AMKV@AY~? AA%"AAemNA"AZAbAjArAzAAA@AV8tAp}@A޻AlEx=A QA"?AȿA0*A9?2AeԽ:A=k=BA9?JAeԽRA=k=٘i)I9p}@YAG JJJJJE&K YrX~?yOjVA'E{7j7U49RB)gBE[[Ƥ[/0Y~?[ժ[[[[BZYY i) ))X>X>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034331.123165 s, next control iter: 1743034331.503175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034331.523165 s.}I~,{%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034331.523278F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܕ@A•@AY~? AAD%"AA~nNA"AZAbAjArAzAAAIK±@A\F :tA}@Ak};A@=A5ʽA?An]ƿAi*A9?2A?PԽ:A =BA9?JA?PԽRA =٘i)I9}@Y G J'KJJJJE&K YaY~?y/VA*E)7)749)jBE[[[GY~?[=ت[[[[BZYY i)  )))i>)i>ymߺYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034331.563165 s, next control iter: 1743034331.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7830, header.stamp.nsec: 00 temperature: 13.565745* salinity: 33.375217, density: 1025.000000* values[0]: 0.582251F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034331.943165 s.Yd}I~,F]%AAzG@A-@A- Z~? AAo%"AA5nNA"AZAbAjArAzAAAƯ@A (*;tA|@A_N<Ai=A_A?AĿAҌ*A9?2A^fԽ:A=BA9?JA^fԽRA=٘i)I9|@YG JdJJJJE&K YQ5Y~?yUA-Eb7749)mBE[[u[_Y~?[|ڪ[[[[BZYY i) Tf;IiX?<  ?)) ? ?CǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034331.983165 s, next control iter: 1743034332.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034332.363165 s.}I~,>%AJ"J*J2J:J?BJ?nJ?5vJA3333@A"@A&Z~? A= A%"AAA\nNA"AZAbAjArAzAAAbL A͌ @A|*3 YQY~?yUAn0E77j749)pBE[[5[wY~?[ܪ[[[[BZYY i) ;Ii6?X7< ?)) my??ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034332.383165 s, next control iter: 1743034332.763178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7831*, header.stamp.nsec: 0*0 temperature: 13.565820** salinity: 33.375229*, density: 1025.000000** values[0]: 0.581852*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034332.783165 s.U}I~,2%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243580@ elevatorAngleAction: -0.065924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034332.783290F (some fields omitted in printout)AQ@AN|@A-@Z~? A A_%"AAnNA"AZAbAjArAzAAAwW'!@A #=tA{@A<A=AA?AAA鉦*A9?2A_dս:A=BA9?JA_dսRA=٘i)I9{@Y,G JlJJJEJE&K YmY~?y )UA2Eb7b749)uB[[k y[Y~?[ު[[[[BZYY i) ʹ;Ii?< @ ?)) @ ?@ ? ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034332.803165 s, next control iter: 1743034333.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034333.203165 s.}I~, M%AJ"J*J2J:J?BJ?nJ5vJAףp=@AOyt#p@AYZ~? A& AiC%"AAnNA"AZAbAjArAzAAAPN!@AGqvX=tA{@ABꔺA=AVA`2?AܽA**An9?2A7tԽ:AXi=BAn9?JA7tԽRAXi=٘i)I9{@YG J)JJJJE&K YY~?y TA5E7777@49)yBE[[d[Y~?[N[[[[BZYY i) g};Iin?< r?))r?r?-تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034333.223165 s, next control iter: 1743034333.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034333.623165 s.Y}I~,eg%AA)\@A$Cۗ@AsZ~? A[ A*%"AAnNA"AZAbAjArAzAAAFWYl_"@A(p*D>tAz@AE3A͝=AXa8;AD?A,A*A9?2Aս:AN =BA9?JAսRAN =٘i)I9z@Y}G JJJJJE&K YY~?y# ^TA8E)7b749)}BE[[LP[Y~?[[[[[BZYY i) PZz;Ii?< ?))??٪Y0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034333.643165 s, next control iter: 1743034334.023180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7832, header.stamp.nsec: 00 temperature: 13.565976* salinity: 33.375240, density: 1025.000000* values[0]: 0.581290F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034334.043165 s.}I~,Â%AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743034334.043320F (some fields omitted in printout)A{Ga@A!XU/G@AeZ~? AhA%"AAnNA"AZAbAjArAzAAAM8"@A}sBZ?tAgy@A YwY~?yF SA\-==E777759)BE[[;h'[EY~?[[[[[BZYY i) ;Iiո?Gl< 5?))y5?5?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034334.503165 s, next control iter: 1743034334.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7833, header.stamp.nsec: 00 temperature: 13.566124* salinity: 33.375252, density: 1025.000000* values[0]: 0.580720F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034334.883165 s.y}I~,4%AJ"J*J2J:JBJnJvJAQ8@Al<@A7Z~? AA%"AA'FoNA"AZAbAjArAzAAA16$@A7rV@tAx@A AI_=A#=Al?A`Ap*A9?2APս:A#S=BA9?JAPսRA#S=٘i)I9x@YpG J.JJJJE&K YY~?y &SA@E{7j7 59)BE[[S[H Z~?[ [[[[BZYY i) E:Ii}?a< V$?)) V$?V$?ժYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034334.903165 s, next control iter: 1743034335.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034335.303165 s.V}I~,wg%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743034335.303299F (some fields omitted in printout)Aq= ף@AFY@A2Z~? AA%"AAmoNA"AZAbAjArAzAAAzQ諿$@Aw*@tA}9x@A<A`.=Aʧ=A{w?A@:AN(*A:?2Aӽ:A=BA:?JAӽRA=٘i)I99x@YG J6JJJJE&K YZ~?y RABE77* 59PB)BE[[|[$Z~?[[[[[BZYY i) T9Ii?=PX< H)?))H)?H)?6ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034335.323165 s, next control iter: 1743034335.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7834*, header.stamp.nsec: 0*0 temperature: 13.566260** salinity: 33.375263*, density: 1025.000000** values[0]: 0.580096*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034335.723165 s. }I~,H%AJ"J*J2J:J?BJ?nJ5vJA(\@A ƈD@A8Z~? AAc%"AAoNA"AZAbAjArAzAAA Jތq%@A)qB@tAw@An<A,r=AY}=A }?A坿A˴*A:?2A.Խ:A=BA:?JA.ԽRA=٘i)I9w@YG J쵼JJJJE&K Y3Z~?y( SRAEE)7b759)BE[[ҽ[>Z~?[[[[[BZYY i) IHIiZ?lO< .?)).?.?<ϪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034335.743165 s, next control iter: 1743034336.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034336.143165 s.Z/~I~,* %AAGz@Aд`@AC[~? A=A%"AA\oNA"AZAbAjArAzAAA95r&@ApAtA w@AM<ANa=Ah=AŁ?AA U*A:?2AԽ:Ay=BA:?JAԽRAy=٘i)I9 w@Y[G JIJJJJJE&K YJOZ~?yQAHE77{7U59)B[[V [WZ~?[[[[[BZYY i) dyܺIi? lH< 3?))3?3?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034336.163165 s, next control iter: 1743034336.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034336.563165 s.~I~,x $%AJ"J*J2J:Jm?BJm?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034336.563305F (some fields omitted in printout)Affff暾@AS̚@AQ)[~? ASAs%"AAoNA"AZAbAjArAzAAAp&@A!AtA0zv@A7Q;AQ=A>Ae?A`[&?A˦*A:?2A|ս:A==BA:?JA|սRA==Y&@+>yKQ=;ٓH`?`,¿@? *?`?b1y? W!o?@?)&@ I٘i)I9zv@YG JūJoJJJE&Kt> Y@kZ~?yQA+>JE{759OB)BE[[L4[KqZ~?[U[[[[BZYY i)  +Iij?ɱ<< 9?))\y9?9?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034336.603165 s, next control iter: 1743034336.963183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7835, header.stamp.nsec: 00 temperature: 13.566439* salinity: 33.375275, density: 1025.000000* values[0]: 0.579473F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034336.983165 s.~I~,>%AAQ@Ax 7@A`C[~? A>AC%"AAT pNA"AZAbAjArAzAAA9pK'@A:AtA}u@A_߻Ak=A-'>Am?A?AО*A:?2Ah'ֽ:A<BA:?JAh'ֽRA<٘i)I9u@YG JŢJJJJE&K Y3Z~?yG(QAME77759)BE[[+[ Z~?[[[[[BZYY i) hIi?@2< BU>?)) BU>?BU>?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034337.023165 s, next control iter: 1743034337.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034337.403165 s.&~I~,Y%AJ"J*J2J:JBJnJvJA ףp@A]X@Am][~? AA_%"AA2pNA"AZAbAjArAzAAADi'@AVBU@tAou@AA?A@ c?A1*A$3:?2AԽ:A<BA$3:?JAԽRA<٘i)I9ou@YaG JZJJJJE&K Y'Z~?yPAPE{759NB)BE[[[Z~?[[[[[BZYY i) "Ii?S(< LC?))LC?LC?BYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743034337.423165 s, next control iter: 1743034337.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7836", header.stamp.nsec: 0"0 temperature: 13.566557"* salinity: 33.375294", density: 1025.000000"* values[0]: 0.578926"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034337.823165 s.~I~,-t%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743034337.823294F (some fields omitted in printout)A\(@AL@Avw[~? AA%"AALZpNA"AZAbAjArAzAAAsYH(@AMbϭ@tAt@AA@z?A&?A*AO3:?2A5ս:A<BAO3:?JA5սRA<٘i)I9t@YG JJJJJE&K YZ~?ygPARE77"59)BE[[+[,Z~?[[[[[BZYY iw) бIi1z? < H?))H?H?Y%/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034337.843165 s, next control iter: 1743034338.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034338.243165 s.J "J *J 2J :J $?BJ $?nJ V5vJ #~I~,%AAGz@A^-wfz@Aw[~? AA%"AApNA"AZAbAjArAzAAA$)@AmT@tAwt@AcѻAnE=Aid>Aqr?A|?A+*AE2:?2ANս:AP<BAE2:?JANսRAP<٘i)I9wt@YG JJJJJE&K YZ~?yPAUE77@&59MB)BE[[)3<[}Z~?[[[[[BZYY i) |лIin?< t9N?))t9N?t9N?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034338.263165 s, next control iter: 1743034338.643184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034338.663165 s.*~I~,q%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7837, header.stamp.nsec: 00 temperature: 13.566653* salinity: 33.375305, density: 1025.000000* values[0]: 0.578424F (some fields omitted in printout)A@Aƨk圾@An[~? AHA%"AApNA"AZAbAjArAzAAAe(f)@An#?tAs@ATd;AȌ=A!x>AHg?A S?AY*A,:?2A1Wս:AC?<BA,:?JA1WսRAC?yr=p;ٓHm?`οt??U? m؇?c r??)ș< I٘i)I9s@YG JJ&JJJE&Kt> YZ~?yfOAy>XEb77)59)BE[[ '=[Z~?[[[[[BZYY i)  Ii\?= < S?))uzS?S?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034338.683165 s, next control iter: 1743034339.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034339.083165 s.D1~I~,S%AJ"J*J2J:J?BJ?nJD5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244590@ elevatorAngleAction: -0.075076< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743034339.083288F (some fields omitted in printout)ARk@AݰmQ@AW[~? AdAL%"AAnpNA"AZAbAjArAzAAAd~wy_*@A4k V?tAHs@A`S<A8=A鈆>A`Y?A?Am*A?':?2ABvս:An=BA?':?JABvսRAn=٘i)I9s@Y4G J&JJJJE&K Y[~?yGPOAZE777k-59LB)B¹E[[/|=[ [~?[Z[[[[BZYY i) %eIiNL?< X?)) X?X?y2źYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034339.123165 s, next control iter: 1743034339.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034339.503165 s.7~I~,e4%AAp= ם@A@@A0[~? AV A*%"AApNA"AZAbAjArAzAAA=*@A7V>tAZs@An<A<=A>A K?A?A)*A/9:?2A"=Խ:A=BA/9:?JA"=ԽRA=٘i)I9s@YG JJB=JJJJE&K YW-[~?y(NA]E77159)B[[=[2([~?[[[[[BZYY i) Ii=?; ^0^?))^0^?^0^?ĻYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034339.543165 s, next control iter: 1743034339.903185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7838, header.stamp.nsec: 00 temperature: 13.566764* salinity: 33.375328, density: 1025.000000* values[0]: 0.577936F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034339.923165 s.<>~I~,%AJ"J*J2J:JBJnJvJA(\B@A>z}(@A[~? A A1(%"AAqNA"AZAbAjArAzAAA>׍+@Aq2=tAr@A< <AF=A>A9?A/9?A(\*A4:?2AtԽ:A=BA4:?JAtԽRA=٘i)I9r@YG JِC=JJJJÇE&K YH[~?y NA`E)7ŧ7459KB)BŹE[[z7=[B[~?[[[[[BZYY i) ϊ&Ii0?Y; ʖc?))ʖc?ʖc?YfYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034339.963165 s, next control iter: 1743034340.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034340.343165 s.A"$?A?A%3*AK/:?2ADս:A=BAK/:?JADսRA=٘i)I9r@YWG JꍼJJJJƇE&K Y,d[~?y?NAbEj7j7+859)BȹE[[=[`][~?[[[[[BZYY i) M6Ii%?8; i?))i?i?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034340.363165 s, next control iter: 1743034340.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7839*, header.stamp.nsec: 0*0 temperature: 13.566882** salinity: 33.375332*, density: 1025.000000** values[0]: 0.577447*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034340.763165 s.;K~I~,00%AJ"J*J2J:JBJnJvJA@A@AB,\~? A5 A]%"AAlqNA"AZAbAjArAzAAA:,@A,A`} ?A`?AA*Ak):?2AX1ֽ:A=BAk):?JAX1ֽRA=Y=@>yhɌ=9ٓH`?`տ`c&?0??`R?ࠕ*@ ?)= I٘i)I9q@YG JHJ;JJJɇE&Kgu> Y~[~?yMA>eEŧ7b7;59JB)B˹E[[V>[w[~?[[[[[BZYY i) 6EIi?x; en?))I|en?en?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034340.783165 s, next control iter: 1743034341.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034341.183165 s.R~I~,ZK%AAQ@A%9k@AE\~? AA }%"AAeqNA"AZAbAjArAzAAAK$j-@AV@z#;tA,q@AqA.=A>AJ?A`?AM*Az#:?2AEֽ:A=BAz#:?JAEֽRA=٘i)I9,q@YG J;JJJJˇE&K Y[[~?yMAhE77V?59IB)BιE[[+>["[~?[[[[[BZYY i) 1TIi?; s?)) s?s?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034341.203165 s, next control iter: 1743034341.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034341.603165 s.54Y~I~,f%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075076< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034341.603294F (some fields omitted in printout)A= ף@A,g֟@A _\~? AA%"AAqNA"AZAbAjArAzAAAOv.@Aiݺ:tAyp@A]+A=A >A?A`?A*A2:?2A%ս:AY=BA2:?JA%սRAY=٘i)I9p@YG JJJJJ·E&K Y[~?y#MAkE77B59FB)BйE[[@>[[~?[ [[[[BZYY iW) vgdIi>#Ӗ; Hy?))Hy?Hy?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034341.623165 s, next control iter: 1743034342.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7840 , header.stamp.nsec: 0 0 temperature: 13.566986 * salinity: 33.375343 , density: 1025.000000 * values[0]: 0.577008 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034342.023165 s.Z`~I~,{%AA(\@A wB@A`x\~? AAa%"AARqNA"AZAbAjArAzAAA.@An _8tA6p@A&Ai=A<>A?A@d?Az*AQ.:?2Aս:AW =BAQ.:?JAսRAW =٘i)I96p@Y3G J敼JJJJчE&K Y[~?y LAmE7F59)ůB[[UV>[P[~?[s[[[[BZYY i) sIi>; ~?))~?~?˪YuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034342.043165 s, next control iter: 1743034342.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034342.443165 s.9f~I~,F]%AJ"J*J2J:JBJnJvJAzǠ@A2@A}\~? AvA%"AArNA"AZAbAjArAzAAAf5/@A 2(r7tA߲o@Aږ<A}=A>A]?A`+?A\*A2%:?2Aս:A=BA2%:?JAսRA=٘i)I9o@YG JB=JJJJӇE&K Y'[~?yfLApE{7j7J59EB)ȯBӹE[[% m>[[~?[ߪ[[[[BZYY i) zIiȽ>]r; )?)))?)?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034342.483165 s, next control iter: 1743034342.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7841, header.stamp.nsec: 00 temperature: 13.567094* salinity: 33.375359, density: 1025.000000* values[0]: 0.576531F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034342.863165 s.+m~I~,y>%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743034342.863290F (some fields omitted in printout)A33333@A"@Av\~? A#A%"AAv,rNA"AZAbAjArAzAAAl(;v/@AO_6tAv*o@Aq<A;=A0>A.u?A?AO*A{:?2ALս:Aq=BA{:?JALսRAq=Yf>(>y7=Nmr<ٓH?3vۿ?`s??f=?b"`7?0?)f> I٘i)I9*o@YG JiC=Jl<JJJևE&Ku> Y\~?yGKA>sE77{7M59)˯BֹE[[x>[>[~?[ݪ[[[[BZYY i) S/IiK>F; $?))~$?$?yvҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034342.883165 s, next control iter: 1743034343.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034343.283165 s.6Rt~I~,%AJ"J*J2J:JBJnJvJAQ@A䠄@AE\~? AAH%"AA1RrNA"AZAbAjArAzAAAŒ10@Ap4tAun@AXH<A=AX>A 6O?A?Ao*A:?2Aս:A6=BA:?JAսRA6=٘i)I9n@Y:G JJJJJهE&K Y\~?y~KAuE77AQ59?B)ʯBٹE[[W>[\~?[Y۪[[[[BZYY i) aIix>C; ?)) ??w֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034343.323165 s, next control iter: 1743034343.683180 s, wait time: 0.360015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7842., header.stamp.nsec: 0.0 temperature: 13.567210.* salinity: 33.375381., density: 1025.000000.* values[0]: 0.575965.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034343.703165 s.պz~I~, %AAףp= @A-@A\~? AAVz%"AAwrNA"AZAbAjArAzAAAV|0@A22tAn@A"W;A=A~E>A&?A?Ax*A:?2A2?ս:A=BA:?JA2?սRA=٘i)I9n@YG JB=JJJJ܇E&K Y5\~?yݪ1KAxE77{7T59>B)ͯBܹE[[>[0\~?[ت[[[[BZYY i) HIieB>u: q?))q?q?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034343.743165 s, next control iter: 1743034344.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034344.123165 s.7~I~,]%AJ"J*J2J:J`?BJ`?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743034344.123321F (some fields omitted in printout)A)\u@Aϟ6[@A`\~? A;A8%"AArNA"AZAbAjArAzAAAU&0@AgxD31tApm@A A3=Ax?Am?A@ ?A@*A{:?2Aս:A=BA{:?JAսRA=٘i)I9m@YG JC=JJJJއE&K YO\~?y٪JA{E77kX59)үB[[;ڢ>[MK\~?[T֪[[[[BZYY i) ԟIi`>ޤ: |>?))|>?|>?ުY(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034344.163165 s, next control iter: 1743034344.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034344.543165 s.I~I~,"%AA{Gᢾ@AQ0Ǣ@A ]~? AIA%"AArNA"AZAbAjArAzAAA,9!1@Ag/tAl@AfA&=A?AJ?A@b?A\*A :?2ARֽ:A2=BA :?JARֽRA2=٘i)I9l@Y6G J*JJJJE&K Yh\~?y"֪dJA}E77\59=B)կB߹E[[>[e\~?[Ӫ[[[[BZYY i) `Ii=t: ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034344.583165 s, next control iter: 1743034344.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7843, header.stamp.nsec: 00 temperature: 13.567355* salinity: 33.375374, density: 1025.000000* values[0]: 0.575392F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034344.963165 s.y~I~,=%AJ"J*J2J:JBJnJvJAL@A^2@A$]~? A0A!%"AA~rNA"AZAbAjArAzAAAZ/Y1@AO9-tA_l@AZAAX=A ?A?At?AM|*A:?2Apֽ:Aag=BA:?JApֽRAag=Yd0>Ӱ ?yfT=ß[ٓHB?@.?3?U??|\?)d0> I٘i)I9_l@YG JB=J܏<JJJE&K3v> Y\~?yѪIA ?EZ7SI7_59[\~?[Ъ[[[[BZYY i) Ii%=*9 /ڒ?))%/ڒ?/ڒ?HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034344.983165 s, next control iter: 1743034345.363179 s, wait time: 0.380014 s\~?)Ѫ rAdjusting time to match Gazebo time: 1743034345.383165 s.ؕ~I~,+X%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252145@ elevatorAngleAction: -0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034345.383286F (some fields omitted in printout)AQ@AB@A<]~? AA_%"AA sNA"AZAbAjArAzAAAY o1@A+tAk@An:AvK=A?An?A@Q?Av*Ao9?2AIֽ:Ao=BAo9?JAIֽRAo=٘i)I9k@Y~G JoC=JJJJE&K Y՘\~?yͪIAEŧ7b7,c599B)گBE[[>[_\~?[kͪ[[[[BZYY i) 6II?iJ3 b?)) b?b?[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034345.403165 s, next control iter: 1743034345.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7844", header.stamp.nsec: 0"0 temperature: 13.567503"* salinity: 33.375408", density: 1025.000000"* values[0]: 0.574782"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034345.803165 s.xA~I~,gs%AJ"J*J2J:JBJnJvJAq= #@A @A[1\~?[ʪ[[[[BZYY i) qjII?i{0 h?))h?h?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034345.843165 s, next control iter: 1743034346.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034346.223165 s.g~I~,H%AA(\@AIHu@Ak]~? AA%"AARsNA"AZAbAjArAzAAAlI$02@A3]}eL'tAxj@AvW<A=A?A?A?ALμ*AK:?2A'ս:A=BAK:?JA'սRA=٘i)I9xj@YG J?ʼJJJJE&K Y\~?yêHAE77Vj59)B[[E>[\~?[ƪ[[[[BZYY i) ļI- I?iὉӘ 3?))3?3?`Y|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034346.243165 s, next control iter: 1743034346.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034346.643165 s.uЩ~I~,*%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034346.643272F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@Aा@Aق]~? ASAN*%"AAusNA"AZAbAjArAzAAA &L?sv2@Az %tAi@AnVj<A=A ?A?A`7?AaҼ*A9?2Akս:AA=BA9?JAkսRAA=٘i)I9i@YIG JмJJJJE&K Y0\~?yN/HAE7m597B)BE[[>[\~?[ª[[[[BZYY i) ̼I+ I?iQ^ ?))??'YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7845, header.stamp.nsec: 00 temperature: 13.567685* salinity: 33.375420, density: 1025.000000* values[0]: 0.574110F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743034346.663165 s, next control iter: 1743034347.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034347.063165 s.~I~,c %AAfffff@A^emSL@A˙]~? A߫A|s%"AAژsNA"AZAbAjArAzAAAO2@Af"tAi@Ar<Aȱ=AHk%?A4?A˯?AҼ*A9?2AHս:A3=BA9?JAHսRA3=Y$>%?y:DZ=<ٓH op?`Dq?@6?B?@|?1IN??)$> I٘i)I9i@Y G JҼJ3<JJJE&Kv> Y\~?yGA%?E{7j7q596B)BE[[>[\~?[۾[[[[BZYY i) _SӼIPI?ijT] sƠ?))sƠ?sƠ?XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034347.083165 s, next control iter: 1743034347.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034347.483165 s.x_~I~,%AJ"J*J2J:JBJnJvJAѥ@AԷ@A{]~? A۫A%"AArsNA"AZAbAjArAzAAAґ3@AMN]J tAhh@A&Ax=A*?A X?A@H?Aм*AC9?2Aֽ:A+=BAC9?JAֽRA+=٘i)I9hh@Yr G J-ҼJJJJE&K Y5]~?y@GAEb77u59)B[[>[]~?[[[[[BZYY i) ;ڼII?i+ ۏ?))ۏ?ۏ?LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034347.503165 s, next control iter: 1743034347.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7846, header.stamp.nsec: 00 temperature: 13.567907* salinity: 33.375408, density: 1025.000000* values[0]: 0.573364F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034347.903165 s.Ƚ~I~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034347.903302F (some fields omitted in printout)A ףp=@AY#@A]~? Aj׫AV%"AAsNA"AZAbAjArAzAAAD3@AdtAg@A\?A3=AN0?A`?AZ?Anϼ*A9?2A1׽:A=BA9?JA1׽RA=٘i)I9g@Y G JXмJJJJE&K Y$]~?ygFAE7x592B)BE[[?[1]~?[r[[[[ZZ¸BZYY i¸=) ȋμIwI?i4J r`?))r`?r`?EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034347.943165 s, next control iter: 1743034348.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034348.323165 s.u~I~,!%AJ"J*J2J:JBJnJvJA\@Ab.ڎ@A ]~? A(ӫA_%"AAisNA"AZAbAjArAzAAAIxއ3@A0sH.tAQ g@ApAQ=Ax5?A?AU+?A}м*A9?2A ׽:A=BA9?JA ׽RA=٘i)I9 g@Y G JмJJJJE&K Y8;]~?yQFAEZ7Z7A|591B)BE[[/W ?[MJ]~?[[[[[ZZBZYY i) 0¼IH?ic p7?))p7?p7?[YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743034348.343165 s, next control iter: 1743034348.723176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7847&, header.stamp.nsec: 0&0 temperature: 13.568132&* salinity: 33.375473&, density: 1025.000000&* values[0]: 0.572606&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034348.743165 s.W~I~,~/%AAGz@Aef@A]~? AΫAG%"AA tNA"AZAbAjArAzAAAפ/3@A ftAGf@A=#An=A:?A`$?Ay?A*A9?2Aֽ:AQ<BA9?JAֽRAQ<٘i)I9Gf@Y& G JB=JJJJE&K YQ]~?yͤEAEŧ7b7590B)BE[[+?[b]~?[<[[[[ZZBZYY i) ItH?ic¾x ?))??5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034348.783165 s, next control iter: 1743034349.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034349.163165 s.v}~I~,qJ%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083755< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743034349.163286F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A˻e@Am^~? A=ʫA: %"AAAtNA"AZAbAjArAzAAAzDm 4@A PtAHne@A9AAyc=A??A`M?A?A*A9?2Aaֽ:A޴<BA9?JAaֽRA޴tAc@Ab<A+=AzI?A?AE?A'Ҽ*A:?2A|ֽ:Aͫ;BA:?JA|ֽRAͫ;٘i)I9c@Y G J}JJJJE&K Yȏ]~?yђDAEb7759)B[[!?[:]~?[[[[[ZZBZYY i) KIcH?i 3 D?))D?D? qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034350.023165 s, next control iter: 1743034350.403279 s, wait time: 0.380114 s rAdjusting time to match Gazebo time: 1743034350.423165 s.u~I~,{%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083755< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198672 time: 1743034350.423281F (some fields omitted in printout)A(\¨@A^y@A;G^~? AۻA%"AAtNA"AZAbAjArAzAAAl{]4@Aee6 tA54c@A -<A;<Am=O?A`t?A`"?A*A9?2Aֽ:A BA9?JAֽRA 𺙘٘i)I94c@YG G J¼JJJJE&K Yv]~?yҌFDAE77,59+B)E[[ʑ'?[]~?[[[[[ZZBZYY i) IH?i*Ϲ `|?))`|?`|?lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034350.463165 s, next control iter: 1743034350.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7849, header.stamp.nsec: 00 temperature: 13.568629* salinity: 33.375500, density: 1025.000000* values[0]: 0.570893F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034350.843165 s.~I~,%AJ"J*J2J:J&?BJ&?nJ?5vJAHz.@A@A[^~? AͶA#%"AAtNA"AZAbAjArAzAAA܅`5@A|PC tAb@A:A!;AJzT?A K)?A #?A#y*A9?2A!ֽ:AK3BA9?JA!ֽRAK3٘i)I9b@Y G JbJJJJ E&K Y#]~?yԆCAEŧ7b759*B)BE[[C-?[]~?[[[[[ZZBZYY i) xIfH?iB» e?))e?e??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034350.883165 s, next control iter: 1743034351.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034351.263165 s.~I~,%AA@A@Ao^~? AA%"AA,tNA"AZAbAjArAzAAAC5@A`PrtAG\b@AbA$} AY?A ?AW?AA*A99?2Al~ֽ:ATBA99?JAl~ֽRATY!?Y?y{ ٓH?@~ S ??@jO? c?)!? I٘i)I9\b@Y G J^SB=JGJJJ E&Kv> Y]~?y2CAY?E{7j7W59)B[[Bg3?[]~?[8[[[[ZZBZYY iS[{=) 5fIxH?i&Ի C?))C?C?(&)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034351.283165 s, next control iter: 1743034351.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 78502, header.stamp.nsec: 020 temperature: 13.5687882* salinity: 33.3754842, density: 1025.0000002* values[0]: 0.5703942F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034351.683165 s.l~I~,|%AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061366< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200692 time: 1743034351.683351F (some fields omitted in printout)AQ@A 멾@A!^~? APAKK%"AA4tNA"AZAbAjArAzAAAhl5@AQ%xtA(b@ApAdAl^?A?A 7:?A>ԕ*A>9?2A^ֽ:A/BA>9?JA^ֽRA/٘i)I9(b@Y G JC=JJJJE&K Y]~?yyCAE7759)B)E[[RY9?[I^~?[=[[[[ZZBZYY i=) uNSIH?i1 (?))(?(?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034351.683165 s, next control iter: 1743034352.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743034352.103165 s.I~,%AA= ףp@AV@Ah^~? A⦫A%"AAuNA"AZAbAjArAzAAA~߹5@Ax'tAdb@ARVAAd?A9?A?A :*A9?2A8qֽ:AL׼BA9?JA8qֽRAL׼٘i)I9b@Y G JJJJJE&K Y-]~?yrDAEŧ7759(B)E[[JT??[-^~?[[[[[BZYY i) @IѵH?i;F ?))??Z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034352.123165 s, next control iter: 1743034352.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034352.523165 s.I~,{!%AJ"J*J2J:J?BJ?nJ5vJA(ܪ@ANqª@AS^~? AUA%%"AA7uNA"AZAbAjArAzAAA9395@A-sA))b@AA9AGNi?A ?A`Q?A";*A9?2Aѷֽ:A}BA9?JAѷֽRA}٘i)I9)b@Y G J ;B=JJJJE&K Y^~?yKlDAE)7ŧ759$B)BE[[WE?[0^~?[z[[[[BZYY i) -ILH?iCNN ?))??yr=y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034352.563165 s, next control iter: 1743034352.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7851, header.stamp.nsec: 00 temperature: 13.568738* salinity: 33.375492, density: 1025.000000* values[0]: 0.570281F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034352.943165 s.WdI~,>]<%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743034352.943325F (some fields omitted in printout)AzG@AB-@A߻^~? AA%"AATuNA"AZAbAjArAzAAAg s+6@Ac NsAPb@A˩;AW]An?A ?A`?Al};*A9?2A ׽:A:BA9?JA ׽RA:٘i)I9Pb@Y G J);C=JJJJE&K Y^~?yeDAE{7Z759#B)BE[[_K?[E^~?[$t[[[[BZYY i)  IzH?i]I T?))T?T?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034352.963165 s, next control iter: 1743034353.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034353.363165 s.I~,>W%AJ"J*J2J:J?BJ?nJ5vJA3333@Ah@A ^~? AAl%"AAouNA"AZAbAjArAzAAAb6@A#sA\b@A Y&^~?y{^pDAs?E777B59)B[[ \Q?[KZ^~?[~m[[[[BZYY i}i=) 9 IH?iUY ?))??m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034353.403165 s, next control iter: 1743034353.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7852&, header.stamp.nsec: 0&0 temperature: 13.568604&* salinity: 33.375504&, density: 1025.000000&* values[0]: 0.570528&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034353.783165 s.YI~,r%AAQ@AP@A^~? AAxn%"AA0uNA"AZAbAjArAzAAAk6@AyY+sAb@A ]<AAAL6y?Aʶ?AS?As^<*A9?2Ac"׽:A BA9?JAc"׽RA ٘i)I9b@Y G JD<JJJJE&K YO7^~?yMWDAEŧ7b7ת59"B) B E[[`bW?[`n^~?[f[[[[BZYY i) 7IH?i`` q?))q?q?ֻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034353.823165 s, next control iter: 1743034354.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034354.203165 s.#I~, %AJ"J*J2J:J?BJ?nJ35vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743034354.203309F (some fields omitted in printout)Aףp=@Ad elevatorAngleAction: 0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201012 time: 1743034355.463393F (some fields omitted in printout)A̭@A'ò@A"_~? AJwAK%"AAMuNA"AZAbAjArAzAAA88 d7@A9"sAd@A3jA8AĆ?A ?Aы?Aw<*A9?2AJֽ:A\BA9?JAJֽRA\Y$U?c?y4jٓH?@`=?@?`^`?/F:?)$U? I٘i)I9d@YR G J<B=JJJJ'E&Kw> Ymv^~?y:+FA? DÇE)7b7-59B)BE[[.o?[^~?[I[[[[BZYY i) (sITH?i~?# @A2_~? ApAe%"AA vNA"AZAbAjArAzAAA5ړ7@A"-sA6e@AmA꛽Aun?A`?An?A_<*A9?2Aֽ:A' BA9?JAֽRA' ٘i)I9e@Y G JE<C=JJJJ)E&K Y_^~?yv2FAƇEj7Z7¼59)B[[u?[^~?[A[[[[BZYY i) r7IFH?i􃿉( ص?))ص?ص?x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034355.903165 s, next control iter: 1743034356.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034356.303165 s.UDI~,sg%AAq= ף@AFT@AB_~? AUjAF%"AA&"vNA"AZAbAjArAzAAA2^7@Aؗ1sAf@A:Z:AU|A#?AF?A@?A<<*A$9?2Ax׽:ABA$9?JAx׽RA٘i)I9f@Y G J<JJJJ,E&K YQ^~?y*FAȇE{7{7W59B)BE[[3{?[^~?[5:[[[[BZYY i) I7H?ivc- N?))N?N?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034356.343165 s, next control iter: 1743034356.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7855., header.stamp.nsec: 0.0 temperature: 13.567617.* salinity: 33.375511., density: 1025.000000.* values[0]: 0.572463.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034356.723165 s.J "J *J 2J :J ?BJ ?nJ 5vJ  KI~,H.%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743034356.723308F (some fields omitted in printout)A(\@A+MF@AP_~? AcA.%"AA9vNA"AZAbAjArAzAAA4 jʏ7@A_Y&sAf@A,0<AA֎?A {?Af?AGA<*A9?2AdG׽:ABA9?JAdG׽RA٘i)I9f@Yd G J4<JJJJ/E&K YE^~?y(#gGAˇEb7759)B[[?[^~?[D2[[[[BZYY i) }I#)H?i򉿉0 B?))B?B?,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034356.763165 s, next control iter: 1743034357.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034357.143165 s.X/RI~,*I%AAGz@A-`@Av__~? A\AfI%"AA`OvNA"AZAbAjArAzAAA[i8@A-Jbl sAv:g@Apn<AEݖAz?A?A e?Aܧ<*A9?2AL׽:ABA9?JAL׽RA٘i)I9:g@Y G J<JJJJ2E&K Y8^~?yGA·E{7{759)ޯB[[7?[^~?[/*[[[[BZYY i) |ZI%H?ifn2 l?))l?l?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034357.183165 s, next control iter: 1743034357.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034357.563165 s. XI~, d%AJ"J*J2J:J?BJ?nJ5vJAffff毾@AO̯@A{m_~? A.VAl%"AAdvNA"AZAbAjArAzAAABE8@A:YsAg@AT/<ASAv ?A?AH?A<*A9?2A׽:AVBA9?JA׽RAVY2o??y#/<ٓH?J4?? @?w??)2o? I٘i)I9g@Y G JT<J<JJJ4E&Khx> Y^~?ys4HA?ЇEj7Z759B)دBE[[,?[9 _~?["[[[[BZYY i) e:I H?i/8 ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034357.583165 s, next control iter: 1743034357.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7856, header.stamp.nsec: 00 temperature: 13.567270* salinity: 33.375542, density: 1025.000000* values[0]: 0.573220F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034357.983165 s._I~,~%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199422 time: 1743034357.983281F (some fields omitted in printout)AQ@A5E7@A{_~? AHOA+S%"AAyvNA"AZAbAjArAzAAA`o8@A河sASh@A :A蒽A?Av?A,?Aԧ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Sh@Ye G JF<JJJJ7E&K Y^~?yd HAӇE777759B)ѯBE[[B?[_~?[[[[[BZYY i) :IG?i񓿉^= ?))??A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034358.023165 s, next control iter: 1743034358.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034358.403165 s.&fI~,͙%AJ"J*J2J:JBJnJvJA ףp@AmY@A-_~? ANHA%"AA1vNA"AZAbAjArAzAAA ؖ8@A?lsAh@A!(AA?A@?A@i?Av><*Af9?2A uֽ:ABAf9?JA uֽRA٘i)I9h@Y G J <JJJJ:E&K Y_^~?yUHAևEB59B)˯BE[[JZ?[(_~?[>[[[[BZYY i) I$3;IG?iJ@ ?))??=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034358.443165 s, next control iter: 1743034358.803178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7857, header.stamp.nsec: 00 temperature: 13.566920* salinity: 33.375542, density: 1025.000000* values[0]: 0.573923F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034358.823165 s.lI~,G%AA\(@Am@Aؔ_~? A>AAc%"AAġvNA"AZAbAjArAzAAAc?8@AsAomi@AiANA?Arl?Aͤ?A,<*A9?2AUdֽ:ABA9?JAUdֽRA٘i)I9mi@YG J<JJJJ elevatorAngleAction: 0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743034359.243310F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@Acz@A _~? A:A+%"AAvNA"AZAbAjArAzAAAaJU>8@Aģ_sA7i@AGA݋AE?A``?A^?A<*AU9?2AJֽ:ABAU9?JAJֽRA٘i)I9i@YeG J<JJJJ?E&K Y#^~?y8IAۇE77m59)¯B[[?[4C_~?[[[[[BZYY i) i;IG?iSC ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034359.283165 s, next control iter: 1743034359.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034359.663165 s.zI~,q%AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7858, header.stamp.nsec: 00 temperature: 13.566604* salinity: 33.375553, density: 1025.000000* values[0]: 0.574634F (some fields omitted in printout)A@A屾@AȬ_~? A2AEz%"AAvNA"AZAbAjArAzAAAi9@AUYsAq{j@AɄmAʝA?A`3?A`.?A<*Am9?2Aֽ:AEBAm9?JAֽRAEYq??yQnٓHŪ?q /`?? a0?m`u?)q? I٘i)I9{j@YG Jg<JW<JJJBE&KWx> Y^~?y JA?އE59B)BE[[猪?[IO_~?[4[[[[BZYY ie=) q;IԸG?iYH t?))t?t?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034359.683165 s, next control iter: 1743034360.063178 s, wait time: 0.380013 s^~?) rAdjusting time to match Gazebo time: 1743034360.083165 s.DI~,S%AJ"J*J2J:J?BJ?nJ@5vJARk@A.oQ@A_~? A+A%"AACvNA"AZAbAjArAzAAA>'9@AMsAj@Aݦ;A͇AZ?A?A K?A6Ր<*A09?2A5:׽:A BA09?JA5:׽RA ٘i)I9j@YG J=<JJJJDE&K Y^~?yu|JAE{7j759B)BE[[Wř?[Z_~?[P[[[[BZYY i) /z;IG?i퟿UL ?))?? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034360.123165 s, next control iter: 1743034360.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034360.503165 s.I~,H4 %AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076663< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743034360.503295F (some fields omitted in printout)Ap= ײ@A;@A_~? A=$AҖ%"AAvNA"AZAbAjArAzAAAXH9@AUhsAnk@AX`<AdAxQ?A 7?A~?A=<*A9?2AY׽:A0BA9?JAY׽RA0٘i)I9nk@YJG J<JJJJGE&K Y>_~?yکJAE77-59)B[[?[e_~?[P[[[[BZYY i) ;I;G?iӡ"O ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034360.523165 s, next control iter: 1743034360.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7859, header.stamp.nsec: 00 temperature: 13.566306* salinity: 33.375572, density: 1025.000000* values[0]: 0.575286F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034360.923165 s.;I~,;%AJ"J*J2J:JBJnJvJA(\B@A4y(@A_~? AA"'%"AAvNA"AZAbAjArAzAAA'%Ǘg9@A]sApk@AZ<AA?A=?Aخ?A ʆ<*A9?2A9׽:A95BA9?JA9׽RA95٘i)I9k@YG J<JJJJJE&K Y _~?yѩ5KAE77{759)B[[?[o_~?[:ܩ[[[[BZYY i) 8E elevatorAngleAction: 0.076663< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743034361.763288F (some fields omitted in printout)A@A@A*_~? A AwK%"AAwNA"AZAbAjArAzAAAPq9@A >UsAl@A ATA?AQ?A?AW<*A}9?2Aֽ:A|BA}9?JAֽRA|Y??yMT>fٓH?-I`%*C7?@|?KŰ`g?`r?)? ILI٘i)I9l@YG JƋ<B=JJJJOE&Kx> Y_~?yKA?E{7j759)B[[B?[_~?[ɩ[[[[BZYY i) 0D(S %@))%@%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034361.803165 s, next control iter: 1743034362.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034362.183165 s.ˢI~,^%AAQ@AWk@A_~? A,AZ%"AAq$wNA"AZAbAjArAzAAAH9@A}sABm@A,PA{Ao?A?A@[/?A”<*A9?2AYֽ:AʤBA9?JAYֽRAʤ٘i)I9Bm@YfG J<C=JJJJRE&K Y~_~?yMLAEŧ7b759)B[[Kc?[_~?[[[[[BZYY i) 7 elevatorAngleAction: 0.076663< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743034363.023294F (some fields omitted in printout)A(\@AB@A_~? AAJ %"AA=wNA"AZAbAjArAzAAAJt{%9@AsA?@n@A(AAHĵ?A5?Az?A[<*A~9?2Aֽ:A BA~9?JAֽRA ٘i)I9@n@YG JM<JJJJWE&K YW*_~?y঩MAEb7759)B[[?[5_~?[[[[[BZYY i) ΫV%AA33333@A:V)@A)`~? A@A9%"AASwNA"AZAbAjArAzAAA:@A۴A.sA9?o@AnU7<Ai䕽A)?Az?Aܼ?A <*AT9?2A|O׽:A BAT9?JA|O׽RA Y??y╽h7<ٓH?=Ci? 9? 彻?N벿`?`??)? I٘i)I9?o@YG Jm<JHJJJ]E&K]x>  69YZ3_~? 69yMA?Eŧ7b769)B[[?[_~?[[[[[BZYY i) Vu elevatorAngleAction: 0.076663< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034364.283270F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A3@Al `~? AiߪA%"AA]wNA"AZAbAjArAzAAA͌q[*:@AAdsAo@Ael<A_5A̽?A?A ?A<*A9?2AK׽:A BA9?JAK׽RA ٘i)I9o@YG Jɘ<C=JJJJ_E&K Yo6_~?yŒ/NAE77m69B)BE[[?['_~?[#[[[[BZYY i) CBk%"AAfwNA"AZAbAjArAzAAA>L/<:@A(sAdCp@A%<AzqA\?A@&?A?A[<*A9?2A*׽:A BA9?JA*׽RA ٘i)I9Cp@Y;G J<B=JJJEJbE&K Y9_~?yNAE77{769)B[[3?[_~?[[[[[BZYY i=) ۉowNA"AZAbAjArAzAAA,en-L:@AQ3|sA/p@A 9AfaA!?A?AZ ?A<*A9?2Apֽ:ABA9?JApֽRA٘i)I9p@YG J<C=JJJJeE&K Y<_~?yB{NAE77 69)}B[[uV?[__~?[}[[[[BZYY i) 9r elevatorAngleAction: 0.085798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743034365.543287F (some fields omitted in printout)A{G᷾@Av/Ƿ@A`~? AǪA/&"AAvwNA"AZAbAjArAzAAA,QZ:@A wsA\q@AA(LA`?A` ?Ax!?A<*A9?2ALֽ:A'BA9?JALֽRA'٘i)I9\q@YG J<JJJJgE&K Y?_~?yr]OAE{7j7-69)xB[[rx?[X_~?[It[[[[BZYY i)  g:@A% ssA*q@AulAA?A@VU?A`]4?A><*A9?2A6ֽ:A$BA9?JA6ֽRA$Yo??y{OmٓHJ? ㎿@?`?:0 ?@k@?)o? I٘i)I9q@Y@G J<JIJJJjE&K x> Y?_~?yiOA?E{769B)rBE[[?[_~?[j[[[[BZYY i) }BA 9?JAkֽRA>٘i)I9r@YG JR<JJJJmE&K Y@_~?y`4PA E77j7X69)mB[[C?[_~?[`[[[[BZYY i) < elevatorAngleAction: 0.085798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034366.803290F (some fields omitted in printout)Aq= #@A,D @A (`~? AAs&"AAЈwNA"AZAbAjArAzAAAx{:@A+DisAxs@A8EA$!AE?A`0?AsS?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9s@YG J<JJJJoE&K YU@_~?yXPA Eb7b769)hB[[?[_~?[WW[[[[BZYY i) d elevatorAngleAction: 0.085798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034368.063323F (some fields omitted in printout)Afffff@A+OL@A_.`~? AAJ&"AAwNA"AZAbAjArAzAAA'M:@A`ZsAt@AT<AYNAKA?AZ?Ao?A+<*A!9?2A}׽:A_BA!9?JA}׽RA_Y?/?yJU<ٓH@,Tm??X@`9??`?)? I٘i)I9t@YG J<JsJJJwE&K9x> Y>_~?y=QA?E{7Z7$69)XB[[@?[J_~?[:[[[[BZYY i) @ elevatorAngleAction: 0.085798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201142 time: 1743034369.323387F (some fields omitted in printout)A\@A2⎻@A/`~? A[A #&"AA)wNA"AZAbAjArAzAAAW2:@AK- KsA#v@A`+TAJ߳A?AAs?A/<*A9?2A ֽ:AM~BA9?JA ֽRAM~٘i)I9v@YEG Jb<JJJJE&K Y(6_~?yy#ISAE77n/69)GB[[?[%_~?[[[[[BZYY i) jBZYY i¸>,) z Y._~?y7TA#?!E77{7669B)=BE[[?[h_~?[1 [[[[ZZZZBZYY i) m '@))'@'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034371.443165 s, next control iter: 1743034371.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7870, header.stamp.nsec: 00 temperature: 13.563002* salinity: 33.375591, density: 1025.000000* values[0]: 0.583197F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034371.843165 s.JJJE&Kx> Y_~?y'BVA5?.E77H69B)BE[[I?[h_~?[lݨ[[[[ZZZZBZYY i&E) D닖$sA|@A#A_ A1?A@QAs?AM<*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9|@YG J3<C=JJJJE&K Yn_~?yިfVA1EZ7Z7L69)B[[`?[*^_~?[|Ԩ[[[[ZZZZBZYY i9) /}MSsAy]}@AA =A?A aſA?A):*A19?2A~dֽ:Aݦ<BA19?JA~dֽRAݦ<٘i)I9]}@Y5G Ji;JJJJE&K Y^~?yiŨVA9Eb7b7V69B)B E[[qJ@[:_~?[^[[[[BZYY i) sK?5vJ eI~,y>&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199402 time: 1743034374.363267F (some fields omitted in printout)A3333@Ah@A`~? AAr &"AA]wNA"AZAbAjArAzAAAs5!:@A\WsA#V}@A<AQ6=A?AþǿAU?A#v*AҜ9?2Aֽ:A <BAҜ9?JAֽRA JJJE&Kv> Y^~?yIVA)?E7^69)B[[Y@[E _~?[x[[[[BZYY i*) 5vJA{Ga¾@Av2G¾@A/_~? AAj&"AA[1wNA"AZAbAjArAzAAA]ι9@A'rA0%|@AAŪ=AQ@A`ϿAB#?Ai*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9%|@YwG J}JJJJE&K Y^~?yɜUAFEj7Z7h69)#B[[@[^~?[+[[[[BZYY i) ;I"2E?iW/ 8@))8@8@-ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034376.063165 s, next control iter: 1743034376.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034376.463165 s.[I~,&AA¾@Av¾@AW_~? A/A4d&"AA\$wNA"AZAbAjArAzAAAp/o9@A rA{@AQA=A@ApпA`=?AD*A'9?2A׽:Ap =BA'9?JA׽RAp =Y%?@y=%RٓH9޿ H?޿#?/?)%? I٘i)I9{@Y/G JB=J[=JJJE&K,x> Y^~?y7UA@IE77Zl69B)(BE[[f @[^~?[N[[[[BZYY i) ;I&E?i5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743034376.883299F (some fields omitted in printout)AQ8þ@Aj=þ@A_~? AA&"AAwNA"AZAbAjArAzAAA5vJA(\ľ@AFþ@A_~? AA&"AAvNA"AZAbAjArAzAAA7ʈE9@Aک/rAz@AqC;A_H=AR|@AӿATo?A=\*A9?2AgHֽ:AA=BA9?JAgHֽRAA=KI٘i)I9z@Y2G J2JJJJE&K YE^~?y}TAQE777w69)7B[[ @[^~?[r[[[[BZYY i) ;;IE?i5 >@))>@>@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034377.743165 s, next control iter: 1743034378.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034378.143165 s.V/I~,*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743034378.143276F (some fields omitted in printout)AGzľ@A`ľ@A _~? An۩A&"AAvNA"AZAbAjArAzAAAb $9@AHrAty@Ah=<A=A @AjӿA\=?Aû*Ak9?2Aֽ:AG=BAk9?JAֽRAG=٘i)I9ty@YG JʸJJJJE&K Ys^~?y-vSATEZ7j7z69) Yc^~?yn4SA @VEŧ77D~69 B)DBE[[@[^~?[Rd[[[[BZYY i) :ID?i! ϻ A@))A@A@!ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034378.603165 s, next control iter: 1743034378.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7877, header.stamp.nsec: 00 temperature: 13.384301* salinity: 33.391647, density: 1025.000000* values[0]: 0.706839F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034378.983165 s.I~,&AAQž@Ai7ž@A_~? A̩A&"AAvNA"AZAbAjArAzAAAQ8@A19rA7x@Aj}<A =AE] @AտA?A<*A9?2Agֽ:A =BA9?JAgֽRA =٘i)I97x@YG J⻼B=JJJJE&K YS^~?ygRAYE7ځ69)HB[[X@[y^~?[\][[[[BZYY i) 78ID?iUû 22C@))22C@22C@֪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034379.003165 s, next control iter: 1743034379.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034379.403165 s.&I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743034379.403282F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpž@A֪]ž@A͓_~? AũAT&"AAvNA"AZAbAjArAzAAAЇq8@AJrAw@AAQ=A @AoֿA ^?A5*A9?2ACֽ:A]A=BA9?JACֽRA]A=٘i)I9w@YG JC=JJJJE&K YC^~?ym``RA\Eb7b7o69 B)OBE[[P@[\f^~?[V[[[[BZYY i) cPID?iuY D@))D@D@8ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034379.443165 s, next control iter: 1743034379.803175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7878", header.stamp.nsec: 0"0 temperature: 13.384603"* salinity: 33.391659", density: 1025.000000"* values[0]: 0.705548"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034379.823165 s.I~,6&AA\(ƾ@ASƾ@A_~? AȾA&"AAСvNA"AZAbAjArAzAAA_}(wy8@A׈e7rA w@A@$AX=A@A`X׿AR\?A*A9?2A׽:A=BA9?JA׽RA=٘i)I9 w@Y\G JJJJJÈE&K Y3^~?y,YQA_E7769)TB[[I@[R^~?[O[[[[BZYY i) ^ID?iA3 B.F@))B.F@B.F@yϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034379.843165 s, next control iter: 1743034380.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034380.243165 s.ÀI~,X&AJ"J*J2J:JBJnJvJAGzƾ@Abodzƾ@Ay_~? AзAjg&"AAAvNA"AZAbAjArAzAAA&#Gk8@ArAZ~v@A'iA=Aeb@A-ؿA=?AH*A)9?2A׽:A+z<BA)9?JA׽RA+z<٘i)I9~v@YG J5JJJJňE&K Y#^~?yQQAaEŧ7769B)ZBE[[@[>^~?[I[[[[BZYY i) u+ID?i澉3 pG@))pG@pG@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034380.263165 s, next control iter: 1743034380.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034380.663165 s.ʀI~,q*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034380.663276F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7879, header.stamp.nsec: 00 temperature: 13.384867* salinity: 33.391682, density: 1025.000000* values[0]: 0.704351F (some fields omitted in printout)AǾ@Aƾ@AWl_~? AﰩA&"AAyvNA"AZAbAjArAzAAAWNB8@AhrAu@AQ4A|̑=A@A cؿAv?A@٢*A/9?2Apֽ:AX<BA/9?JApֽRAX Yf^~?y7K)QA@dEb7/69B)_BE[[5@[)^~?[?C[[[[BZYY i) iI$D?i־ 0H))/H%I@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034380.683165 s, next control iter: 1743034381.063183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743034381.083165 s.J "J *J 2J :J P4?BJ P4?nJ =5vJ EрI~,*SE&AARkǾ@AoQǾ@AH^_~? A$AIt&"AAevNA"AZAbAjArAzAAAi L8@AZP$rAlu@AXA=Ax@AٿA ?A2*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9lu@Y_G JJJJJˈE&K Y]~?yDPAgE{7{7ē69B)eBE[[@[^~?[=[[[[BZYY i) ID?iWþG z G))GJ@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034381.103165 s, next control iter: 1743034381.483184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034381.503165 s.׀I~,L4`&AAp= Ǿ@AhǾ@AO_~? AoA/&"AArOvNA"AZAbAjArAzAAAt r7@A孌hrAt@Ajf<Ay=Au0@AڿAY?AÑ*Ah9?2AQPֽ:A6K<BAh9?JAQPֽRA6K<٘i)I9t@Y G JJJJJ͈E&K Y]~?y=ePAiE777Z69B)kBE[[@[m]~?['7[[[[BZYY i) IED?i㫾\ F))FL@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034381.523165 s, next control iter: 1743034381.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7880, header.stamp.nsec: 00 temperature: 13.385127* salinity: 33.391685, density: 1025.000000* values[0]: 0.703224F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034381.923165 s.7ހI~,{&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034381.923293F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\BȾ@AYw(Ⱦ@A@_~? AҜAQz&"AA-9vNA"AZAbAjArAzAAANr7@A@X*|rA[t@A7 c<AH=Aw@AjZۿA}?A/*A9?2A\<ֽ:A<BA9?JA\<ֽRA<٘i)I9[t@YG J̡JJJJЈE&K Y]~?y7PAlE77{769)oB[[@[]~?[d1[[[[BZYY iJ) IлIbD?i9 D))DM@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034381.943165 s, next control iter: 1743034382.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034382.343165 s. Y׳]~?yH*FOA"@qE777769B)zBE[[0o@[f]~?[^&[[[[BZYY i) ID?i? EA))EApP@꺪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034382.783165 s, next control iter: 1743034383.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034383.183165 s.I~,Z&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034383.183303F (some fields omitted in printout)AQɾ@AFkɾ@A_~? AA&"AAuuNA"AZAbAjArAzAAAx.7@AyۻrAr@AӏĻAC=Av@A ?ݿA@4?Az*A9?2A ׽:A<BA9?JA ׽RA<٘i)I9r@YG JBJJJJ؈E&K Yt]~?y0$NAtE769B)BE[[ @[]~?[![[[[BZYY i) ID?i\ )@)))@$Q@y2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034383.223165 s, next control iter: 1743034383.583174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743034383.603165 s.:4I~,&AJ"J*J2J:Jz3?BJz3?nJ2<5vJA= ףɾ@A 2ɾ@A_~? AYAo&"AAuNA"AZAbAjArAzAAAd)y6@A}rAmr@A1 WA,w=A@A`c޿A?A*AJ9?2A40׽:Ax<BAJ9?JA40׽RAx<٘i)I9mr@YG J7JJJJۈE&K Y]~?yNAwE77{7E69B)BE[[K"@[]~?[[[[[BZYY i) &&InD?iĽG{ >))>kS@ܻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034383.643165 s, next control iter: 1743034384.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7882 , header.stamp.nsec: 0 0 temperature: 13.385636 * salinity: 33.391716 , density: 1025.000000 * values[0]: 0.701095 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034384.023165 s.ZI~,{&AA(\ʾ@A>?Bʾ@A^~? A>}AQ&"AA uNA"AZAbAjArAzAAAp~6@A6rAq@AtZAa<=Aw@A'߿A?Am*Ak9?2Am׽:A<BAk9?JAm׽RA<٘i)I9q@YGG JcJJJJވE&K Yv]~?y5NAyE)7ŧ7ڬ69)B[[G#@[x]~?[![[[[BZYY i) 5ID?i!ι @=))@=T@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034384.063165 s, next control iter: 1743034384.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034384.443165 s.?I~,_]&AJ"J*J2J:J\3?BJ\3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743034384.443296F (some fields omitted in printout)Azʾ@Aʾ@Al^~? A?wA^&"AA uNA"AZAbAjArAzAAAŢ(6@A<ʍrAq@APջAz=A_@A*߿AiC?Auq*A9?2Ayֽ:AE=BA9?JAyֽRAE=٘i)I9q@YG J+JJJJE&K YGb]~?yMA|E777o69B)BE[[%@[.a]~?[p[[[[BZYY i) wJEI9D?i<w9 ;));QV@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034384.463165 s, next control iter: 1743034384.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7883, header.stamp.nsec: 00 temperature: 13.385849* salinity: 33.391716, density: 1025.000000* values[0]: 0.700152F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034384.863165 s.+ I~,>7&AA33333˾@AH˾@A^~? A\qA&"AA`uNA"AZAbAjArAzAAAA:v^6@AhrA&q@A_)v;AՎ=A@A?A@o?Aۂ*A9?2Aolֽ:AD=BA9?JAolֽRAD=Y@դ@yՎ=v;ٓH ) L`o`b??8 =y?ֱ 'n??)@ I٘i)I9q@YG JWJi<JJJE&Kw> YL]~?yz zMA@Ej7Z769B)BݹE[[&@[TI]~?[ [[[[BZYY i) ϪTID?i~=": ]:))]:0W@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034384.903165 s, next control iter: 1743034385.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034385.283165 s.8RI~,R&AJ"J*J2J:J3?BJ3?nJ;5vJAQ˾@A]˾@Am^~? AkAD&"AA puNA"AZAbAjArAzAAA&6@AMorAҒp@AE<A=AJ@AA?A*Aз9?2A 4ֽ:AK =BAз9?JA 4ֽRAK =٘i)I9p@YkG JjJJJJE&K Y5]~?yMAE{7{769)B[[y'@[L1]~?[ [[[[BZYY i)  dID?i=!: 8))82Y@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034385.303165 s, next control iter: 1743034385.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7884., header.stamp.nsec: 0.0 temperature: 13.386092.* salinity: 33.391720., density: 1025.000000.* values[0]: 0.699155.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034385.703165 s.غI~,m&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034385.703289F (some fields omitted in printout)Aףp= ̾@A 7˾@Aާ^~? AeAh&"AAPTuNA"AZAbAjArAzAAAmtZ5@AOrAp@A'f<A^=A/!@A-AD?A*A9?2A->ֽ:A5 =BA9?JA->ֽRA5 =٘i)I9p@YG JB=JJJJE&K Yy]~?yLAE77069!B)BڹE[[1X)@[]~?[P[[[[BZYY i"q) nsID?i">: C}7))C}7rZ@$ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034385.723165 s, next control iter: 1743034386.103180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034386.123165 s.8!I~,a&AJ"J*J2J:J2?BJ2?nJ;5vJA)\u̾@A)[̾@A^~? Ac`A!&"AA7uNA"AZAbAjArAzAAA#}H=5@AۙrAo@A( <A=A"@AO?A?AU*A;9?2Aֽ:AQC =BA;9?JAֽRAQC =٘i)I9o@YG JVC=JJJJE&K Y9 ]~?y8ZLAE7ž69"B)B׹E[[л*@[]~?[T[[[[BZYY i) eID?i_>i(; +6))+6\@k̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034386.163165 s, next control iter: 1743034386.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034386.543165 s.I(I~,â&AA{G̾@A%:̾@A^~? AZA&"AAuNA"AZAbAjArAzAAAV1(z5@A-KrABo@AAܒ=AM#@AA@?A$*AY9?2Aֽ:A =BAY9?JAֽRA =٘i)I9o@YzG JȜB=JJJJE&K Y\~?yKAE777Z69)B[[,@[t\~?[[[[[BZYY i) ID?i>:; <4))<4y}]@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034386.583165 s, next control iter: 1743034386.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7885, header.stamp.nsec: 00 temperature: 13.386340* salinity: 33.391735, density: 1025.000000* values[0]: 0.698122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034386.963165 s.w.I~,줽&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084688< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034386.963295F (some fields omitted in printout)J"J*J2J:JBJnJvJAL;@AB#ظ2;@An^~? AUA&"AAtNA"AZAbAjArAzAAA _.r:?5@ATKrA\n@A?+AMs=A'6%@AA@c?At*Aڨ9?2AH(׽:A =BAڨ9?JAH(׽RA =٘i)I9n@Y+G JC=JJJJE&K Y\~?ybKAEb7769$B)BԹE[[z-@[\~?[[[[[BZYY i) ƐID?i>8j; Q73))Q73d^@yYҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034386.983165 s, next control iter: 1743034387.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034387.383165 s.5I~,+&AAQ;@AP}:;@A Z^~? APA[&"AAtNA"AZAbAjArAzAAAB5@A^rAn@A; hA=A!&@A1A@?A*A_9?2A)׽:A=BA_9?JA)׽RA=٘i)I9n@YG J̛JJJJE&K Ym\~?y;KAE77769'B)BйE[[.@[\~?[[[[[BZYY i) IvID?i>6я; y1))y1 YUj\~?yקIA+@E7769,B)ίBǹE[[%4@[U\~?[[[[[BZYY i) ٶID?iB?΁; P?,))P?,ee@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034389.103165 s, next control iter: 1743034389.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034389.483165 s.r_WI~,^&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084688< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743034389.483281F (some fields omitted in printout)J"J*J2J:JBJnJvJAϾ@AiܷϾ@AV]~? A8AG5&"AA&BtNA"AZAbAjArAzAAAgDj/3@Ap dQTrAEk@AukD<A:=A(,@AHAv?Aļ*AK9?2AD:ֽ:A=BAK9?JAD:ֽRA=٘i)I9k@YG JüJJJJE&K Y Q\~?yӧ7IAE7p69)ӯB[[~5@[<\~?[.[[[[BZYY i) --IE?i&O?4< *))*Cg@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034389.523165 s, next control iter: 1743034389.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7888, header.stamp.nsec: 00 temperature: 13.387173* salinity: 33.391743, density: 1025.000000* values[0]: 0.694745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034389.903165 s.]I~,y&AA ףp=о@A xa#о@A]~? A?4A)&"AAJ!tNA"AZAbAjArAzAAA_643@ASèrA Y[~?y!ŧhGA.2@E7777692B)BE[[T:@[v[~?[ߧ[[[[BZYY i) WۼI~6E?i|?)< ,]%)),]%l@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034391.183165 s, next control iter: 1743034391.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034391.583165 s.xI~,R&AARѾ@ApѾ@Ad]~? A,$A &"AAsNA"AZAbAjArAzAAA7Fq2@AwrA8g@A|Aj=A݃3@A`A?AѼ*A9?2A ֽ:A==BA9?JA ֽRA==٘i)I9g@Y G J+μJJJJE&K YR[~?y§FAEŧ7b7[69)B[[E<@[[~?[ݧ[[[[ZZ¸BZYY i¸=) SϼIgEE?i?!1< #))# n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034391.603165 s, next control iter: 1743034391.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7890, header.stamp.nsec: 00 temperature: 13.387783* salinity: 33.391766, density: 1025.000000* values[0]: 0.692146F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034392.003165 s.{ I~,Y4&AJ"J*J2J:J01?BJ01?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034392.003288F (some fields omitted in printout)Ap= WҾ@Ap<Ҿ@A=j]~? A A!&"AAvsNA"AZAbAjArAzAAA+2@AOs;urA,g@A<;Ao=A 4@A@ Ay?Aټ*AA9?2A/ֽ:A0=BAA9?JA/ֽRA0=٘i)I9g@Y G J.ռJJJJE&K Y[~?yxFAE{7{7694B)BE[[l=@[[~?[eܧ[[[[ZZBZYY i) QüIUE?i?:< "))"|o@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034392.023165 s, next control iter: 1743034392.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034392.423165 s.uI~,&AA(\Ҿ@A@wҾ@AR]~? AA@[!&"AA|SsNA"AZAbAjArAzAAAB\#1@AIxsrALf@AJ<AЭ=A6@A@2A ?Axc*A9?2Aoս:Ai<BA9?JAoսRAi<٘i)I9Lf@Y* G JJJJJE&K Y{[~?y滧FAEb77695B)BE[[G>@[8[~?[ۧ[[[[ZZBZYY i) LIeE?i?D< ]G!))]G!Xp@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034392.443165 s, next control iter: 1743034392.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7891, header.stamp.nsec: 00 temperature: 13.388105* salinity: 33.391777, density: 1025.000000* values[0]: 0.690763F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034392.843165 s.݌I~,5&AJ"J*J2J:JBJnJvJAHz.Ӿ@AӾ@AC;]~? AA!&"AA/sNA"AZAbAjArAzAAAr)1@A丁jqrAle@Ac_<A9=AO7@A`dA?A6*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9le@Y G J5JJJJE&K Y [~?yҸEAEŧ7b7696B) BE[[@@[q[~?[٧[[[[ZZBZYY i) GIwE?ik?O<  )) 2r@y/=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034392.883165 s, next control iter: 1743034393.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034393.263165 s.I~,P&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743034393.263277F (some fields omitted in printout)AӾ@A}>ʈӾ@At#]~? AkA!&"AA sNA"AZAbAjArAzAAAs5lT1@A=_ torAՕd@AC;AmFq=A`8@AAZп,90? Ŗ?$~??)*@ IJI٘i)I9d@Y G JJJJJE&K w> Ye[~?y6EA8@Ej7j7698B)BE[[SA@[dX[~?[ا[[[[ZZBZYY i) OIE?iǧ?iV< ))Čs@-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034393.283165 s, next control iter: 1743034393.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7892., header.stamp.nsec: 0.0 temperature: 13.388514.* salinity: 33.391762., density: 1025.000000.* values[0]: 0.689094.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034393.683165 s.lI~,Zk&AJ"J*J2J:JBJnJvJAQԾ@A< Ӿ@Ao ]~? AZAc"&"AArNA"AZAbAjArAzAAAz' 1@AԜmrAc@Av9;A+Y,=A9@AA@[?A/˼*A9?2A]ֽ:AE;BA9?JA]ֽRAE;٘i)I9c@Y G JVJJJJE&K Y^J[~?y[DAEZ7F699B)BE[[B@[>[~?[ק[[[[ZZBZYY i) ӔI͛E?i?^< +;))+;t@LrYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034393.683165 s, next control iter: 1743034394.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034394.103165 s.I~,&AA= ףpԾ@AّVԾ@A7\~? ApAV"&"AA:rNA"AZAbAjArAzAAAWP0@A>krA:c@ACFA<AkG;@AHACy?A]*A^9?2ARֽ:Aں@BA^9?JARֽRAں@٘i)I9:c@YK G JJJJJE&K  79Y/[~? 79yDAE)7ŧ779:B) BE[[^C@[u%[~?[,ק[[[[ZZBZYY i) IGE?i?g< `))`U/v@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034394.143165 s, next control iter: 1743034394.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034394.523165 s.I~,|&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083810< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J*J2J dt: 0.419977:J2 time: 1743034394.523284BJF (some fields omitted in printout)nJvJA(Ծ@A-ͭԾ@A\~? A At"&"AAcrNA"AZAbAjArAzAAA x0@AjhjrAOb@AzAU<Aے<@AA )?Aǥq*A9?2A9@ֽ:A1*BA9?JA9@ֽRA1*٘i)I9b@Y G JߐJJJJ!E&K Y[~?y䯧CDAE7777p79;B)%BE[[3E@[0 [~?[֧[[[[ZZBZYY i) |IE?i?q< ))ww@\QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034394.543165 s, next control iter: 1743034394.923182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7893, header.stamp.nsec: 00 temperature: 13.388853* salinity: 33.391769, density: 1025.000000* values[0]: 0.687744F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034394.943165 s.UdI~,5]&AAzGվ@Ac-վ@A7\~? A A"&"AACyrNA"AZAbAjArAzAAAh).0@A"hrAib@A/0AAL=@AGEA`[?A? &*A>9?2ALֽ:ABA>9?JALֽRA٘i)I9ib@Y G JQJJJJ#E&K YWZ~?yCA DEb77 79&AJ"J*J2J:JBJnJvJA3333վ@A 6uվ@Au\~? AA"&"AASrNA"AZAbAjArAzAAA//@A3grA/b@A:[AAi-?@AkAs?A*Am9?2Aֽ:A@cBAm9?JAֽRA@cY'1@-?@yx[ٓHʰÿѕ??|@qP7?vK?)'1@ I٘i)I9/b@Y G JJDJJJ&E&Kx> Y_Z~?yLDA-?@ˆE77j7 79=B),BE[[=G@[Z~?[է[[[[ZZBZYY ir=) @TIE?i?< ))4z@B)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034395.383165 s, next control iter: 1743034395.763189 s, wait time: 0.380024 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7894&, header.stamp.nsec: 0&0 temperature: 13.389023&* salinity: 33.391781&, density: 1025.000000&* values[0]: 0.687008&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034395.783165 s.\I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.059292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034395.783327F (some fields omitted in printout)AQ־@A[־@A\~? ATA"#&"AA=.rNA"AZAbAjArAzAAA?h//@A-3erA+b@AY<ArBA@@A'A?A>_׺*Aa9?2Aֽ:AnӼBAa9?JAֽRAnӼ٘i)I9b@Y G JIJJJJ)E&K YfZ~?y.DAĈEŧ7b7179>B).BE[[) I@[\Z~?[է[[[[BZYY i}U=) ;BI5F?iJ?"< )) O{@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034395.823165 s, next control iter: 1743034396.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034396.203165 s.ÁI~, &AJ"J*J2J:JBJnJvJAףp=־@A&p־@Ayw\~? A2AJN#&"AA_rNA"AZAbAjArAzAAAp.@A\TdrAAb@A{h<A;AA@A@߮A?AsZ;*A9?2Aֽ:ABA9?JAֽRA輙٘i)I9b@Y G J:JJJJ,E&K YoZ~?yLDALjE777779@B)/BE[[PJ@[:Z~?[է[[[[BZYY i) 60IuF?iP?p< Ê))Ê|@W|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034396.243165 s, next control iter: 1743034396.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034396.623165 s.VɁI~,X'&AA)\־@A9d־@AF^\~? A8Av#&"AAJqNA"AZAbAjArAzAAA' elevatorAngleAction: 0.069987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034397.043283F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga׾@Az0G׾@AD\~? AgA#&"AAqNA"AZAbAjArAzAAA뗩޻d-@ARKbrA{b@Ar(;AAE`D@A@A'?A%;<*A9?2ANֽ:Ak' BA9?JANֽRAk' ٘i)I9{b@Y G J|<JJJJ1E&K Y~lZ~?yަDÄE{7{779@B),BE[[L@[uZ~?[֧[[[[BZYY i) + IMF?i?q <  )) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034397.083165 s, next control iter: 1743034397.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034397.463165 s.WׁI~,]&AA׾@AY׾@A+\~? AAʽ#&"AAqNA"AZAbAjArAzAAA+{ ~,@A^3arA\b@AaA~AE@A`AfP?Aw}t<*A9?2A5ս:ABA9?JA5սRAY@7@cE@yfcٓH@zn/M?U?\ln?`?)@7@ I٘i)I9b@Y G JU<JvJJJ4E&Kw> YGPZ~?ygDAE@ψEŧ7b779))B[[N@[\Z~?[ק[[[[BZYY ii=) aI9gF?i?`< 9))9.@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034397.503165 s, next control iter: 1743034397.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7896, header.stamp.nsec: 00 temperature: 13.389050* salinity: 33.391769, density: 1025.000000* values[0]: 0.687180F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034397.883165 s.y݁I~,@x&AJ"J*J2J:JBJnJvJAQ8ؾ@AL…<ؾ@A\~? A?A#&"AAnqNA"AZAbAjArAzAAAu elevatorAngleAction: 0.057089< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743034398.303268F (some fields omitted in printout)Aq= ףؾ@AJ@L‰ؾ@AW[~? AA#&"AA*HqNA"AZAbAjArAzAAAON6+@AE_rAc@AWAeAQ5H@A_+A`+)?AI<*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y G JZ<JJJJ9E&K YZ~?yxEAԈEj7&79AB)#BE[[P@[O+Z~?[ا[[[[BZYY i) IpF?i?"< @))@o@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034398.323165 s, next control iter: 1743034398.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7897*, header.stamp.nsec: 0*0 temperature: 13.388910** salinity: 33.391762*, density: 1025.000000** values[0]: 0.687974*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034398.723165 s.I~,H&AJ"J*J2J:JBJnJvJA(\پ@AREؾ@A[~? AAY$&"AAB!qNA"AZAbAjArAzAAA#<'F*@ASݍ^rAaTd@Ai߬A9AHA=A][?A<*AR9?2Agֽ:ABAR9?JAgֽRA٘i)I9Td@Y G Jx<JJJJE&K YrY~?y\FAڈEb77-79)BE[[BS@[Y~?[ڧ[[[[BZYY i=) b{IF?i@d < } ))} @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034399.163165 s, next control iter: 1743034399.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034399.563165 s.I~,c &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034399.563300F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffپ@APپ@A[~? AA9$&"AApNA"AZAbAjArAzAAAm)@A\k]rAze@AsAX<AěAEA[A㮱?AQĮ<*Ay9?2Ae׽:ABAy9?JAe׽RAY$(>@oEy:X<ٓHs?B?@aި ( T?Ys???)$(>@ I٘i)I9ze@Y G Jj<JJJJAE&K0x> Y?Y~?yFAE݈E)7ŧ7q179CB)BE[[ST@[Y~?[ۧ[[[[BZYY i) A?IGF?i&@E< Շ ))Շ K@G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034399.603165 s, next control iter: 1743034399.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7898, header.stamp.nsec: 00 temperature: 13.388686* salinity: 33.391754, density: 1025.000000* values[0]: 0.689027F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034399.983165 s.I~,&AAQھ@A7ھ@A[~? A0A.H$&"AAޫpNA"AZAbAjArAzAAAv!)@A\O]rA f@Ao g<AԜADA`MfA@?A%<*A9?2Amֽ:A\BA9?JAmֽRA\٘i)I9 f@Y G J<JJJJDE&K Y Y~?yd-GA߈Eŧ77579)BE[[ U@[Y~?[fݧ[[[[BZYY i) I1G?i @K< J ))J @b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034400.023165 s, next control iter: 1743034400.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034400.403165 s.&I~,&AJ"J*J2J:J0?BJ0?nJ95vJA ףpھ@A 1^ھ@Aw[~? AA T$&"AApNA"AZAbAjArAzAAAːH(@ASǯ\rAf@Au;Aw_AlMCA^nAQ$?A7<*AӰ9?2AGֽ:A_BAӰ9?JAGֽRA_٘i)I9f@YZ G J<JJJJFE&K Y׊Y~?yҥGAE{7j7879)BE[[UV@[ȲY~?[ާ[[[[BZYY i) I.G?ij@K< i ))i &@Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034400.443165 s, next control iter: 1743034400.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7899", header.stamp.nsec: 0"0 temperature: 13.388466"* salinity: 33.391758", density: 1025.000000"* values[0]: 0.690079"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034400.823165 s. I~,\4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743034400.823360F (some fields omitted in printout)A\(۾@AɊ۾@A#][~? APA\$&"AA8]pNA"AZAbAjArAzAAAF'@A 1x\rA{-g@A";As锽A BAsA )2?At<*A9?2AWֽ:AbBA9?JAWֽRAb٘i)I9-g@Y G J<JJJJIE&K YnY~?y?GAE7771<79) B|E[[X@[:Y~?[[[[[BZYY i) h.I&@AOU\rANh@AmA`A~?A xA\tAR<*A9?2Aa/ֽ:A=BA9?JAa/ֽRA=Y>D@Un?y];nٓH`?`vB?@l$ÿУo@?`s?)>D@ I٘i)I9Nh@Yb G J<B=Jk<JJJNE&Kx> Y6Y~?yHAn?E7777\C79DB)ByE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #42q/*^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) $Q:)r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034401.683165 s, next control iter: 1743034402.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034402.083165 s.D!I~,R&AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743034402.083271F (some fields omitted in printout)ARkܾ@ArkmQܾ@A [~? A8Ac$&"AAoNA"AZAbAjArAzAAA&@Aui\rAh@A(AA+>AuvAiAU,<*A9?2Aavֽ:ALHBA9?JAavֽRALH٘i)I9h@Y G Jo<C=JJJJQE&K YY~?yQ(IAE{7F79)BvE[[x[@[YUY~?[x[[[[BZYY i) ,;IG?i@t < G,)) G,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034402.103165 s, next control iter: 1743034402.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034402.503165 s.'I~,D4&AAp= ܾ@AՕܾ@AZ~? AA^$&"AAoNA"AZAbAjArAzAAA`gKp%@A\rA]i@A6L:A)AH,=A}A)AF<*A:?2Au½:A$BA:?JAu½RA$٘i)I9]i@YG Jޝ<JJJJTE&K YX~?yIAEb7b7J79)BsE[[\@[l>Y~?[[[[[BZYY i) Ji;IG?i@$< g3))+E@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034402.543165 s, next control iter: 1743034402.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7901, header.stamp.nsec: 00 temperature: 13.388054* salinity: 33.391735, density: 1025.000000* values[0]: 0.692185F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034402.923165 s.?.I~,&AJ"J*J2J:J31?BJ31?nJ95vJA(\Bݾ@Ax(ݾ@AZ~? AAV$&"AAoNA"AZAbAjArAzAAApo$@A&\rAji@A03<A[A3Z<A|AAg<*A:?2Aý:AȸBA:?JAýRAȸ󼙘٘i)I9i@YTG Jו<JJJJWE&K YX~?yIAEZ7SI7N79)BpE[[^@['Y~?[[[[[BZYY i) ~;IG?iO"@< ))/@*YYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743034402.943165 s, next control iter: 1743034403.323183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743034403.343165 s.<5I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743034403.343267F (some fields omitted in printout)AHzݾ@AJݾ@A Z~? AAL$&"AApoNA"AZAbAjArAzAAA{s4$@AVKK]rASj@AFw<A1AR;AXxA A֌<*A:?2Ahƽ:A>BA:?JAhƽRA>񼙘٘i)I9Sj@YG J <B=JJJJYE&K YX~?yGHJAESI7Q79EB)BmE[[N_@[kY~?[x[[[[BZYY i =) <:;IG?iP&@8< ˌ))ˌuɈ@R*YRYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034403.363165 s, next control iter: 1743034403.743174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7902&, header.stamp.nsec: 0&0 temperature: 13.387877&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.693111&F (some fields omitted in printout):X~?):G rAdjusting time to match Gazebo time: 1743034403.763165 s.8;I~,#&AJ"J*J2J:JBJnJvJA޾@A\Z ݾ@AZ~? AdA`@$&"AA.IoNA"AZAbAjArAzAAAL #@A]rACj@A6<AA(0:AqAWA <*A:?2AWȽ:A"BA:?JAWȽRA"YdI@/<:y37<ٓHz?Xd?dSͿD#@?Ͱ?`ن??)dI@ I٘i)I9j@YG J<C=Jh(<JJJ\E&KE> YRX~?yMJA<:E77GU79)BjE[[L`@[X~?[[[[[BZYY i) Nn;IH?i(@Q< ))!d@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034403.783165 s, next control iter: 1743034404.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034404.183165 s.BI~,^ &AAQ޾@A-(k޾@AZ~? AAAC1$&"AA!oNA"AZAbAjArAzAAAăm{"@A D^rAp>k@A:AA8AfA@{ϵA<*A:?2A˽:ABA:?JA˽RA٘i)I9>k@Y,G J<JJJJ_E&K YՏX~?ySJAE777X79DB)BhE[[a@[X~?[[[[[BZYY i) ;IBH?i,@C< G))G@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034404.223165 s, next control iter: 1743034404.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034404.603165 s.54II~,& &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034404.603285F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף޾@Aˢ޾@A0sZ~? ABAY$&"AAznNA"AZAbAjArAzAAAdP\"@Aûrb`rAl@A)$SAA5A5A|.A<*A:?2A=ѽ:ATBA:?JA=ѽRAT٘i)I9l@YG JȐ<JJJJgE&K YV=X~?yd LAE{7j7c79)߯BbE[[Ge@[X~?[[[[[BZYY i) 'w &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743034405.863294F (some fields omitted in printout)A33333@A`@A%Z~? A1A#&"AA$nNA"AZAbAjArAzAAA]Շ @A}GarAm@ATAA3A@A¿ARˎ<*A{:?2AKӽ:ABA{:?JAKӽRAY_P@x3y=ٓH+?Ұ?VԿ= ? 0s?@Jp?)_P@ I٘i)I9m@YQG J<JŻJJJiE&Kw> Y"X~?yFjLA3E772g79)ۯB_E[[xf@[aX~?[[[[[BZYY i) 6W~?y &MA E7)7]n79)ԯBYE[[#h@[eX~?[{[[[[BZYY i) U2?BJ >2?nJ :5vJ 6qI~,X &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743034407.123270F (some fields omitted in printout)A)\u@A([@AY~? AA%t#&"AAnNA"AZAbAjArAzAAAsǼoq@AI !drAn@A@e<A?AP/AAǿA<*A8`:?2Ad0ֽ:AزBA8`:?JAd0ֽRAز٘i)I9n@Y+G JP<C=JJJJqE&K YW~?y§MA Eb7b7q79)ЯB[[j@[QX~?[[[[[BZYY i&j=) d YHW~?yɧGNA-E77y79)ȯBSE[[Xl@[)X~?[L[[[[BZYY i) ǁ elevatorAngleAction: 0.084187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743034408.383296F (some fields omitted in printout)AQ@AemS<@A]Y~? AY A"&"AAڞmNA"AZAbAjArAzAAAean@AoqhrAp@AUXA$xA+A@cA ͿA<*AA:?2AR:ֽ:A&\BAA:?JAR:ֽRA&\٘i)I9p@YG J<JJJJyE&K YW~?y?ͧNAEb7b7|79CB)ïBPE[[m@[KX~?[ [[[[BZYY i) oY elevatorAngleAction: 0.084187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743034409.643330F (some fields omitted in printout)AG@AN @ADY~? AAY"&"AA.mNA"AZAbAjArAzAAAXd@A7?mrAq@A ;AG֢A'A AN@ѿAo<*A$:?2A]b׽:A}\BA$:?JA]b׽RA}\II٘i)I9q@Y!G J{<C=JJJJE&K Y7W~?yjاOAE{7{7r79)BKE[[p@[W~?[& [[[[BZYY i) <ٓH^t?`;?`1qs]?`? )??)T]@ I٘i)I9Qr@Y{G JB<JJJJE&Kz> YW~?yܧMPA& E7779BB)BHE[[%'r@[W~?[`$[[[[BZYY i) p elevatorAngleAction: 0.084187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034410.903288F (some fields omitted in printout)A ףp=@A`#@AX~? AAW!&"AAilNA"AZAbAjArAzAAAY@A~usrA9s@AI.<AIA7#ANAӿA^K<*Ao :?2Ak׽:A'~BAo :?JAk׽RA'~٘i)I9s@Y3G J<B=JJJJE&K YGV~?y,QA%Eŧ7b72790B)BBE[[)vt@[ W~?[-[[[[BZYY i)  5 elevatorAngleAction: 0.084187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034412.163301F (some fields omitted in printout)A@Ae@AX~? A(A &"AA WlNA"AZAbAjArAzAAA'-^@An%,6zrAKxu@AOvAքA A7A omֿA<*A9?2Aֽ:AABA9?JAֽRAAYEd@N y{wٓH6`??L?`(?@ݎ`Q?)Ed@ I٘i)I9xu@YfG J<Jv_JJJE&Kx> Y>V~?yDRA -EZ7Z779)B=E[[)w@[fsW~?[:[[[[BZYY i) f/ elevatorAngleAction: 0.084187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034413.423286F (some fields omitted in printout)A(\@A耨@AsX~? A=4A &"AAkNA"AZAbAjArAzAAAZ@ArAw@A;A7tAAzAؿA<*A9?2A׽:A%BA9?JA׽RA%٘i)I9w@YG J<B=JJJJE&K YldV~?y SA5E77{779/B)sB7E[[P{@[`BW~?[GI[[[[BZYY iϾ=) BZYY i¸>ꡩ)  Y9V~?yBTA:Eݮ79)hB[[Ք}@[I#W~?[PS[[[[ZZZZBZYY i) 4] &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743034415.943293F (some fields omitted in printout)AzG@A-@AW~? A_PAH&"AA.kNA"AZAbAjArAzAAA}5?AMՒrAZ.|@AaAߚ1AUA<A`ݿAV<*A9?2ANֽ:ABA9?JANֽRA໙٘i)I9.|@Y|G J<JJJJE&K YU~?y'VAEE7777279.B)MB+E[[ @[V~?[Jh[[[[ZZZZBZYY i) I &AJ"J*J2J:JBJnJvJA3333@Am@A|W~? AUA.i&"AAlkNA"AZAbAjArAzAAAaQi?ArA\|@A GA<ԼAAA@K޿A <*A9?2A.ֽ:A67:BA9?JA.ֽRA67:٘i)I9|@YG J<JJJJE&K Y:U~?y-8WAHE79)HB[[@[1V~?[m[[[[ZZZZBZYY ib) XAPEŧ7b779)?B[[}A@[jV~?[~[[[[ZZZZBZYY i) R5vJA{Ga@A/G@AW~? ATkAo&"AAjNA"AZAbAjArAzAAAXΫ[ ?AUBJJrA~@AP'<Adf=A A˦AA:*Au9?2AȊֽ:A<BAu9?JAȊֽRA<٘i)I9~@YG JQi;JJJJE&K Y*~U~?yDYARE)7ŧ779)>B#E[[w̃@[EV~?[[[[[BZYY i) :JJJE&K> YmU~?yKXA| UEb7b779-B)=B E[[[@[V~?[A[[[[BZYY iG) k<*@AoW~? AvA&"AAbjNA"AZAbAjArAzAAAǓUĥ?A\arA}@A?(Ao=AJ% A@0߿A r8A߻*A9?2A$׽:A =BA9?JA$׽RA =٘i)I9}@YG JC=JJJJE&K Y]U~?ySXAXE7H79.B)?B!E[[S@[RV~?[[[[[BZYY in) AV@]rA7A|@Ao<A{=AA@ZݿA !sA|*A9?2A$ֽ:An=BA9?JA$ֽRAn=Y ~@y=<ٓH`߿ݶ?"M`Fl߿`@v́?y?) ~@ I٘i)I9A|@YG JѣJ=JJJljE&Kw> YjU~?y4piWAcE779.B)LBE[[U@[dV~?[[[[[BZYY i) ";Ii͌@:4= +:))+:PA@HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034420.583165 s, next control iter: 1743034420.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7919, header.stamp.nsec: 00 temperature: 13.384804* salinity: 33.391502, density: 1025.000000* values[0]: 0.708797F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034420.983165 s.OI~,> &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743034420.983328F (some fields omitted in printout)AQ@A*7@A!W~? A㕩Ao&"AAciNA"AZAbAjArAzAAAv> BAe\ DrA{@AQp<Aw=AzABܿAA`*A9?2Aֽ:A8$=BA9?JAֽRA8$=٘i)I9{@Y+G JJJJJʉE&K YRU~?ywVAeEŧ7b7379-B)PBE[[@[ZV~?[[[[[BZYY i) ~;Ii?@4= ))Π@AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034421.023165 s, next control iter: 1743034421.383182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034421.403165 s.&VI~,Y &AJ"J*J2J:JBJnJvJA ףp@A*]@A W~? AaA&"AAiNA"AZAbAjArAzAAA VA .;rA{@A2T<AA=ArrA`U~ۿAAK¼*A9?2A#=ֽ:A*=BA9?JA#=ֽRA*=٘i)I9{@YG J7JJJJ͉E&K Y;U~?ytVAhE77{779)UB[[9@[PV~?[[[[[BZYY i) m;Ii@@5= О))О[@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034421.423165 s, next control iter: 1743034421.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7920, header.stamp.nsec: 00 temperature: 13.385048* salinity: 33.391502, density: 1025.000000* values[0]: 0.707782F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034421.823165 s.\I~,Bt &AA\(@A؟@AV~? AA&"AA{iNA"AZAbAjArAzAAA՘\AuArA cz@A-;A*,=A3ANڿASMA*¼*Aʷ9?2Aֽ:A#=BAʷ9?JAֽRA#=٘i)I9cz@YdG J:üJJJJЉE&K Y"T~?yVAkEb77^79)ZB[[_ƈ@[eGV~?[ʸ[[[[BZYY i) {2;Ii@6= ))Z@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034421.863165 s, next control iter: 1743034422.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034422.243165 s.J "J *J 2J :J 5?BJ 5?nJ =5vJ cI~, &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743034422.243277F (some fields omitted in printout)AGz@Alscz@A V~? AAt&"AAiNA"AZAbAjArAzAAA\A=&VrAy@AһA=AA]ٿA 1A!*Aۼ9?2Ax ׽:Ao =BAۼ9?JAx ׽RAo =٘i)I9y@YG JJJJJ҉E&K YT~?yUAmE7{779)_BE[[R@[c>V~?[뾨[[[[BZYY i) :Ii@T7= Cm))Cmt@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034422.263165 s, next control iter: 1743034422.643185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743034422.663165 s.jI~,q &AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7921, header.stamp.nsec: 00 temperature: 13.385328* salinity: 33.391479, density: 1025.000000* values[0]: 0.706658F (some fields omitted in printout)A@A@AV~? AoA&"AA6iNA"AZAbAjArAzAAAg9ZAjLyrA"y@Ao*dAh=AAٿAAΔ*A9?2A8׽:A =BA9?JA8׽RA =YP@yd=JdٓHcڿ7?ڿڳB'``?)P@ I٘i)I9"y@YG JSJ=JJJՉE&KCx> YT~?yEUApE77j779.B)eBE[[\߉@[5V~?[ Ũ[[[[BZYY i) Co:IiƏ@8= :)):W@AުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034422.683165 s, next control iter: 1743034423.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034423.083165 s.DqI~,R &AJ"J*J2J:J4?BJ4?nJ=5vJARk@AeoQ@A7V~? AMA&"AAriNA"AZAbAjArAzAAAHPA `rAx@AjgAt=A0AZHؿAA *A9?2A׽:A=BA9?JA׽RA=٘i)I9x@YCG JLJJJJ؉E&K YT~?yĞTAsE7779-B)iBE[[ l@[Q-V~?[_˨[[[[BZYY i) 6Ii @b8= W))W@:ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034423.123165 s, next control iter: 1743034423.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034423.503165 s.wI~,L4 &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034423.503295F (some fields omitted in printout)Ap= @At@AV~? AAA&"AA]iNA"AZAbAjArAzAAAM%/tArAw@AXAJ=A3A#w׿AUA"*A9?2Aoֽ:As=BA9?JAoֽRAs=٘i)I9w@YG J(JJJJډE&K YtT~?y̦lTAuE77779)nB[[@[P%V~?[Ѩ[[[[BZYY i) mIi@8= 7Փ))7Փ@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034423.543165 s, next control iter: 1743034423.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7922, header.stamp.nsec: 00 temperature: 13.385575* salinity: 33.391472, density: 1025.000000* values[0]: 0.705584F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034423.923165 s.5~I~, &AJ"J*J2J:J4?BJ4?nJg=5vJA(\B@A0Bx(@A0V~? AIũA&"AAIiNA"AZAbAjArAzAAAhfA7N4rAVw@A};A=A'AäֿA@RA1*A9?2Atֽ:A=BA9?JAtֽRA=٘i)I9Vw@YG JsJJJJ݉E&K  89YT~? 89yծTAxE77H89*B)oB[[ք@[V~?[ר[[[[BZYY i) Ii&@b9= '))'Ѧ@WѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034423.963165 s, next control iter: 1743034424.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034424.343165 s. YT~?y:2SA}Eb77s89)wB[[1@[oV~?[[[[[BZYY i) 8oIi@:= B))B,@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034424.803165 s, next control iter: 1743034425.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034425.183165 s.˒I~,sK&AAQ@A yk@AV~? AکAS&"AAiNA"AZAbAjArAzAAA)KFOA+]rA u@Asy<Av==A`A6ԿA8AȞ*A9?2Aֽ:Aހ<BA9?JAֽRAހ<٘i)I9u@Y|G JȩC=JJJJE&K YT~?yǨRAE77 89)|B[[~)@[V~?[![[[[BZYY i) 7pIi@:= ))yK@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034425.203165 s, next control iter: 1743034425.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034425.603165 s.64I~,f&AJ"J*J2J:JBJnJvJA= ף@A6rݔ@AV~? A0AY&"AAiNA"AZAbAjArAzAAAJ&XA.`rAu@AaּA/=AޭA:ӿA mAi*A&9?2Aֽ:A<BA&9?JAֽRA<HI٘i)I9u@Y*G JB=JJJJE&K YϐT~?yϨpRAEj7j789)B[[ҵ@[V~?[[[[[BZYY i~ܙ) kIiG@M=;= 7))7צ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034425.623165 s, next control iter: 1743034426.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7924 , header.stamp.nsec: 0 0 temperature: 13.386092 * salinity: 33.391438 , density: 1025.000000 * values[0]: 0.703538 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034426.023165 s.ZI~,{&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743034426.023320F (some fields omitted in printout)A(\@A6B@ACV~? AA~5&"AAhNA"AZAbAjArAzAAA5CSTA+\rAYt@Ar6Aɇ=AqAXҿAAk*A9?2A9׽:A<BA9?JA9׽RA<٘i)I9t@YG JCC=JJJJE&K YT~?yOبRAEb77389(B)BE[[A@[U~?[[[[[BZYY i) ӻIi@;= 믆))믆c@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034426.063165 s, next control iter: 1743034426.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034426.443165 s.8æI~,B]&AJ"J*J2J:JBJnJvJAz@A@AUvV~? AAS&"AA9hNA"AZAbAjArAzAAAEAWKrA t@A)uA=AcZA`tѿAAذ*A&9?2A<׽:A@<BA&9?JA<׽RA@<٘i)I9 t@YG J]JJJJE&K YT~?yQAE)7ŧ789)B[[͎@[5U~?[[[[[BZYY i) igIif@K<= ))@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034426.463165 s, next control iter: 1743034426.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7925, header.stamp.nsec: 00 temperature: 13.386298* salinity: 33.391430, density: 1025.000000* values[0]: 0.702652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034426.863165 s.+I~,>&AA33333@AK@AlV~? AA&"AAhNA"AZAbAjArAzAAA#E*Ab ɤrAs@A3A'=AA@пA@AW*AW9?2A׽:AVf<BAW9?JA׽RAVf YxT~?yESQAE77{7^89)B[[Y@[ U~?[ [[[[BZYY i) 4Ii$@/X<= 3P))3P{@yΙgYFF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743034426.903165 s, next control iter: 1743034427.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034427.283165 s.4RI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034427.283281F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ae@AcV~? A-Ac~&"AAhNA"AZAbAjArAzAAA) A=&rA:s@A A=A@CA {XϿA #A7 *A:9?2Aֽ:A<BA:9?JAֽRA<٘i)I9:s@Y G JJJJJE&K YrT~?yPAEZ7j789)BE[[@[sAKr@Ar<A=AG0ݿA`˿AnA *AU9?2AEֽ:AE=BAU9?JAEֽRAE=٘i)I9Kr@YwG JѐJJJJE&K YfT~?yDPAE7777%89)B[[6@[U~?[[[[[BZYY i) 7Iiy@<= M}w))M}w1 @YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034428.143165 s, next control iter: 1743034428.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034428.543165 s.IȃI~,"&A!A!A !E!E !I!M!Q!Q !U!U !Y!Y IIDC"IwG*IKr@6I=>I"DFItD"hFailure count cleared after critical for CTD_SeabirdvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743034428.543332F (some fields omitted in printout)A{G@An½2@ALV~? A@Av&"AA*hNA"AZAbAjArAzAAA딞F As; sAq@AN<A^=AڿAɿAA/*A9?2Atֽ:AZ=BA9?JAtֽRAZ=٘i)I9q@Y,G J JJJEJE&K Y`T~?y OAE{7{7(89)B[[ @[U~?[[[[[BZYY i) /GIi@`== s))s@YFF]Waiting for Gazebo time sync: latest Gz time: 1743034428.563165 s, next control iter: 1743034428.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7927, header.stamp.nsec: 00 temperature: 13.386640* salinity: 33.391407, density: 1025.000000* values[0]: 0.701090F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034428.963165 s.t΃I~,ߤ=&AJ"J*J2J:JBJnJvJZJ@JJ@bJ @RJ @AL@Ag2@A*EV~? A A%&"AA;hNA"AZAbAjArAzAAAhJE AbZsAfTq@Aw;AՍ=A׿AȿA@YA*A(9?2Aֽ:A=BA(9?JAֽRA=Y@f׿y^Ս=x;ٓH/l%? @`P.|@ n?M?)@ I٘i)I9Tq@YG JJ9 <JJJE&KEx> Ya]T~?ymOA׿Eb7b7I,89)BE[[@[U~?[1&[[[[BZYY i) ΖVIi@\<= n))n7@4êYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034429.003165 s, next control iter: 1743034429.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034429.383165 s.ՃI~,V~? A&A| &"AAhNA"AZAbAjArAzAAA]XP AssAp@A'Aŏ=A+տA.ƿAA&*A9?2A'׽:A=BA9?JA'׽RA=٘i)I9p@YG JJJJJE&K Y ZT~?y,+OAE777/89)B[[@[U~?[,[[[[BZYY i,) eIiE@ҁ<= }_j))}_jë@ŪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034429.403165 s, next control iter: 1743034429.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7928", header.stamp.nsec: 0"0 temperature: 13.386857"* salinity: 33.391392", density: 1025.000000"* values[0]: 0.700282"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034429.803165 s.A܃I~,gs&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034429.803307F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@Aq= #@A @A8V~? A.AC &"AAhNA"AZAbAjArAzAAAp2ij A{xsAzap@A%fA=AҿALĿA@xAP͐*A~9?2AJJ׽:A}=BA~9?JAJJ׽RA}=٘i)I9ap@YMG J7JJJJE&K YVT~?y%NAEŧ7b7t389)B[[.@[ U~?[3[[[[BZYY i) euIi4@Yl<= e))eP@ȪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034429.823165 s, next control iter: 1743034430.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034430.223165 s.gI~,H&AA(\@ADu@Aw3V~? A6AQZ &"AA$yhNA"AZAbAjArAzAAAg AcsAo@A aAɪ=A:ϿAl¿A Aђ*A9?2A%׽:A#=BA9?JA%׽RA#=٘i)I9o@YG J/JJJJE&K YST~?y.lNAEj7j7 789)B[[@[U~?[A:[[[[BZYY i)  fIiR@<= Ma))Maܬ@f̪YFF]w:Waiting for Gazebo time sync: latest Gz time: 1743034430.243165 s, next control iter: 1743034430.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034430.643165 s.wI~, *&AJ"J*J2J:JBJnJvJAG@Ar„@A.V~? A>A &"AAZqhNA"AZAbAjArAzAAA 8A;$sAio@AȻA@=A+^ͿA@A A*A99?2Aֽ:A( =BA99?JAֽRA( =٘i)I9io@YG JwB=JJJJE&K Y]PT~?yk7 NAEŧ7b7:89)BE[[F@[U~?[@[[[[BZYY i) Ii@<=  >])) >]h@y ѪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034430.663165 s, next control iter: 1743034431.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7929, header.stamp.nsec: 00 temperature: 13.387067* salinity: 33.391403, density: 1025.000000* values[0]: 0.699482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034431.063165 s.I~,k &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034431.063292F (some fields omitted in printout)Afffff@AbMeQL@AD*V~? AFA$ &"AAWjhNA"AZAbAjArAzAAA0zA)sAIn@Aǚ;AY=AʿA%eAo.A\*A9?2Ai`ֽ:AD=BA9?JAi`ֽRAD=YX@ʿy痛=9;ٓH@?@w댿`fi3nXs?@G?)X@ I٘i)I9n@YeG JC=J<JJJ E&Kw> YOT~?y8@MAʿE{7{74>89&B)B E[[є@[dU~?[G[[[[BZYY i) Ii@A/<= X))X@ժYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034431.083165 s, next control iter: 1743034431.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034431.483165 s.y_I~,&AJ"J*J2J:J1?BJ1?nJ@:5vJA@ABfշ@Ap&V~? ANAވ &"AAdhNA"AZAbAjArAzAAAD_8RA|-sAXn@AW<A=A(YȿAkA?AU*AQ9?2A"ֽ:A_=BAQ9?JA"ֽRA_=٘i)I9Xn@YG JIJJJJ E&K YOT~?yIU~?[eN[[[[BZYY i) "Ii@;= T))T@xڪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034431.503165 s, next control iter: 1743034431.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7930, header.stamp.nsec: 00 temperature: 13.570558* salinity: 33.374992, density: 1025.000000* values[0]: 0.573550F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034431.903165 s.I~,&AA ףp=@A)!XU#@A"#V~? AVA &"AA^hNA"AZAbAjArAzAAAܱ'A 2sAm@A$p<A)=AſA@㵿A jNAٱ*A9?2Ap0ֽ:Aq=BA9?JAp0ֽRAq=٘i)I9m@YG J宼JJJJE&K Y2OT~?yQLAE7777^E89'B)BE[[@[vU~?["U[[[[BZYY i) Ii[@V;= P))P @ުYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034431.943165 s, next control iter: 1743034432.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034432.323165 s.xI~,-&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743034432.323292F (some fields omitted in printout)A\@Ao@AY V~? A^A0P &"AAZhNA"AZAbAjArAzAAA(jAn!`7sA?/m@A <A=AIÿA`A[AAu*AL9?2A`ֽ:ABf=BAL9?JA`ֽRABf=٘i)I9/m@Y[G J>B=JJJJE&K YNT~?yZkLAEH89)B[[Ov@[ U~?[[[[[[BZYY i) ,IiL@C;= K))KJ@HYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034432.343165 s, next control iter: 1743034432.723178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7931., header.stamp.nsec: 0.0 temperature: 13.570836.* salinity: 33.375008., density: 1025.000000.* values[0]: 0.572855.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034432.743165 s.W I~,u/&AAGz@Ae@AV~? AfAP&"AA,VhNA"AZAbAjArAzAAAv=4A$ <JJJE&KXx> YPT~?y0lKAɽEŧ7b7P89(B)ȯBE[[)ƿ[VU~?[Zi[[[[BZYY i) KIi@m:= wB))wBwB8YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034433.203165 s, next control iter: 1743034433.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034433.583165 s.I~,Re&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034433.583273F (some fields omitted in printout)AR@Al@A5V~? AvAx&"AAPhNA"AZAbAjArAzAAAeA샀FsAck@AOGtA4=AA0A@qAH*AP9?2A~0׽:A*"=BAP9?JA~0׽RA*"=٘i)I9ck@YCG JbJJJJE&K YbST~?ytKAEj7Z7S89)ͯBE[[ÿ[ U~?[p[[[[BZYY i) WIi @ϩ9= {>)){>{>YFF]{:Waiting for Gazebo time sync: latest Gz time: 1743034433.603165 s, next control iter: 1743034433.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7932, header.stamp.nsec: 00 temperature: 13.571133* salinity: 33.374996, density: 1025.000000* values[0]: 0.572131F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034434.003165 s.z I~,U4&AJ"J*J2J:Jw?BJw?nJ5vJAp= W@Atѐ<@AV~? A~AR&"AAOhNA"AZAbAjArAzAAA٣KffA/k5mKsA0j@A#*A=AwAA\tA *AF9?2A5ֽ:A=BAF9?JA5ֽRA=٘i)I9j@YG JJJJJE&K YUT~?y}JAE{7j7IW89)үB[['[U~?[v[[[[BZYY i) żIi@!9= s8:))s8:s8:YFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034434.023165 s, next control iter: 1743034434.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034434.423165 s.u&I~,{&AA(\@Aڦx@AoV~? A؆A=&"AANhNA"AZAbAjArAzAAA^fdAhU )ZPsA<j@AA{=AA`Eq?AJtAmʼ*A9?2Aoֽ:Aȴ=BA9?JAoֽRAȴ=٘i)I9j@Y}G JżJJJJ E&K YYXT~?yz;JA DE777Z89)ׯB[[r[U~?[}[[[[BZYY i) ̼Iig@W8= 35))3535YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034434.443165 s, next control iter: 1743034434.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7933, header.stamp.nsec: 00 temperature: 13.571423* salinity: 33.374992, density: 1025.000000* values[0]: 0.571370F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034434.843165 s.,I~,&AJ"J*J2JI:JE?I\CBJE?"I}GnJ`5*Ij@vJ6I=>I!DFIDZJ|@JJ|@bJ|@RJ|@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034434.843292F (some fields omitted in printout)AHz.@Aa>@AV~? AꎪA5&"AA OhNA"AZAbAjArAzAAAIAJ@FUsAqi@A  <A=AX|AZ?A`qA_Ҽ*AS9?2Aֽ:A+=BAS9?JAֽRA+=٘i)I9qi@YG JμJJJJ#E&K YZT~?y>IAEb77t^89)ܯB[[?[\U~?[R[[[[BZYY i) RԼIi[@8= go1))go1go1YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034434.863165 s, next control iter: 1743034435.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034435.263165 s.4I~,&AA@A3@AV~? AA&"AAOhNA"AZAbAjArAzAAA}sA2ZsA4h@ACs<A.=AﰿA:?A0mAD׼*Ag9?2Asս:A=BAg9?JAsսRA=Yyە@BŰy=t<ٓH ? n?~]?NN?!P~v??)yە@ I٘i)I9h@Y G JԼJ>,<JJJ&E&Kw> Y'`T~?yᗩQIAŰE77 b89)BE[[O[U~?[[[[[BZYY i) wۼIig@57= -))--YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034435.303165 s, next control iter: 1743034435.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7934., header.stamp.nsec: 0.0 temperature: 13.571765.* salinity: 33.375011., density: 1025.000000.* values[0]: 0.570588.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034435.683165 s.l:I~,V&AJ"J*J2J:JBJnJvJZJJJbJRJAQ@Ah @A1V~? AARe&"AAQhNA"AZAbAjArAzAAA&kA!ߑ_sAh@AqG<A=ALAڨ?A fA$ؼ*A9?2A7ֽ:A =BA9?JA7ֽRA =٘i)I9h@Y8 G JؼJJJJ(E&K YyeT~?yHAÉEb7b7e89)B[[[ݸ[U~?[[[[[ZZ¸BZYY i¸=)  ϼIi@\6= ۪())۪(۪(:YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034435.683165 s, next control iter: 1743034436.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034436.103165 s.AI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083753< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743034436.103288F (some fields omitted in printout)A= ףp@AA*ŎV@A*V~? AA&"AANThNA"AZAbAjArAzAAAㆇAidsASg@AJ;AB=AAE?A\AKռ*A99?2A?ֽ:Ax=BA99?JA?ֽRAx=٘i)I9Sg@Y G J׼JJJJ+E&K YjT~?y'aHAƉEŧ74i89)B[[-[U~?[r[[[[ZZBZYY i) ԀüIi @5= D$))D$D$qYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034436.143165 s, next control iter: 1743034436.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034436.523165 s.GI~,W|!&AJ"J*J2J:J?BJ?nJ 5vJ@@@@A(@A"@A!V~? AA2+&"AAWhNA"AZAbAjArAzAAAvJA'B hsA f@ATAsB=AݨAH?AMA`*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9f@YR G JB=JJJJ.E&K YpT~?yʱGAȉEl89*B)BE[[u[QU~?['[[[[ZZBZYY i) }Ii@;P5= #))##YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034436.563165 s, next control iter: 1743034436.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7935, header.stamp.nsec: 00 temperature: 13.572114* salinity: 33.374996, density: 1025.000000* values[0]: 0.569725F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034436.943165 s.]dNI~,W]<&AAzG@AK8-@A$V~? AA&"AA[hNA"AZAbAjArAzAAAܰޖA1MmsASe@AmA=A2A?A>A*A9?2Az׽:AM<BA9?JAz׽RAM<٘i)I9e@Y G JDC=JJJJ0E&K YpuT~?ymrGAˉE_p89)B[[}A[U~?[إ[[[[ZZBZYY i) {Iio@F 5= s))ssy=ΪYFF]Waiting for Gazebo time sync: latest Gz time: 1743034436.983165 s, next control iter: 1743034437.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034437.363165 s.UI~,}>W&AJ"J*J2J:J?BJ?nJ5vJII"I G*Ie@6I>IFIvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083753< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034437.363320F (some fields omitted in printout)A3333@A@AD(V~? AAv&"AA`hNA"AZAbAjArAzAAATґAy=rsACd@AWeAn=AqA ?A-AR*AX9?2Aֽ:AVQ<BAX9?JAֽRAVQ Y}T~?y©!GAΉEZ7SI7s89-B)B[[?[U~?[[[[[ZZBZYY i) dFIiO@3=  ))  EYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034437.403165 s, next control iter: 1743034437.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7936&, header.stamp.nsec: 0&0 temperature: 13.572487&* salinity: 33.374977&, density: 1025.000000&* values[0]: 0.568773&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034437.783165 s.V[I~,r&AAQ@A(G@AZ,V~? AǪAV&"AAfhNA"AZAbAjArAzAAAǎGAYJwsA5d@A˜һA `+=AA@[{?A KA ɼ*A9?2Aaֽ:A)ҥ;BA9?JAaֽRA)ҥ;٘i)I95d@Y G JۼJJJJ6E&K YT~?yN˩FAЉEj7j7w89) B[[٭[qU~?[([[[[ZZBZYY i) Ii^@)d2= 3))33pYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034437.823165 s, next control iter: 1743034438.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034438.203165 s.cI~,&AJ"J*J2J:JBJnJvJZJ{@JJ{@bJ{@RJ{@Aףp=@AK|%p@A0V~? AΪAo&"AAmhNA"AZAbAjArAzAAAMo AhKd|sAc@AȤ;A c<A6AA?AuAi*Ag9?2Adֽ:Aod BAg9?JAdֽRAod ٘i)I9c@Y G JJJJJ8E&K YԍT~?yөFAӉEZ7Z7{89.B)BE[[A[=U~?[Ϲ[[[[ZZBZYY i) ډIi@Fl1= 4))44YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034438.223165 s, next control iter: 1743034438.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034438.623165 s.I I "I GjiI~*Ic@6I>I,&AFIvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083753< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743034438.623353F (some fields omitted in printout)A)\@Ab @A6V~? A֪A &"AAxthNA"AZAbAjArAzAAA$yH[ A 08sAc@A-I<A<AU盿A,?A A%*A9?2A˰ֽ:AkBA9?JA˰ֽRAk٘i)I9c@Y5 G JJJJJ;E&K YT~?y/ܩ1FA։E77~89/B)BE[[-j[kU~?[r[[[[ZZBZYY i) G}Ii @!0=  ))  PMYFF]:Waiting for Gazebo time sync: latest Gz time: 1743034438.643165 s, next control iter: 1743034439.023190 s, wait time: 0.380025 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7937 , header.stamp.nsec: 0 0 temperature: 13.572790 * salinity: 33.375015 , density: 1025.000000 * values[0]: 0.567956 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034439.043165 s.pI~,&AJ"J*J2J:Je?BJe?nJu5vJZJ{@JJ{@bJ2{@RJ2{@A{Ga@Aa0G@A;V~? AުA%"AA|hNA"AZAbAjArAzAAA; AisAԵb@A%^<AAKA^?A IAS4*A-9?2A ֽ:A<{BA-9?JA ֽRA<{٘i)I9b@Y G JdJJJJ>E&K YT~?yEA؉Eb7b7J89)B[[G1[U~?[ǩ[[[[ZZBZYY i) fIi@20= R))RR)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034439.083165 s, next control iter: 1743034439.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034439.463165 s.PwI~,Ϥ&AA@ALۿ@AAV~? AA!%"AAhNA"AZAbAjArAzAAA< AbIJϊsA_yb@AL;A啕A봖A@6?A`A[!*A_9?2Aֽ:A+BA_9?JAֽRA+Y/^@hy8/;ٓH`Y??ÏΌS?? 4?C~?@?)/^@ I٘i)I9yb@Y G JB=J)EJJJ@E&K.w> YT~?yFAۉE7ŧ789)B[[7[V~?[ͩ[[[[ZZBZYY iq=) TIi^@*.= )))YFF] : Waiting for Gazebo time sync: latest Gz time: 1743034439.503165 s, next control iter: 1743034439.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7938, header.stamp.nsec: 00 temperature: 13.572979* salinity: 33.374989, density: 1025.000000* values[0]: 0.567464F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034439.883165 s.y}I~,/&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743034439.883280F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@AQ8@A?@AHV~? AjAkT%"AA6hNA"AZAbAjArAzAAAoޚ AכgБsAab@Ah@AA'An ?A.AH*A9?2A32ֽ:A8ۼBA9?JA32ֽRA8ۼ٘i)I9ab@Y G JRaC=JJJJCE&K YɳT~?yFAމE777u890B)B E[[m[*V~?[0ԩ[[[[BZYY i=) BIiD@[$-= ))C*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034439.903165 s, next control iter: 1743034440.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034440.303165 s.RI~,fg&AAq= ף@A@AOV~? A+A%"AAhNA"AZAbAjArAzAAAW% AXMsAapb@ACAb?AA?A yAک;*A9?2AQս:AaBA9?JAQսRAa٘i)I9pb@Y G J ;JJJJFE&K YT~?y?FAEZ7Z7 89)[[[V~?[ک[[[[BZYY i) d0IiZ@r+= ))ᄅ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034440.323165 s, next control iter: 1743034440.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7939., header.stamp.nsec: 0.0 temperature: 13.572990.* salinity: 33.374992., density: 1025.000000.* values[0]: 0.567366.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034440.723165 s.I~,H.&AJ"J*J2J:JBJnJvJA(\@AF@AnWV~? AAx%%"AAhNA"AZAbAjArAzAAAH_2 AuCsAb@ApsAbA A?AAUA2<*A<9?2A,ս:ABA<9?JA,սRA٘i)I9b@Y G JL;JJJJHE&K YzT~?y;^FAE77789)B[[OJ[V~?[@[[[[BZYY i) Ii@ +=  )) 義 yP=D*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034440.743165 s, next control iter: 1743034441.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034441.143165 s.V/I~,*I&AII"I G*Ib@6I>IFIZI\CbIWCjIrI=zI=I6vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069704< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743034441.143311F (some fields omitted in printout)AGz@AB`@A_V~? AA^%"AAްhNA"AZAbAjArAzAAA0#l AsAb@Al%AbAYgA2{?A.AHH<*Aي9?2A*ֽ:A BAي9?JA*ֽRA ٘i)I9b@Y G J-<JJJJKE&K YST~?yb }FAE5891B)B#E[[ [UV~?[[[[[BZYY i)  Ii@X*= ^޾))^޾^޾*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034441.163165 s, next control iter: 1743034441.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034441.563165 s.I~,[ d&AJ"J*J2J:JE?BJE?nJT5vJZJz@JJz@bJz@RJz@Affff@A~T@AKhV~? A$ AF%"AAhNA"AZAbAjArAzAAA}AĐSsAEc@A1"AAA`[&?A@An<*A9?2Adֽ:Ag BA9?JAdֽRAg Y@4y󊽙"ٓHxS?`))?zj 9e??`[?:F$&?)@ IGI٘i)I9Ec@YR G JZ<JGܽJJJNE&Kw> YT~?y#FAE77j7ʗ892B)B$E[[ә[%V~?[&[[[[BZYY i&j=) ^Ii@(= /վ))/վ/վ|*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034441.583165 s, next control iter: 1743034441.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7940, header.stamp.nsec: 00 temperature: 13.572860* salinity: 33.375000, density: 1025.000000* values[0]: 0.567658F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034441.983165 s.I~,~&AAQ@A7@A{qV~? AADf%"AA"hNA"AZAbAjArAzAAAy AY4sA.c@A2<AԓAA@ ?A`A<*A69?2Aֽ:ABA69?JAֽRA٘i)I9c@Y G J}<JJJJQE&K Y(T~?y8GAEb77_89)B[[[3-V~?[[[[[BZYY i) ܻIic@ &= B̾))B̾B̾*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034442.003165 s, next control iter: 1743034442.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034442.403165 s.&I~,͙&AJ"J*J2J:J^?BJ^?nJn5vJ@@@@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743034442.403312F (some fields omitted in printout)A ףp@AQ [@A*{V~? A.Ae%"AAhhNA"AZAbAjArAzAAA>AGsA(d@Al<ApA2_Ad?AA_<*A9?2Apֽ:A& BA9?JApֽRA& ٘i)I9(d@Y G Ji<JJJJSE&K YT~?y$GAE777789)B'E[[Z[5V~?[[[[[BZYY i) <%IiR@+%= Lþ))LþLþt*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034442.443165 s, next control iter: 1743034442.803175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7941", header.stamp.nsec: 0"0 temperature: 13.572616"* salinity: 33.375008", density: 1025.000000"* values[0]: 0.568150"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034442.823165 s.I~,:&AA\(@Am9@AXV~? A#AA%"AAmhNA"AZAbAjArAzAAArAv+ȫ sAd@A<<A^AˁA?A|Aw<*A9?2Aaֽ:A% BA9?JAaֽRA% ٘i)I9d@Y- G Jc<JJJJVE&K Y U~?yc,GAEb7789) B[[[>V~?[>[[[[BZYY i) V/Iiq@g$= ~N))~N~NyWj=(*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034442.843165 s, next control iter: 1743034443.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034443.243165 s.򵳄I~,\&AJ"J*J2J:J?BJ?nJ5vJAGz@AOcz@AV~? A*AD%"AA.hNA"AZAbAjArAzAAAgQA؀*ꇴsAp?e@A#;AZ:Aސ~A?AdKA@<<*A9?2Anֽ:Aw BA9?JAnֽRAw ٘i)I9?e@Y G J<JJJJYE&K YhU~?y#4OHAE{7{7 894B) B+E[[ڐ[GV~?[[[[[BZYY i=) v~Ii@#= K))KK*YFF]}:Waiting for Gazebo time sync: latest Gz time: 1743034443.263165 s, next control iter: 1743034443.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034443.663165 s.I I "I GI~*I?e@6I,q&A>IFIvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034443.663282F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7942, header.stamp.nsec: 00 temperature: 13.572335* salinity: 33.375004, density: 1025.000000* values[0]: 0.568814F (some fields omitted in printout)A@AL@A#V~? AC2A"%"AAiNA"AZAbAjArAzAAAN=A/sAe@A6AAyA y?A@,A<*Ak9?2A ֽ:AgX BAk9?JA ֽRAgX Yߢ@>hyyI<ٓH@?`{?` -e?W???)ߢ@ I٘i)I9e@Y G JD<B=JkJJJ[E&Kw> YE'U~?yl;HAhyEj7Z789)B[[A[wQV~?[ [[[[BZYY i) sBIiR|@F|!= NY))NYNY*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034443.683165 s, next control iter: 1743034444.063186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743034444.083165 s.DI~, S&AJ"J*J2J:JBJnJvJZJV{@JJV{@bJm{@RJm{@ARk@A{mQ@AV~? A|9AH%"AAiNA"AZAbAjArAzAAA5AUdsAtf@AeAuAwtA@Rc?A{AI<*A9?2A ֽ:Aߖ BA9?JA ֽRAߖ ٘i)I9tf@YB G J<C=JJJJ^E&K Y 7U~?yB"IAE77J895B)B.E[[9_[k[V~?[[[[[BZYY i) ){Iiy@= .])).].]*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034444.103165 s, next control iter: 1743034444.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034444.503165 s.DŽI~,P4 &AAp= @AvQ@AвV~? A@A%"AA+iNA"AZAbAjArAzAAAZ4AE4؆sAXg@AbQA:A:oA;?ACA<*A9?2A:ֽ:AABA9?JA:ֽRAA٘i)I9g@Y G J<JJJJaE&K YFU~?yIIAES7789)B[[q[eV~?[[[[[BZYY i) Iiw@"= V))VV*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034444.523165 s, next control iter: 1743034444.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7943, header.stamp.nsec: 00 temperature: 13.571981* salinity: 33.375019, density: 1025.000000* values[0]: 0.569573F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034444.923165 s.:΄I~,;&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034444.923296F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@A(\B@ArOWw(@A[V~? AGA|%"AAd>iNA"AZAbAjArAzAAAYx6YAGsAʤg@AўA_AiA ?A@XoA1<*A9?2Awֽ:ABA9?JAwֽRA٘i)I9g@Y G J<JJJJcE&K YVU~?yCQIAE777u897B)B2E[[ه[pV~?[4 [[[[BZYY i) )hIiu@6= F))FFyg=N*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034444.963165 s, next control iter: 1743034445.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034445.343165 s.<ՄI~,U&AAHz@A`[?@A]V~? ANA%"AAQiNA"AZAbAjArAzAAAspo6<AB WsA2h@AЋ;A}qAtdA?A`1A%+<*A9?2A3ֽ:AKBA9?JA3ֽRAK٘i)I92h@YR G JI<JJJJfE&K YfU~?yX^JAE{7{7 89)B[[[{V~?[H&[[[[BZYY i) %5:Ii[s@= >0))>0>0H*YFF]}:Waiting for Gazebo time sync: latest Gz time: 1743034445.363165 s, next control iter: 1743034445.743174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7944*, header.stamp.nsec: 0*0 temperature: 13.571663** salinity: 33.375011*, density: 1025.000000** values[0]: 0.570307*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034445.763165 s.6ۄI~,p&AJ"J*J2J:J?BJ?nJ5vJA@A6T@AV~? AUAk%"AAeiNA"AZAbAjArAzAAAIDAٝvsAh@AAY<AyA_A?A`"AF<*A9?2A׽:ABA9?JA׽RAY!@hY_y@펽UY<ٓH1?`|?@V*s\??ٱ?@'?@V?)!@ I٘i)I9h@Y G J<B=J<JJJiE&Kx> YxU~?yK_JAY_Eŧ7)789)B5E[[oR[V~?[A,[[[[BZYY i) b:Iio@=  Tv)) Tv Tv*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034445.783165 s, next control iter: 1743034446.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034446.183165 s.I~,c&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034446.183280F (some fields omitted in printout)AQ@AϷk@AV~? Am\A%"AAziNA"AZAbAjArAzAAAګgI$ A':sA;i@ARc<AQ㌽A0YA>?AAQ<*AG9?2A׽:ABAG9?JA׽RA٘i)I9;i@Y G J<C=JJJJkE&K YU~?y fKAEb77589)B[[G[ĒV~?[02[[[[BZYY i) y(;Iil@'= 2d))2d2d*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034446.203165 s, next control iter: 1743034446.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034446.603165 s.84I~,&AJ"J*J2J:J,?BJ,?nJF5vJA= ף@AT@A"V~? A(cACa%"AAiNA"AZAbAjArAzAAA8-CRA,sAYi@AD;A/+AtTAEY?AmAV<*A9?2Aֽ:ABBA9?JAֽRAB٘i)I9i@YAG Jؗ<JJJJnE&K Y0U~?yl~KA E{7Z7898B)B8E[[ύ}[V~?[8[[[[BZYY i) le;Iij@I= Q))QQ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034446.643165 s, next control iter: 1743034447.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7945 , header.stamp.nsec: 0 0 temperature: 13.571332 * salinity: 33.375034 , density: 1025.000000 * values[0]: 0.570989 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034447.023165 s.ZI~,{&AA(\ @AB @AW~? AiA%"AAiNA"AZAbAjArAzAAA|fLAi`4sA:j@ASAAOA@X ?A(A"<*A9?2Aoֽ:ABA9?JAoֽRA٘i)I9:j@YG J<JJJJqE&K YYU~?ysKA Eŧ77`899B)B9E[[Sx[V~?[=[[[[BZYY i)  ;Iig@Q= ?))??~*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034447.063165 s, next control iter: 1743034447.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034447.443165 s.:I~,J]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743034447.443300F (some fields omitted in printout)J"J*J2J:JBJnJvJAz @A ᘭ @A,W~? AXpA]%"AAiNA"AZAbAjArAzAAA}Ak:sA!j@ACA*AJA@?AA1<*A9?2A<ֽ:ABA9?JA<ֽRA٘i)I9j@YG J<B=JJJJsE&K YU~?yEz>LAE77{789:B)B&AA33333 @A N}  @A#W~? AvA%"AAiNA"AZAbAjArAzAAA&|RA%sA:k@AykAͅAEA E?A@AD <*AZ9?2AGֽ:ASBAZ9?JAGֽRASY(c@MEy>%kٓH@l?O?@>? ?/Ͱ?n}?)(c@ I٘i)I9:k@Y*G J<C=J[ <JJJvE&Kx> YU~?yhLAMEEŧ7b789;B)B?E[[o[V~?[pI[[[[BZYY i) ;Iib@= ))@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034447.903165 s, next control iter: 1743034448.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034448.283165 s.6RI~,&AJ"J*J2J:JBJnJvJAQ @AP @A3W~? A%}Aa%"AAiNA"AZAbAjArAzAAA6D:AٰsAk@A?AÄAu=@Ah?AUMAK<*A 9?2Aֽ:A`1BA 9?JAֽRA`1٘i)I9k@YuG J<JJJJyE&K Y U~?yLAE77 89)ݯB[[?k['V~?[O[[[[BZYY i) s;Ii^@D= 0))00ٵ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034448.303165 s, next control iter: 1743034448.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7947., header.stamp.nsec: 0.0 temperature: 13.570707.* salinity: 33.375061., density: 1025.000000.* values[0]: 0.572293.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034448.703165 s.I Һ I~I"IuG,-&A*Ik@6I>IFIvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034448.703261F (some fields omitted in printout)Aףp= @A0g+ @AeDW~? AdA%"AAjNA"AZAbAjArAzAAA+ݿAh`sA*l@AL:A3A:A'?A`A؇<*A9?2Aֽ:ABA9?JAֽRA٘i)I9*l@YG JS<JJJJ|E&K YQU~?yMMAE89)گBBE[[f[V~?[T[[[[BZYY i)   elevatorAngleAction: 0.075206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743034449.963290F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@AL @AA2 @ALxW~? A{A%"AAtRjNA"AZAbAjArAzAAA2?ACËsAwm@Aq_3<AAb+A&?AA(<*Aӻ9?2Aֽ:ABAӻ9?JAֽRAYä@*@+yr3<ٓH ?E?``? ?L]?k??)ä@ I٘i)I9wm@YG J_<J쫻JJJE&Kx> Y=V~?yj_NA@+E7{7v89>B)үBIE[[ X[ W~?[e[[[[BZYY i) G5IFIvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743034451.223315F (some fields omitted in printout)A(\ @AnEu @AW~? AA0%"AAejNA"AZAbAjArAzAAAp?A/ysAkn@AiAcAHA %?AA]<*A9?2A*ֽ:A,R BA9?JA*ֽRA,R ٘i)I9n@YfG J<JJJJE&K YV~?yͮwOA&E{7j7689?B)ȯBOE[[SJ[) @AW~? AA%"AA(jNA"AZAbAjArAzAAA?[w?A\KLtABjo@ALA²APA@:x?AY߿A<*AL9?2AWֽ:A BAL9?JAWֽRA ٘i)I9jo@YG J<JJJJE&K YV~?yCOA)E7789AB)ƯBSE[[;F[LW~?[y[[[[BZYY i) s YyV~?y9PA1,E{7j7a89)¯B[[pA[4]W~?[~[[[[BZYY i) Ek elevatorAngleAction: 0.084222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743034452.483320F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@A@ANܷ@A7W~? AAt%"AALjNA"AZAbAjArAzAAAonV?Aoͻ tAop@AW;A+IA1 A ?A`ݿAn<*A]9?2A ׽:A+V BA]9?JA ׽RA+V ٘i)I9op@YVG Jy<B=JJJJE&K YLV~?yPA.E7)789BB)BVE[[<[2nW~?[[[[[BZYY i) o@:< @D=)) @D=@D=y c=J*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034452.523165 s, next control iter: 1743034452.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7951, header.stamp.nsec: 00 temperature: 13.569460* salinity: 33.375084, density: 1025.000000* values[0]: 0.574769F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034452.903165 s.MI~,9&AA ףp=@A o_#@ApW~? AA%"AAkNA"AZAbAjArAzAAA"?A(̝9 tAp@A^\<AQAؖA h?AݿAԛ<*A9?2A!ֽ:A+BA9?JA!ֽRA+٘i)I9p@YG J<C=JJJJE&K YV~?ytªQA1Eb7789)BZE[[; 8[W~?[[[[[BZYY i) 睐 elevatorAngleAction: 0.084222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034453.743278F (some fields omitted in printout)AGz@ArMd@A'X~? AgūAo%"AAYkNA"AZAbAjArAzAAA.c@A̘tAr@AV;AA1A?AޟۿAV}<*A9?2Aս:AzPBA9?JAսRAzP٘i)I9r@YJG J)<JJJJE&K Y W~?y˪QA6E7b789)B[[.[yW~?[[[[[BZYY i) Ο  99Y%W~? 99yϪ:RA9E{7j7L99)B`E[[7)[W~?[[[[[BZYY i) r/)) >>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034454.603165 s, next control iter: 1743034454.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7953, header.stamp.nsec: 00 temperature: 13.568774* salinity: 33.375114, density: 1025.000000* values[0]: 0.576190F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034455.003165 s.w pI~,H4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743034455.003302F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@AG<@A?hX~? AӫA6%"AAkNA"AZAbAjArAzAAA؛ G@A4y#tAs@ACjA,AkھA?AGٿA<*Aش9?2A!CԽ:ABAش9?JA!CԽRA٘i)I9s@YeG J<JJJJE&K Y[XW~?yתSA>Ev 99)BgE[[H [IW~?[W[[[[BZYY i) ))#>#>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034455.043165 s, next control iter: 1743034455.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034455.423165 s.uvI~,&AA(\@A (z@AJ~X~? A[׫Aj%"AAkNA"AZAbAjArAzAAAz @A`tAwt@A`` AApоA?A#~ؿA<*AG9?2AԽ:AWBAG9?JAԽRAW٘i)I9wt@YG J!<JJJJE&K YqW~?y۪SAAE{7{7 99FB)BjE[[y[W~?[[[[[BZYY i) *P))W6>W6>*Y%YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034455.443165 s, next control iter: 1743034455.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7954, header.stamp.nsec: 00 temperature: 13.568368* salinity: 33.375130, density: 1025.000000* values[0]: 0.577004F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034455.843165 s.|I~,&AJ"J*J2J:JBJnJvJAHz.@A[@AX~? A۫A%"AAkNA"AZAbAjArAzAAA"( @Ag I tAu@A`:AA&žAC?A׿A.<*A69?2Aս:ABA69?JAսRA٘i)I9u@Y/G J<JJJJE&K YƊW~?yߪSADE77799)B[[ǣ[dX~?[Ч[[[[BZYY i) ))PI>PI>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034455.883165 s, next control iter: 1743034456.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034456.263165 s.I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743034456.263296F (some fields omitted in printout)A@A @A.X~? A߫A%"AAlNA"AZAbAjArAzAAAOz*?@Abv "tAu@A{1<AdA꺾Ae?A ֿAD<*A9?2A ֽ:ABA9?JA ֽRAYoV@ey9k2<ٓH ? ? X ֿ???28?@?)oV@ I٘i)I9u@YG J<J>JJJE&Ku> YW~?ynTAeFEZ7Z7699)BmE[[C[$X~?[׫[[[[BZYY i) ))y`\>`\>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034456.283165 s, next control iter: 1743034456.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 79552, header.stamp.nsec: 020 temperature: 13.5679392* salinity: 33.3751302, density: 1025.0000002* values[0]: 0.5778912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034456.683165 s.lI~,c+&AJ"J*J2J:J?BJ?nJ 5vJAQ@A8 @AX~? A_Az%"AAAlNA"AZAbAjArAzAAA`iN4@AOZ%tAjv@Al<A렱A[A`h?A3ֿAN<*A 9?2A Gֽ:ABA 9?JA GֽRA٘i)I9jv@YG J<JJJJE&K YrW~?yTAIE99)BpE[[ [J*X~?[ȯ[[[[BZYY i) +)) 0p>0p>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034456.683165 s, next control iter: 1743034457.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743034457.103165 s.I~,F&AA= ףp@A 1V@AX~? AA0%"AAdlNA"AZAbAjArAzAAAZyL@AvZ'tAw@A+<AXAr[Ad?A`_%տA<*At9?2AԽ:ABAt9?JAԽRA٘i)I9w@YaG J<JJJJE&K YW~?y%[UALEb77a99GB)BsE[[0[>X~?[[[[[BZYY i) i))(>(>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034457.123165 s, next control iter: 1743034457.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034457.523165 s.I~,{a&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J8 propOmegaAction: 25.132812*J2J< rudderAngleAction: -0.261799:J> elevatorAngleAction: 0.084222BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4200052 time: 1743034457.523289F (some fields omitted in printout)A(@A<@ApX~? AA%"AAڇlNA"AZAbAjArAzAAAg@A.Zň)tAjw@A:A^&AAu'?ATԿA <*A9?2AuԽ:AlBA9?JAuԽRAlFI٘i)I9w@YG J<JJJJE&K Y!W~?yKUANE{7j799)BvE[[O[SX~?[a[[[[BZYY i=) ))x>x>*Y"YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034457.543165 s, next control iter: 1743034457.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7956, header.stamp.nsec: 00 temperature: 13.567547* salinity: 33.375156, density: 1025.000000* values[0]: 0.578733F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034457.943165 s.ZdI~,J]|&AAzG@A9Z-@AY~? AA%"AAYlNA"AZAbAjArAzAAAr_@A]W+tAyx@AA޴AڒAX?AӿA <*A9?2AsԽ:ABA9?JAsԽRA٘i)I9yx@Y:G J<JJJJE&K YyX~?ypGVAQEZ7#99)B[[[hX~?[[[[[ZZZZ¸>BZYY i¸>hS) "))S>S>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034457.963165 s, next control iter: 1743034458.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034458.363165 s.J "J *J 2J :J E?BJ E?nJ y5vJ I~,>&AA3333@Ab!@AY~? A_AEc%"AA,lNA"AZAbAjArAzAAAPJr{@AN-tAX2y@AjAAAை?AҿA%<*AG9?2AԽ:AqBAG9?JAԽRAqY@y4kٓHY?@?@S洿`Xп? g?K?`^Z@?)@ I٘i)I92y@YG J<J:лJJJE&Kbt> Y)X~?yVATEZ7SI7!'99IB)BzE[[[*~X~?[[[[[ZZZZBZYY i) ))w > >y*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743034458.383165 s, next control iter: 1743034458.763181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7957&, header.stamp.nsec: 0&0 temperature: 13.567082&* salinity: 33.375160&, density: 1025.000000&* values[0]: 0.579653&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034458.783165 s.UI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241804@ elevatorAngleAction: -0.082679< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743034458.783296F (some fields omitted in printout)]"xFailed to acquire real or simulated CTD data within timeout.1-"(Communications Fault! ! ! ! ! AQ@Ag'@A7Y~? AAm$%"AAMlNA"AZAbAjArAzAAA@A/tA2z@A[FAg_Ah|A૴?AѿA =*A9?2A9ս:A=BA9?JA9սRA=٘i)I9z@Y(G J<JJJJE&K YDX~?y;WAWEb77*99)yB}E[[K[ēX~?[[[[[ZZZZBZYY i) ))օӨ>Ө>yഽ*YF-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]:Waiting for Gazebo time sync: latest Gz time: 1743034458.803165 s, next control iter: 1743034459.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034459.203165 s.I~,&A!U@!M@!I@!Q@!E@!A@!Y@J"J*J2J:JBJnJvJAףp=@AK|%p@AOY~? A~A%"AAmNA"AZAbAjArAzAAAe$@Ao]1tAz@A9*ZA9A\gA@?ABпA =*A9?2Aӽ:A=BA9?JAӽRA=٘i)I9z@YG J=JJJJE&K Y`X~?y^WAYE77{7L.99)rBE[[Ep߾[X~?[)Ū[[[[ZZZZBZYY i) Y)) q>q>y:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034459.223165 s, next control iter: 1743034459.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034459.623165 s.XI~,a&AA)\@A@A3hY~? ARA%"AAA@AҶ3tA{@AT;A qAhRA?A`+ϿAR<*A$9?2A^sԽ:AiZBA$9?JA^sԽRAiZ٘i)I9{@Y0G Jb<JJJJE&K YR{X~?y/XA\E77199JB)lBE[[1վ[X~?[SȪ[[[[ZZZZBZYY i) {))>>z*YمYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034459.643165 s, next control iter: 1743034460.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7958 , header.stamp.nsec: 0 0 temperature: 13.566566 * salinity: 33.375172 , density: 1025.000000 * values[0]: 0.580717 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034460.043165 s.I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082679< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034460.043285F (some fields omitted in printout) "2Initializing CTD_Seabird.J"J*J2J:JBJnJvJA{Ga@Am2G@AY~? AAy%"AAamNA"AZAbAjArAzAAAÙu=@Asͺ4tAFl|@A^o<Ak-AX=A 7?A`>οA{'<*AW9?2A7Խ:ABAW9?JA7ԽRA٘i)I9l|@YG J<JJJJĊE&K YX~?yXA_E7w599)fBE[[˾[X~?[^˪[[[[ZZZZBZYY i) n))>>p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034460.063165 s, next control iter: 1743034460.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034460.463165 s.]DžI~,&AA@A.@AnY~? AAF%"AAцmNA"AZAbAjArAzAAA0(Ni@AKE6tA:}@A.k<ArмA?)AL^?Aw̿A:Y<*AN9?2ABս:AA;BAN9?JABսRAA;Yɿ@ȟ)y-mмk<ٓH??`?i@oſ?@h` ? c{??)ɿ@ I٘i)I9}@YG J<B=J >JJJNJE&Ks> YwX~?yqXA)aE 999)bBE[[՜[RX~?[AΪ[[[[ZZZZBZYY ib) ))>v>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034460.503165 s, next control iter: 1743034460.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7959, header.stamp.nsec: 00 temperature: 13.566088* salinity: 33.375206, density: 1025.000000* values[0]: 0.581721F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034460.883165 s.yͅI~,D8&AJ"J*J2J:JBJnJvJAQ8@A7RH@ALY~? AA%"AA^mNA"AZAbAjArAzAAApdږ@A37tA!}@Af%;A!AEAł?AʿA*_~<*Ay9?2Apս:AgN<BAy9?JApսRAgN<٘i)I9}@YMG J<C=JJJEJɊE&K YbX~?yXAdE7)7<99)^B[[y[VY~?[Ѫ[[[[ZZZZBZYY i) τ)):=>=>T)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034460.923165 s, next control iter: 1743034461.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034461.303165 s.XԅI~,gS&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260214@ elevatorAngleAction: -0.077415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034461.303282F (some fields omitted in printout)Aq= ף@Ab@ASY~? AA%"AA.mNA"AZAbAjArAzAAA Ke@A 9tA}@A02At>;AgAj?A ȿA/<*A :?2Aӽ:A9s<BA :?JAӽRA9s<٘i)I9}@YG J\<JJJJ̊E&K YIX~?yZYAgE77{77@99)[BE[[][Y~?[Ӫ[[[[ZZZZBZYY i) ru)) Y>Y>HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034461.343165 s, next control iter: 1743034461.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7960*, header.stamp.nsec: 0*0 temperature: 13.565749** salinity: 33.375202*, density: 1025.000000** values[0]: 0.582379*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034461.723165 s.ۅI~,Hn&AJ"J*J2J:J?BJ?nJT5vJA(\@AWB@AY~? A.Aٿ%"AA9mNA"AZAbAjArAzAAAsbH@AT:tAQ~@AJA矤<AwKؽA1?A%ƿA;*A#:?2AGԽ:AE<BA#:?JAGԽRAE<٘i)I9~@YG JN<JJJJϊE&K Y3Y~?y4YAiE77C99)YBE[[j[_3Y~?[1֪[[[[ZZZZBZYY i) h`))Ѵ>Ѵ>ywoީY.dYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743034461.743165 s, next control iter: 1743034462.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034462.143165 s.Z/I~,*&AAGz@A`@AY~? AA%"AAxnNA"AZAbAjArAzAAA?.*@AG-~;tAq>~@ADfAd=A8Ay?A2ſAu:*A-9?2AIԽ:A<BA-9?JAIԽRA<٘i)I9>~@YG J,;B=JJJJҊE&K Y"Y~?yCWYAlE{7{7bG99)XBE[[6[^KY~?[ت[[[[BZYY i) K))>>|6Y} YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034462.163165 s, next control iter: 1743034462.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034462.563165 s.I~,N &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034462.563296F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@A%T@A<Z~? A Au%"AADnNA"AZAbAjArAzAAAl~/ @AwJJJԊE&Ks> YZ>Y~?yYAoEj7j7J99)E[[]![9cY~?[ڪ[[[[BZYY ig) :Y~?)& rAdjusting time to match Gazebo time: 1743034462.983165 s.I~,&AAQ@A7@A0Z~? Am AKT%"AAknNA"AZAbAjArAzAAAnM @AW8S=tA~@Am ;A[=Ao;Ah?A]A*A9?2A5ս:A=BA9?JA5սRA=٘i)I9~@YG JJJJJ׊E&K YZY~?ymXAqE)7b7N99)YBE[[[k{Y~?[ܪ[[[[BZYY i) '0*tA }@AZ?<Az=AټA@-?A 2MAC*AT:?2A'ӽ:Ac =BAT:?JA'ӽRAc =٘i)I9}@YG JJJJJڊE&K YvY~?yXAtE7777"R99)[BE[[Cmu[Y~?[ު[[[[BZYY i) c YyY~?yWAl =|E777\99QB)mBE[[k7[Y~?[[[[[BZYY i) =;Iiͣ?Q< /?))v/?/?HϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034464.683165 s, next control iter: 1743034465.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034465.083165 s.DI~, SE&AJ"J*J2J:J?BJ?nJR5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240267@ elevatorAngleAction: -0.065899< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034465.083291F (some fields omitted in printout)ARk@ALnQ@AZ~? AA%"AA.oNA"AZAbAjArAzAAAF#@AP5@tA|@AI<A@š=Aa=A`k?AzA*A:?2Aս:A{ =BA:?JAսRA{ =٘i)I9|@YlG JJJJJE&K YY~?y_WAE{7j7w`99)pBE[[["[Y~?[ [[[[BZYY i)  ;Ii&?ܗF< [ ?))B[ ?[ ?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034465.123165 s, next control iter: 1743034465.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034465.503165 s.I~,;4`&AAp= @A6Z@AZ~? AA%"AAUoNA"AZAbAjArAzAAA׵u$@Am)"QAtAW{@AgxpA;=AV=AYw?A A<*A":?2A^XԽ:A" =BA":?JA^XԽRA" =٘i)I9{@YG JJJJJE&K YZ~?yEVAEb77 d99)tBE[[ [QZ~?[Q[[[[BZYY i) 蚔;IiY?כ<< %?)) %?%?تYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034465.543165 s, next control iter: 1743034465.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7964, header.stamp.nsec: 00 temperature: 13.565627* salinity: 33.375278, density: 1025.000000* values[0]: 0.581855F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034465.923165 s.7I~,{&AJ"J*J2J:J?BJ?nJ05vJA(\B@A͌~(@AZ~? AA%"AA_}oNA"AZAbAjArAzAAA1/%@A䰜AtAz@A)FAk=As9=A K~?AA}*A%:?2AgxԽ:A =BA%:?JAgxԽRA =٘i)I9z@YG JRJJJJE&K Y# Z~?yVAEj7j7g99PB)xBE[[[+Z~?[Z[[[[BZYY i) +l;Iii?3< \*?))\*?\*?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034465.963165 s, next control iter: 1743034466.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034466.343165 s.<%I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065899< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743034466.343260F (some fields omitted in printout)AHz@A !@AZ~? AfAH%"AAӤoNA"AZAbAjArAzAAAȬ=%@AU}AtAhz@A* MA3o=A=A`?ApΔA*A':?2AԽ:AL =BA':?JAԽRAL =٘i)I9hz@YhG J^JJJJE&K YZA?A xA*A':?2AԽ:A =BA':?JAԽRA =YW@] >yX=";ٓHt?` ?@?ζ?g?@+ ~??)W@ I٘i)I9y@Y G JJ;JJJE&Kt> YTXZ~?y~UA] >E{7Z7n99OB)BE[[6ݝ[^Z~?[[[[[BZYY i) L:Iiy?< 4T5?))v4T5?4T5?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034466.783165 s, next control iter: 1743034467.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034467.183165 s.2I~,o&AAQ@Aݖk@A3[~? AA%"AAoNA"AZAbAjArAzAAA\m &&@A6JAtA*3y@Ah<AO=A>Ā?A@܁?Ax*A(:?2A(ս:A0 =BA(:?JA(սRA0 =٘i)I93y@YG J:JJJJE&K YMtZ~?yQ\UAEŧ7b7br99)BE[[dg[xZ~?[x[[[[BZYY i) z`:Iih?k< :?))}ƅ:?:?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034467.203165 s, next control iter: 1743034467.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034467.603165 s.649I~,&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261280@ elevatorAngleAction: -0.065899< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743034467.603265F (some fields omitted in printout)A= ף@Ajq@AM[~? A[Aҹ%"AAQpNA"AZAbAjArAzAAA('@A2*AtAIx@AsoZ<Aj=A1>A঄?A?Ac;*A\E:?2A ӽ:AA=BA\E:?JA ӽRAA=٘i)I9x@YMG JJJJJE&K YHZ~?y$TAEb77u99)BE[[^[גZ~?[[[[[BZYY i) zIi^Y? < ??)) ????pҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034467.643165 s, next control iter: 1743034468.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7966 , header.stamp.nsec: 0 0 temperature: 13.565928 * salinity: 33.375294 , density: 1025.000000 * values[0]: 0.580647 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034468.023165 s.Z@I~,{&AA(\@ADB@Ah[~? AA%"AABpNA"AZAbAjArAzAAA҆g)(@A{AtAw@A;A=ApcF>A,?Aҷ?A,*AG:?2AiԽ:A/=BAG:?JAiԽRA/=٘i)I9w@YG JgJJJJE&K YBZ~?yTAE77y99)B[[r[AZ~?[[[[[BZYY i) }IiK?g< CE?))CE?CE?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034468.063165 s, next control iter: 1743034468.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034468.443165 s.5FI~,5]&AJ"J*J2J:JBJnJvJAz@AX4@A [~? AA%"AAKjpNA"AZAbAjArAzAAA6Y}(@Aa?AtAow@AX"A=A[>Ax?A`{Z~?yTAE777"}99NB)BE[[;[Z~?[[[[[BZYY i) eIi??ݥ; J?))J?J? ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034468.463165 s, next control iter: 1743034468.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7967, header.stamp.nsec: 00 temperature: 13.566066* salinity: 33.375305, density: 1025.000000* values[0]: 0.580025F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034468.863165 s.+MI~,>7&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065899< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743034468.863323F (some fields omitted in printout)A33333@AK@A [~? AA%"AApNA"AZAbAjArAzAAAd-e)@A=@tAv@A4YA=Aq>A@o?Ah?A*AF:?2A&ս:A"<BAF:?JA&սRA"<٘i)I9v@YDG JC=JJJJE&K Y6Z~?ySAE799MB)BE[[i<[Z~?[[[[[BZYY i) z7Ii5?; P?))P?P?zƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034468.883165 s, next control iter: 1743034469.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034469.283165 s.8RTI~,R&AJ"J*J2J:JBJnJvJAQ@Axa@A[~? AAS%"AApNA"AZAbAjArAzAAAvypo*@A"W@tAoav@AiA=A>Ab?A$0?ATA*AD:?2A3ֽ:A<BAD:?JA3ֽRA<٘i)I9av@YG J\JJJJE&K Y1[~?ynLSAEZ7Z7M99)BE[[4G=[jZ~?[[[[[BZYY i) WsIi-?dA; ^U?))^U?^U?{êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034469.303165 s, next control iter: 1743034469.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7968., header.stamp.nsec: 0.0 temperature: 13.566202.* salinity: 33.375301., density: 1025.000000.* values[0]: 0.579476.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034469.703165 s.غZI~,m&AAףp= @A4@A[~? A A%"AA]pNA"AZAbAjArAzAAAof*@AF?tAu@AAj=Au9>A S?A?A4*AB:?2ACֽ:A`<BAB:?JACֽRA`<٘i)I9u@YG JeB=JJJJE&K Y/[~?yARAE77799LB)B¹E[[ ?=[V[~?["[[[[BZYY i) ؗIi7'? ; Z?))Z?Z?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034469.743165 s, next control iter: 1743034470.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034470.123165 s.;aI~,m&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065899< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743034470.123327F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u @AGɫ[ @A[~? A A%"AAqNA"AZAbAjArAzAAA#;+@A ?tA^u@A4;A.L=AS>A@>B?A ?Aښ*A@:?2A%3ֽ:AW?<BA@:?JA%3ֽRAW?<٘i)I9^u@YVG JcC=JJJJE&K Y%8[~?yxRAEŧ7b7x99)BŹE[[=[D3[~?[t[[[[BZYY i) εIi"?d+; vp`?))vp`?vp`?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034470.143165 s, next control iter: 1743034470.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034470.543165 s.IhI~,â&AA{G @Aa7 @An\~? A Am%"AA.qNA"AZAbAjArAzAAA^q+@A%zIZ<>tAt@AB<Aᐈ=A~>Ax.?A@4?AȚ*A>:?2A/ֽ:A2 <BA>:?JA/ֽRA2 <٘i)I9t@YG JКJJJJE&K Y!T[~?yRAE 99KB)BȹE[[=[5N[~?[[[[[BZYY i) ?ӻIi?; e?))e?e?0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034470.563165 s, next control iter: 1743034470.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7969, header.stamp.nsec: 00 temperature: 13.566315* salinity: 33.375328, density: 1025.000000* values[0]: 0.578966F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034470.963165 s.{nI~,&AJ"J*J2J:JBJnJvJAL!@AV}2!@A\~? A Aj9%"AAUqNA"AZAbAjArAzAAAEs,@A~>V=tAZt@Ap<Aφ=A<>A5?A@?A*A<:?2A[ֽ:A4<BA<:?JA[ֽRA4yˆ=q<ٓH@[#?`տ@"??`5?F ? ]ְ7?`?)b= I٘i)I9Zt@YG JʙJּJJJ E&K> Yn[~?yQA`>E99)B[[E>[h[~?[[[[[BZYY i䢽) Ii ?`; Mk?))mMk?Mk?ȹYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034471.003165 s, next control iter: 1743034471.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034471.383165 s.uI~,+&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.232306@ elevatorAngleAction: -0.079538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034471.383342F (some fields omitted in printout)AQ!@AC!@A6\~? A{ AW%"AA\|qNA"AZAbAjArAzAAA4f-@A@OWAS?A ?At_*A::?2A ֽ:A<BA::?JA ֽRA<٘i)I9s@YlG JB=JJJJ E&K Yv[~?yZQAE77899JB)B˹E[[կ>[[~?[`[[[[BZYY i)  Ii>_; лp?)) лp?лp?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034471.403165 s, next control iter: 1743034471.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 7970", header.stamp.nsec: 0"0 temperature: 13.566428"* salinity: 33.375347", density: 1025.000000"* values[0]: 0.578447"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034471.803165 s.|A|I~,g&AJ"J*J2J:JBJnJvJAq= #"@A=z "@AP\~? AAx%"AAqNA"AZAbAjArAzAAAҝ-@A!kpV>;tA-fs@A5CAЁ=A>A?A:?Ad*AZ:?2AńԽ:A,<BAZ:?JAńԽRA,<٘i)I9fs@Y#G JC=JJJJE&K Y [~?y+PAE7͙99GB)B͹E[[-4>[[~?[[[[[BZYY i) Ii^>V; &4v?))&4v?&4v?ԶYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034471.843165 s, next control iter: 1743034472.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034472.223165 s.gI~,H&AA(\"@AREu"@A^i\~? AA%"AAwqNA"AZAbAjArAzAAA[ZvB.@A+ :tAr@A(A=A9>A M?A?A/*AFT:?2A ս:A<BAFT:?JA սRA<٘i)I9r@YG J҄JJJJE&K Yʾ[~?yBPAE7c99FB)BйE[[=J>[u[~?[h[[[[BZYY i) B(Ii>z; *{?))*{?*{?yâݷY9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034472.263165 s, next control iter: 1743034472.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034472.643165 s.xЉI~,*)&AJ"J*J2J:J?BJ?nJ&5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743034472.643282F (some fields omitted in printout)AG"@AK"@A\~? AA2%"AAqNA"AZAbAjArAzAAA6.@A6!Y8tAkr@AqAg=A>A ?A?Az쀼*AK:?2Anvս:Aj<BAK:?JAnvսRAj<٘i)I9r@YG JՀJJJJE&K Ys[~?yZJPAE799)BӹE[[`>[8[~?[[[[[BZYY i) w7Ii>^; J?))J?J?YFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7971, header.stamp.nsec: 0F0 temperature: 13.566529* salinity: 33.375370, density: 1025.000000* values[0]: 0.577980F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743034472.663165 s, next control iter: 1743034473.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034473.063165 s.I~,x D&AAfffff#@AO7PL#@A\~? AVA%"AArNA"AZAbAjArAzAAAbur/@A'Md^7tAr@Aa;AYN=A>A.?AXS?AQ*AB:?2Aս:A(O=BAB:?JAսRA(O=Yi\^>s_>yL=H;ٓH ?@qۿ L?R?|??fl?)i\^> I٘i)I9r@Y[G J3Jm;JJJE&Kr> Y[~?yOA_>E99EB)BֹE[[5v>[[~?[ު[[[[BZYY i) 6SGIi>D1; ^?))Ė}^?^?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034473.103165 s, next control iter: 1743034473.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034473.483165 s.v_I~,^&AJ"J*J2J:J?BJ?nJ5vJA#@Aط#@A{\~? AAx%"AA;rNA"AZAbAjArAzAAA/JNT0@AJ 5tAVq@AA=Ap>Aa?A ?A#*A9:?2A,ս:AY=BA9:?JA,սRAY=٘i)I9q@YG JJJJJE&K Y \~?yOAE{7{7#99)B[[n>[\~?[ܪ[[[[BZYY i) VIiV>AJ ; #?)) #?#?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034473.523165 s, next control iter: 1743034473.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7972, header.stamp.nsec: 00 temperature: 13.566614* salinity: 33.375374, density: 1025.000000* values[0]: 0.577558F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034473.903165 s.ȝI~,y&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743034473.903299F (some fields omitted in printout)A ףp=$@A8>[#$@A5\~? AUA*N%"AADarNA"AZAbAjArAzAAA!TeO0@AO| Q4tA/q@AB <A=A>A /;?A g?A*AE:?2APԽ:A =BAE:?JAPԽRA =EI٘i)I9/q@YG JJJJJE&K YC&\~?y/ު2OAE7799DB)BٹE[[>["\~?[Eڪ[[[[BZYY i) DfIi>e[: t?))t?t?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034473.923165 s, next control iter: 1743034474.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034474.323165 s.uI~,!&AJ"J*J2J:JBJnJvJA\$@A[^ގ$@A\~? AAց%"AArNA"AZAbAjArAzAAA!zf20@AVU2tA p@A!m<A=A>A`?A`S?AkО*A>:?2A?Խ:A&=BA>:?JA?ԽRA&=٘i)I9p@Y{G JJJJJ E&K Y?\~?yvڪNA DE77M99CB)BܹE[[М>[=\~?[ת[[[[BZYY i) uIiK= : "?))"?"?+ΪY\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034474.343165 s, next control iter: 1743034474.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 7973*, header.stamp.nsec: 0*0 temperature: 13.566719** salinity: 33.375389*, density: 1025.000000** values[0]: 0.577085*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034474.743165 s.WI~,~&AAGz%@A2n$@A#\~? AAm%"AArNA"AZAbAjArAzAAAis0@AR0tA&p@A*T<A=Au?A@?Ak3?AU*AP7:?2Afս:Aq=BAP7:?JAfսRAq=٘i)I9&p@Y)G J B=JJJJ"E&K YyY\~?y֪vNAEZ7Z799BB)B߹E[[[>[W\~?[ ժ[[[[BZYY i) IiNj=W2: D?))D?D?=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034474.783165 s, next control iter: 1743034475.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034475.163165 s.y}I~,q&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034475.163297F (some fields omitted in printout)J"J*J2J:JBJnJvJA%@A:e%@AR]~? AA%"AArNA"AZAbAjArAzAAAegj-1@AUL /tAo@Atf;A=A&e ?A ~?A@?A?*A0:?2Aս:AJ =BA0:?JAսRAJ =Y Ȣ>| ?y=ؚ;ٓH hj?\)P?S? "?H͡?@nLs?G?) Ȣ> I٘i)I9o@YG J_C=J,<JJJ%E&Ku> Yq\~?y=ҪNA| ?E)7b7x99AB)įBE[[L>[q\~?[-Ҫ[[[[BZYY i) Ii;7 ,[?))\{,[?,[?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034475.203165 s, next control iter: 1743034475.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034475.583165 s.渆I~,R&AAR%@AKTo%@AL.]~? AA.%"AA rNA"AZAbAjArAzAAA>Jv1@Awb-tAo@AĻAl!=A?Ae?A@)?AJ*A(:?2AXֽ:A=BA(:?JAXֽRA=٘i)I9o@YG JrJJJJ(E&K Y\~?yͪMAŠE{7j799>B)ƯBE[[>[\~?[Ϫ[[[[BZYY i) ţII?i"fBI #?)) #?#?c٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034475.603165 s, next control iter: 1743034475.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7974, header.stamp.nsec: 00 temperature: 13.566849* salinity: 33.375393, density: 1025.000000* values[0]: 0.576534F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034476.003165 s. I~,4&AJ"J*J2J:JBJnJvJAp= W&@ACo<&@AF]~? A-An%"AA7sNA"AZAbAjArAzAAA> "1@AIJY+tAn@AQ]A=A$?A`T?A?AV*A0:?2Aս:A=BA0:?JAսRA=٘i)I9n@Y+G JJJJJ*E&K Y=\~?y;ɪ=MAĊEb7b799=B)ɯBE[[>[\~?[˪[[[[BZYY i) z(I I?i#ܽ㌺ ߖ?))ߖ?ߖ?ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034476.043165 s, next control iter: 1743034476.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034476.423165 s.uƆI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034476.423294F (some fields omitted in printout)A(\&@A&@A]]~? AA%"AA=sNA"AZAbAjArAzAAAJ$Z|2@Ao{E(tAm@AdA=AJ?A@ ?A6?Aլ*A*:?2AH#ֽ:Aa=BA*:?JAH#ֽRAa=٘i)I9m@YG J۩B=JJJJ-E&K Y\~?yĪLANJEŧ7999[\~?[]Ȫ[[[[BZYY i) LI I?i{ƺ ?))??Y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034476.443165 s, next control iter: 1743034476.823178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7975&, header.stamp.nsec: 0&0 temperature: 13.566986&* salinity: 33.375404&, density: 1025.000000&* values[0]: 0.575957&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034476.843165 s.̆I~,5&AJ"J*J2J:JBJnJvJAHz.'@Ay '@At]~? AA%"AA`sNA"AZAbAjArAzAAAt"L2@A&tAcm@AS A(=AU?A?A?Ab*Av$:?2Aֽ:A%6=BAv$:?JAֽRA%6=٘i)I9cm@YzG JC=JJJJ0E&K Y\~?y9lLAʊEj7Z799;B)ЯBE[[>[}\~?[Ī[[[[BZYY iUߵ) 0II?if@E ~?))~?~?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034476.883165 s, next control iter: 1743034477.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034477.263165 s.ԆI~,P&AA'@AU'@A]~? AIA>%"AAsNA"AZAbAjArAzAAAP2 2@AHj$tArl@Az+p;AԦ=AlQ#?AJ?A#^?A*A:?2ASս:Al=BA:?JASսRAl=YИ>e#?yCԦ= p;ٓHs? ZJ? ?? @O?`Դjn??)И> I٘i)I9l@YG JJV<JJJ2E&Kv> Yk\~?yKAe#?͊ESI7SI7c99)կB[[CE>[\~?[[[[[BZYY i) KI|I?i;#$ A?))A?A?ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034477.283165 s, next control iter: 1743034477.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 79762, header.stamp.nsec: 020 temperature: 13.5671722* salinity: 33.3754312, density: 1025.0000002* values[0]: 0.5753422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034477.683165 s.lچI~,k&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.088805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034477.683271F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ(@Aq '@AĢ]~? A_ޫA%"AAsNA"AZAbAjArAzAAA=52@AYt"tAV(l@ApIK<An=A#[(?A`'v?A/?AZ *Av:?2Aս:A=BAv:?JAսRA=٘i)I9(l@YG JJJJJ5E&K Y]~?yKAϊEŧ7b7996B)E[[>[ ]~?[ټ[[[[BZYY i) 춼IGI?iRH " ?))" ?" ?vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034477.683165 s, next control iter: 1743034478.083185 s, wait time: 0.400020 s ]~?)  rAdjusting time to match Gazebo time: 1743034478.103165 s.I~,̚&AA= ףp(@AVסV(@AQ]~? AQګA%"AAsNA"AZAbAjArAzAAA*3@A5StAĄk@Ap<AJ=Alj-?A`n8?A@?Afmļ*A :?2A ֽ:AU=BA :?JA ֽRAU=٘i)I9k@YWG J¼B=JJJJ8E&K Y]~?yKAҊEb7995B)ٯBE[[?[6%]~?[[[[[BZYY i) LI hH?i ;g ߤ?)) ߤ? ߤ?y ص YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743034478.123165 s, next control iter: 1743034478.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034478.523165 s.I~, |&AJ"J*J2J:J4?BJ4?nJ[5vJA((@A(@A]~? A֫A'%"AAsNA"AZAbAjArAzAAA{D#_3@A~HtAXj@AZ<AvB=Au2?A?A?A(ż*A:?2A{ֽ:A1=BA:?JA{ֽRA1=٘i)I9j@YG JļC=JJJJ:E&K Ym-]~?yAJAՊE7)7$992B)ۯBE[[G|?[,>]~?[.[[[[BZYY i) żIH?iɾ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034478.543165 s, next control iter: 1743034478.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7977, header.stamp.nsec: 00 temperature: 13.567332* salinity: 33.375443, density: 1025.000000* values[0]: 0.574667F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034478.943165 s.adI~,h]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.088805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743034478.943339F (some fields omitted in printout)AzG)@AϜ-)@A]~? AѫA0z%"AAr tNA"AZAbAjArAzAAA u\ˡ3@A6WtA9j@ATAAr=AYX8?A?A?Aɮļ*A9?2A׽:AK=BA9?JA׽RAK=٘i)I99j@YG JżJJJJ=E&K YD]~?y&AJ"J*J2J:JBJnJvJA3333)@A)@AH]~? AOͫA%"AA-tNA"AZAbAjArAzAAAI3@A̲ ptA~i@AYt/A[=A=?A@n?Ao?A4ż*A9?2Abc׽:Ay=BA9?JAbc׽RAy=Yt?8=?y=t0ٓH?`q?́?? ?`o?)t? I٘i)I9i@Y)G JļJ@<JJJ@E&K y> YX]~?yIA=?ڊEŧ7b7N990B)BE[[!?["o]~?[Ȫ[[[[BZYY i) AԼIsH?iph g?))g?g?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034479.403165 s, next control iter: 1743034479.763180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7978&, header.stamp.nsec: 0&0 temperature: 13.567541&* salinity: 33.375439&, density: 1025.000000&* values[0]: 0.573981&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034479.783165 s.WI~,&AAQ*@A K<*@A^~? AȫA(%"AA:NtNA"AZAbAjArAzAAATGl$4@A4W-tAh@ATqA蛳=AC?A}'?A`9?Aiȼ*A9?2At׽:Am=BA9?JAt׽RAm=٘i)I9h@Y G JƼJJJJBE&K Ym]~?y&OIA݊E7799)B[[?[+]~?[Υ[[[[BZYY i) 4{ۼIH?ib گ p>?))p>?p>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034479.823165 s, next control iter: 1743034480.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034480.203165 s.I~,! &AJ"J*JvPublished command to Gazebo (printed only once in a while):2J( dropWeightState: 1:JBJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.088805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034480.203288F (some fields omitted in printout)Aףp=*@AXc'p*@A%^~? AëA%"AAmntNA"AZAbAjArAzAAA,VSd4@AM+tABh@A 4A[P=A=H?A?A@!?APϼ*A9?2Ad4׽:A~=BA9?JAd4׽RA~=٘i)I9Bh@Y[ G J|˼JJJJEE&K Y]~?y7HAߊE)7ŧ7y99/B)BE[[?[]~?[[[[[BZYY i) IH?ip: ,?)),?,?eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034480.243165 s, next control iter: 1743034480.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034480.623165 s.T I~,P'&AA)\*@AKxB*@A:^~? AA%"AA&tNA"AZAbAjArAzAAAߋzD4@AWtAg@A߾Acʸ=AI=M?A ?A?A'ؼ*A9?2Aֽ:Ac=BA9?JAֽRAc=٘i)I9g@Y G JoӼB=JJJJHE&K Y`]~?yGaHAE{7{799+B)BE[[$?[]~?[>[[[[ZZ¸BZYY i¸yD=) ּIH?iʻ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034480.663165 s, next control iter: 1743034481.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7979 , header.stamp.nsec: 0 0 temperature: 13.567744 * salinity: 33.375458 , density: 1025.000000 * values[0]: 0.573261 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034481.043165 s.I~,B&AJ"J*J2J:JBJnJvJA{Ga+@AR1G+@AN^~? AA+B%"AAdtNA"AZAbAjArAzAAAE:4@A tAf@A"<Atպ=A7R?A,I?A`y?A[*A9?2Afֽ:An"=BA9?JAfֽRAn"=٘i)I9f@Y~ G JܼC=JJJJKE&K Y1]~?yYGAE77799)B[[r*?[]~?[[[[[ZZBZYY i)  ʼIH?i,%Wlӻ (?))(?(?QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034481.063165 s, next control iter: 1743034481.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034481.463165 s.TI~,ߤ]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199422 time: 1743034481.463279F (some fields omitted in printout)A+@AQ+@A c^~? AA%"AA!tNA"AZAbAjArAzAAA1Ip,5@APA~tAf@Am<A=ANW?AV?A^0?AC*A9?2AMֽ:A@=BA9?JAMֽRA@=Y?W?y =n<ٓH8?0 ?5?`T?@?@y ^? ?)? I٘i)I9f@Y G J,JYn;JJJME&Kgx> Y]~?yɁrGAW?EZ7SI7999*B)BE[[0?[]~?[[[[[ZZBZYY i) IH?i)3JS ɻ?))ɻ?ɻ?xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034481.483165 s, next control iter: 1743034481.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7980, header.stamp.nsec: 00 temperature: 13.567969* salinity: 33.375462, density: 1025.000000* values[0]: 0.572456F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034481.883165 s.yI~,Dx&AJ"J*J2J:JBJnJvJAQ8,@AGq:,@Av^~? AA/ %"AAYtNA"AZAbAjArAzAAAl\mZ5@AOՇtAAe@Ab-K<A=A\?A!?A?A*AQ9?2Ah}ֽ:A$T<BAQ9?JAh}ֽRA$T<٘i)I9e@Yq G JE JJJJPE&K Y]~?y9{FAE7b799)B)BE[[6?[]~?[[[[[ZZBZYY i) I͵H?i/? ?))??y9=ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034481.903165 s, next control iter: 1743034482.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034482.303165 s.S$I~,jg&AAq= ף,@Aƽ,@A6^~? AQAq%"AA uNA"AZAbAjArAzAAAB5@A0?tA=d@A*e;AI5=A(a?AW?A?ADY*A9?2Aֽ:Ax<BA9?JAֽRAx<٘i)I9=d@Y G JJJJJSE&K Y]~?ytFAE77c99)B[[jIH?i;I ?))??YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034482.323165 s, next control iter: 1743034482.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 7981., header.stamp.nsec: 0.0 temperature: 13.568302.* salinity: 33.375462., density: 1025.000000.* values[0]: 0.571490.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034482.723165 s.+I~,H&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743034482.723287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\-@AD,@AB^~? AѤA%"AA5%uNA"AZAbAjArAzAAAb\5@A^sAPwc@AfA{:=AFg?A@?A5*?At$ռ*A9?2Aֽ:A;BA9?JAֽRA;٘i)I9wc@Yp G JCJJJJUE&K YM]~?ynFAE7799$B) BE[[ËB?[&^~?[}[[[[ZZBZYY i) \IH?iIQ ܉?))܉?܉?̂YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034482.743165 s, next control iter: 1743034483.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034483.143165 s.U/2I~,*&AAGz-@A:`-@A^~? A3AXH%"AAAuNA"AZAbAjArAzAAA)N6@AxvsAb@AHuA6 <Al?A@u?A?A*A9?2Aֽ:ADBA9?JAֽRAD٘i)I9b@Y G J!żJJJJXE&K Y ^~?ygEAES7799)B[[ēH?[<^~?[2w[[[[ZZBZYY iS=) ]I(H?iTW V?))V?V?"%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034483.163165 s, next control iter: 1743034483.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034483.563165 s.8I~,k &AJ"J*J2J:JBJnJvJAffff-@A/Q-@AD^~? AwA%"AA]uNA"AZAbAjArAzAAAz>6@A3ȲsATNb@AsA@M><Aq?AZ?A?A!*Af9?2A٬ֽ:ABAf9?JA٬ֽRAY9?Cq?yG><&sٓH? 7Ru???`ȇ`b?)9? I٘i)I9Nb@Y G JjJ9JJJ[E&Kw> Y^~?yd`EAq?E)7ŧ7$99#B)BE[[N?[P^~?[p[[[[ZZBZYY i*=) IH?id Zl?))Zl?Zl?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034483.603165 s, next control iter: 1743034483.963184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7982, header.stamp.nsec: 00 temperature: 13.568563* salinity: 33.375504, density: 1025.000000* values[0]: 0.570664F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034483.983165 s.?I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034483.983297F (some fields omitted in printout)AQ.@AV{7.@A5^~? AA+(%"AAgyuNA"AZAbAjArAzAAABQ:;u6@A+0dsAga@A=A荻A}v?A?A i.?AD*A69?2Aֽ:AiBA69?JAֽRAi٘i)I9a@Y~ G JmJJJJ]E&K  :9YK+^~? :9y=YoEAEj7j7:9)B[[pT?[Ve^~?[i[[[[ZZBZYY i=) uI{H?in. _?))_?_?L(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034484.003165 s, next control iter: 1743034484.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034484.403165 s.&FI~,&AJ"J*J2J:JBJnJvJA ףp.@A.\.@A^~? AAu%"AARuNA"AZAbAjArAzAAA&=p6@AEsAa@AsD;AA |?A L?A N?A_*A9?2ALֽ:A[BA9?JALֽRA[٘i)I9a@YU G J JJJJ`E&K Y;^~?yR_EAE7{7N:9"B)B E[[uZ?[Zy^~?[b[[[[ZZBZYY i) xaImH?iwEh JY?))JY?JY?y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034484.423165 s, next control iter: 1743034484.803177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7983&, header.stamp.nsec: 0&0 temperature: 13.568655&* salinity: 33.375496&, density: 1025.000000&* values[0]: 0.570212&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034484.823165 s.LI~,-4&AA\(/@Aj/@A^~? AA%"AAuNA"AZAbAjArAzAAAnbr6@A> sAa@AoP<AޗAO?AZ?A ?A4*A9?2A׽:AkrƼBA9?JA׽RAkrƼ٘i)I9a@Y@ G JקJJJJcE&K YL^~?yJOEAE77:9B)BE[[`?[^~?[[[[[[ZZBZYY i) MI`H?i,~" X?))X?X?yO=**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034484.843165 s, next control iter: 1743034485.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034485.243165 s.SI~,yO&AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075186< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743034485.243293F (some fields omitted in printout)AGz/@A|az/@A_~? AcA%"AA\uNA"AZAbAjArAzAAAKe:7@ABoODsA}a@ARWn<A.AR?A?A@"?A<=:*An9?2A׽:A}BAn9?JA׽RA}㼙٘i)I9}a@Y< G J^JJJJeE&K Y]^~?yC?EAEZ7Z7y :9B)B E[[f?[^~?[AT[[[[BZYY i) 9I.RH?id% :]?)):]?:]?j*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743034485.263165 s, next control iter: 1743034485.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034485.663165 s.ZI~,qj&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7984, header.stamp.nsec: 00 temperature: 13.568625* salinity: 33.375523, density: 1025.000000* values[0]: 0.570139F (some fields omitted in printout)A0@AGg/@A_~? A{AB%"AAwuNA"AZAbAjArAzAAAw0[B7@AmsA>a@A <A:VAo?A<?An?A;*A9?2Abֽ:ABA9?JAbֽRAYS?Յ?y8V <ٓH?@s@D.??Yê?@z??)S? I٘i)I9a@YK G Jh;B=JJJJhE&Kw> YKk^~?y*<EAՅ?E)7ŧ7:9)B[[m?[X^~?[L[[[[BZYY iTf=) $)ICH?i, ^~?[5E[[[[BZYY i) DI4H?i2 Q?))Q?Q?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034486.103165 s, next control iter: 1743034486.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034486.503165 s.gI~,U4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743034486.503324F (some fields omitted in printout)Ap= 0@A[w0@Ar7_~? A9nA%"AAvNA"AZAbAjArAzAAAEM7@Ai#sA b@A AAۂAd?A@?A ?A7l<*A29?2A. ֽ:AHBA29?JA. ֽRAH٘i)I9 b@Y G JG<JJJJmE&K Y^~?y,FAE779:9B)B E[[by?[^~?[m=[[[[BZYY iԆ=)  I@%H?i4=M7 eU?))eU?eU?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034486.523165 s, next control iter: 1743034486.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7985, header.stamp.nsec: 00 temperature: 13.568498* salinity: 33.375523, density: 1025.000000* values[0]: 0.570370F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034486.923165 s.9nI~,&AJ"J*J2J:JBJnJvJA(\B1@APv(1@AF_~? AgA {%"AA)vNA"AZAbAjArAzAAABB7@AH/6sAb@A {AAj?A?A`F?A<*A9?2Aֽ:ALBA9?JAֽRAL٘i)I9b@Y G J<JJJJpE&K Yҕ^~?yI%^FA Eŧ7b7:9B)BE[[$?[z^~?[~5[[[[BZYY i) 6+IH?i: <^?))<^?<^?yof=u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034486.963165 s, next control iter: 1743034487.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034487.343165 s. elevatorAngleAction: 0.065834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743034487.763330F (some fields omitted in printout)J"J*J2J:JBJnJvJA2@A1@Agc_~? A3ZA%"AAUvNA"AZAbAjArAzAAAo6ۜ\'8@A-GXsAc@AyRGALA[ے?A 8?A?Aps<*A9?2Aֽ:A BA9?JAֽRA YΡm?8ݒ?yI.GٓH9?\,p?@L?V?OH&?)Ρm? I٘i)I9c@Y~ G J˜<JuZJJJvE&K*x> Y^~?y GAݒ?E{7j7!:9)B[[?[I_~?[A%[[[[BZYY i) xLIeG?iyB k?))k?k?5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034487.783165 s, next control iter: 1743034488.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034488.183165 s.˂I~,^ &AAQ2@Aw k2@A*q_~? AXSA%"AAjvNA"AZAbAjArAzAAASQ8@A,Z6)sA1d@A<Ae՚A?Ae?A?A<*Ao9?2A/׽:Al BAo9?JA/׽RAl ٘i)I9d@Y G J^<JJJJxE&K Y4^~?y tGAEZ7SI7%:9B)BE[[\?[E_~?[[[[[BZYY i) IG?i䛿G r?))r?r?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034488.223165 s, next control iter: 1743034488.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034488.603165 s.:4I~,&&AJ"J*J2J:JBJnJvJA= ף2@A2@Aw~_~? AfLAC%"AAAvNA"AZAbAjArAzAAAI+gy8@A5sAd@Aw<ACA9?A@?A`O?A8}<*A89?2AF׽:AdBA89?JAF׽RAd٘i)I9d@Y$ G J1<JJJJ{E&K Y^~?yGAE777$):9)B[[*?[#_~?[~[[[[BZYY i) _kIG?iK p~?))p~?p~?*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743034488.623165 s, next control iter: 1743034489.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 7987 , header.stamp.nsec: 0 0 temperature: 13.567880 * salinity: 33.375553 , density: 1025.000000 * values[0]: 0.571609 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034489.023165 s.ZI~,{A&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034489.023321F (some fields omitted in printout)A(\3@AB3@AN_~? A_EA%"AAvNA"AZAbAjArAzAAA n3U8@AT_sA+e@AYM<A͆AΚ?A ?A??A%<*A)9?2A׽:A]BA)9?JA׽RA]٘i)I9+e@Yz G JZ<B=JJJJ~E&K Yi^~?yAHAE77j7,:9B)BE[[H?[k1_~?[ [[[[BZYY i) U/ISG?i`GM \?))\?\?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034489.043165 s, next control iter: 1743034489.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034489.443165 s.J "J *J 2J :J l?BJ l?nJ 5vJ 7ÖI~,>]\&AAz3@A3@A_~? AD>A%"AA_~?[7[[[[BZYY i) IG?i %N ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034489.463165 s, next control iter: 1743034489.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7988, header.stamp.nsec: 00 temperature: 13.567552* salinity: 33.375561, density: 1025.000000* values[0]: 0.572302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034489.863165 s.+I~,>w&AA333334@A?T4@A_~? A7A(%"AAvNA"AZAbAjArAzAAA{)q8@A-PsAOf@AfA☽Axҟ?A?AK?Ap<*AH9?2A`ֽ:A-BAH9?JA`ֽRA-Y؃??yᘽmٓH ,?`CZ[`NF?@C?`?@y~`?)؃? I٘i)I9Of@Y, G J<J9JJJE&KEx> Y^~?y-IA?Eŧ7b73:9B)ܯBE[[?[J_~?[t[[[[BZYY i) nYIDG?i BS ì?))ì?ì?g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034489.903165 s, next control iter: 1743034490.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034490.283165 s.7RI~,&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743034490.283302F (some fields omitted in printout)AQ4@A}X4@A_~? A/A%"AAmvNA"AZAbAjArAzAAA 9@A`M{sAf@AmA|As]?AD7?A2?Au<*A^9?2A Bֽ:ABA^9?JA BֽRA٘i)I9f@Y G J0<JJJJE&K Y^~?yuIA E{7j7z7:9)دB[[[?[V_~?[[[[[BZYY i) 8I4G?i W ?))??'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034490.303165 s, next control iter: 1743034490.683178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 79892, header.stamp.nsec: 020 temperature: 13.5671972* salinity: 33.3755722, density: 1025.0000002* values[0]: 0.5730662F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034490.703165 s.ӺI~,&AAףp= 5@A=-4@A_~? A(A2D%"AAtvNA"AZAbAjArAzAAA}~6-9@A41ysAyg@AaAԝAb?A Z?A@f?AQ<*AN9?2Akֽ:A'BAN9?JAkֽRA'٘i)I9yg@Y G Ju<JJJJE&K Y^~?yxܩIA"E77;:9 B)үBE[[Fś?[a_~?[[[[[BZYY i) :IzG?i穿`zY ?))??A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034490.723165 s, next control iter: 1743034491.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034491.123165 s.6᱇I~,X&AJ"J*J2J:J?BJ?nJ5vJA)\u5@A[5@A_~? A!A%"AAvNA"AZAbAjArAzAAAxM9@A0~sA h@AEAA;?A@x?A ?Akإ<*A9?2A+ֽ:ABA9?JA+ֽRA٘i)I9 h@Y8 G J<JJJJE&K Y_~?yԩBJA%E77{7>:9)ͯB[[?[l_~?[uߩ[[[[BZYY i) :IhG?iªZ s@))s@s@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034491.143165 s, next control iter: 1743034491.523177 s, wait time: 0.380012 s_~?)ԩ rAdjusting time to match Gazebo time: 1743034491.543165 s.II~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743034491.543328F (some fields omitted in printout)A{G5@An15@A_~? AAd%"AAPvNA"AZAbAjArAzAAARl9@AGit"sAh@A2O;A ٍAJ_?A@?A@t?A<*A%9?2Ab#׽:A'BA%9?JAb#׽RA'٘i)I9h@Y G J<JJJJE&K Y _~?y˩JA(E77:B:9 B)ƯBE[[ ?[u_~?[F֩[[[[BZYY i) >;;I9VG?iSZ @))@@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034491.583165 s, next control iter: 1743034491.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7990, header.stamp.nsec: 00 temperature: 13.566894* salinity: 33.375572, density: 1025.000000* values[0]: 0.573792F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034491.963165 s.xI~,&AJ"J*J2J:JBJnJvJAL6@ATQ26@A_~? AA&%"AA wNA"AZAbAjArAzAAA/9@AYsAi@AR^<AA& ?A~?A ?A;;<*A9?2AR׽:ABA9?JAR׽RAY??y^<ٓH@?;UYo(?@?ñam?ʋ?=?)? I٘i)I9i@Y G J3<JS~<JJJE&KKx> Y_~?y,éKA?*EE:9 B)BE[[ .?[~_~?[ ͩ[[[[BZYY i6=) y;ICG?iPR^ @))@@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034492.003165 s, next control iter: 1743034492.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034492.383165 s.ŇI~,'&AAQ6@Aa\:6@A_~? A A%"AA,wNA"AZAbAjArAzAAA!079@A/sAXi@Aq<AA?AO?A{ ?A2<*AQ9?2A>׽:A`PBAQ9?JA>׽RA`P򼙘٘i)I9i@Y%G J%<JJJJE&K Y_~?ydKA-Eŧ77dI:9)B[[vR?[_~?[é[[[[BZYY i) v;I0G?i¯` l@))l@l@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034492.403165 s, next control iter: 1743034492.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 7991&, header.stamp.nsec: 0&0 temperature: 13.566591&* salinity: 33.375561&, density: 1025.000000&* values[0]: 0.574446&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034492.803165 s.yȦI~,g3&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034492.803294F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #7@A` 7@A_~? AA,%"AAy%wNA"AZAbAjArAzAAAvp9@A* sAj@Anm<AWA6?A+?AH?Aך<*A9?2A#ֽ:A=BA9?JA#ֽRA=٘i)I9j@YnG Jb<B=JJJEJE&K Y_~?yKA0E)7ŧ7L:9)B[[y?[e_~?[J[[[[BZYY i) yj;IG?iǰFb @))@@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034492.843165 s, next control iter: 1743034493.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034493.223165 s.gӇI~,HN&AA(\7@A!9u7@A_~? A6Aȴ%"AA2wNA"AZAbAjArAzAAATwD9@ACu]sA}j@AW.AA㹴?A,?A`l?A/+<*A9?2Afֽ:A*BA9?JAfֽRA*٘i)I9}j@YG J<C=JJJJE&K YC#_~?yd LA2Eŧ7b7P:9B)BE[[ឮ?[%_~?[հ[[[[BZYY i) P;I G?i:b /@))/@/@y(=*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743034493.263165 s, next control iter: 1743034493.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034493.643165 s.}هI~,$*i&AJ"J*J2J:J6?BJ6?nJ\5vJAG7@A_~7@A _~? AzA\K%"AA=wNA"AZAbAjArAzAAA;9@A ^sAj@A FA"A`@?A#?A?AWX<*A9?2A.[ֽ:A4BA9?JA.[ֽRA4٘i)I9j@YG J֐<B=JJJJE&K Yl)_~?yʠ~LA5E7777%T:9)B[[Nű?[&_~?[P[[[[BZYY i) B;IF?i` Ŀ @))Ŀ @Ŀ @*YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7992, header.stamp.nsec: 00 temperature: 13.566319* salinity: 33.375595, density: 1025.000000* values[0]: 0.575047F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743034493.663165 s, next control iter: 1743034494.043184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034494.063165 s.I~,[ &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743034494.063300F (some fields omitted in printout)Afffff8@AߤiPL8@A `~? AA%"AAHwNA"AZAbAjArAzAAA |?:@A:sArk@AHyA ՉA@չ?AN?A ?AW<*A9?2A]ֽ:AKRBA9?JA]ֽRAKRY??yЉGyٓH?%@?a?6?@( ?)? I٘i)I9rk@YLG J<C=JF;JJJE&K7x> Y,_~?y LA?8E7W:9)B[[?[e_~?[ĝ[[[[BZYY i) ! <JJJJE&K Y0_~?yL7MA:E77O[:9B)BE[[?[_~?[)[[[[BZYY i) \' elevatorAngleAction: 0.074811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034495.323318F (some fields omitted in printout)J"J*J2J:JBJnJvJA\9@AB9@A`~? AԪAE%"AACewNA"AZAbAjArAzAAA 8:@AL}sAl@A(<A䍽A?A@x?AR?A(<*A9?2ASJ׽:A8BA9?JASJ׽RA8٘i)I9l@Y)G J<B=JJJJE&K Y6_~?y}MA@E{7j7{b:9)B[[Ja?[_~?[ـ[[[[BZYY i) \.: elevatorAngleAction: 0.083700< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034496.583297F (some fields omitted in printout)AR:@Al:@A*`~? A8A&"AAzwNA"AZAbAjArAzAAA$ʞ`:@A`|ݥpsAlHn@A:';A2IA?A ?A8A?A<*A9?2Aֽ:Au BA9?JAֽRAu ٘i)I9Hn@YG JU<JJJJE&K Y@_~?ycOAHE{7:m:9)B[[?[_~?[c[[[[BZYY i) hsF?iUX ͩ@))ͩ@ͩ@*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743034496.603165 s, next control iter: 1743034496.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 7995, header.stamp.nsec: 00 temperature: 13.565543* salinity: 33.375584, density: 1025.000000* values[0]: 0.576812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034497.003165 s. I~,4@ &AJ"J*J2J:JBJnJvJAp= W;@ArR<;@A"`~? A5A&"AAwNA"AZAbAjArAzAAA޳j:@AlsAmn@AtAwA ?A[K?A@P?A>><*A`9?2AnYֽ:AkzBA`9?JAnYֽRAkz٘i)I9n@YVG J<B=JJJJE&K YD_~?yZbOAKE77p:9)B[[?[_~?[UZ[[[[BZYY i) 9x elevatorAngleAction: 0.083700< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034497.843296F (some fields omitted in printout)AHz.<@AXm<@A'`~? A"AoU&"AAňwNA"AZAbAjArAzAAAncz:@Ag:S6bsAo@Au]A6A~J?A@u?Ag?A[~<*AX9?2A]ֽ:ABAX9?JA]ֽRA٘i)I9o@YG J <JJJJE&K YJ_~?ySIPAPEZ7Z7w:9B)BE[[?[_~?[eG[[[[BZYY i)  Y@H_~?y@PA?SEb77{:9)|B[[(?[E_~?[=[[[[BZYY i)  elevatorAngleAction: 0.083700< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034499.103289F (some fields omitted in printout)A= ףp=@AˢV=@Aq+`~? AA-&"AAŏwNA"AZAbAjArAzAAAJƅ:@A_8qSsA4q@A (a<A ۣAb?A?A`:w?A&<*Aϩ9?2AcN׽:ABAϩ9?JAcN׽RA٘i)I9q@YG J9<JJJJE&K YkC_~?y/YQAXE77:9B)rBE[[\?[~_~?[*[[[[BZYY i)   @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034499.123165 s, next control iter: 1743034499.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034499.523165 s.7I~,{ &AJ"J*J2J:JBJnJvJA(=@A#h$=@A+`~? AރA7&"AA{wNA"AZAbAjArAzAAAR:@A /NsALr@A$l<AwঽAx?A bfAfw?A<*A9?2A-׽:ABA9?JA-׽RA٘i)I9r@YXG J<B=JJJJE&K YA_~?y>&QA[E77P:9)nB[[s?[_~?[{![[[[BZYY i)  I~,F] &AAzG>@Aٕ->@AG+`~? A{Ah&"AAdwNA"AZAbAjArAzAAAؾD:@A ӖIsA3r@A:;AGA?A&A u?AV<*A9?2Aֽ:ABA9?JAֽRA٘i)I9r@YG Jų<C=JJJJËE&K Y>_~?y{.RA]E77{7:9)iB[[?[՚_~?[%[[[[BZYY i)  !&AJ"J*J2J:JB?BJB?nJu5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083700< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034500.363289F (some fields omitted in printout)A3333>@A>@Ah*`~? AsAo&"AAwNA"AZAbAjArAzAAA砂:@A52DsAMs@Aû^A)A?A A Rp?AA<*AH9?2AYֽ:A=BAH9?JAYֽRA=Y? ?y)Յ_ٓHǿp-?"T?@ǿG~?uk ?)? I٘i)I9Ms@YG Jּ<B=J˅JJJƋE&Kw> YS9_~?yRA ?`E7{:9)dB[[?[_~?[[[[[BZYY i) U elevatorAngleAction: 0.083700< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034501.623293F (some fields omitted in printout)A)\?@A%?@A$`~? A[A:&"AAwNA"AZAbAjArAzAAAKP6q:@Axʠ5sANu@A@AA?AAT?A^<*A9?2Agֽ:ABA9?JAgֽRA٘i)I9Nu@YMG J<JJJJ΋E&K Y)_~?ySAhE77;:9)UB[[f?[~_~?[D[[[[BZYY i) 7 YA_~?yTA?mE7f:9)IBE[[?[l_~?[L[[[[BZYY i) ;*@))>;*@>;*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034502.483165 s, next control iter: 1743034502.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8001, header.stamp.nsec: 00 temperature: 13.563850* salinity: 33.375603, density: 1025.000000* values[0]: 0.581129F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034502.883165 s.ymI~,/!&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J"J< rudderAngleAction: -0.261799*J> elevatorAngleAction: 0.0837002J< massPositionAction: 0.000000:JBJ4 buoyancyAction: 0.000500nJvJ dt: 0.4199452 time: 1743034502.883267F (some fields omitted in printout)AQ8A@AD<A@A*`~? ACA> &"AA}ywNA"AZAbAjArAzAAAΡ]Q:@ABZYY i¸>)  YQ^~?y)WA?{E7P:9B)/B[[@[Y4_~?[[[[[ZZZZBZYY i) [U"&AAQC@A 7C@AH_~? A;A͵ &"AA[QwNA"AZAbAjArAzAAA4 9@A/BsAP-{@AENA?rA?AuȿA?A9Z<*A̪9?2Af4ֽ:AsBA̪9?JAf4ֽRAs٘i)I9-{@YG JV=JJJJE&K Y^~?yַWA}E77{7:9B)*B E[[@[ '_~?[[[[[ZZZZBZYY i) 5[C@A-_~? AzAM&"AAGwNA"AZAbAjArAzAAA>D9@AH!W sAY{@AlAK.A@AʿAy?A<*A9?2AVֽ:APɻBA9?JAVֽRAPɻ٘i)I9{@YUG J<JJJJE&K Y^~?yWAEj7j7{:9)$B E[[@[T_~?[c[[[[ZZZZBZYY i) m " ]7@))]7@]7@O)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034506.263165 s, next control iter: 1743034506.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034506.663165 s.I~,q"&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034506.663295F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8005, header.stamp.nsec: 00 temperature: 13.383583* salinity: 33.391628, density: 1025.000000* values[0]: 0.709933F (some fields omitted in printout)AE@A D@A_~? A~A%&"AA]#wNA"AZAbAjArAzAAA 1.v9@A B~rA]}@Av<A{~;A@AпA ?A"<*Aͫ9?2A7ֽ:A@*<BAͫ9?JA7ֽRA@*JJJE&Kw> Y^~?yXA@E{7j7;:9)B[[@[^~?[w[[[[ZZZZBZYY i y) x5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.071557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034507.923296F (some fields omitted in printout)A(\BF@A^y(F@A_~? AA4&"AAvNA"AZAbAjArAzAAA$YNF9@AzrA}@AP:UA23=At@A ҿAO?A.9*A69?2A?ֽ:A4<BA69?JA?ֽRA4<٘i)I9}@YbG JRIJJJJE&K Yǐ^~?yLXAEj7:9)B[[ @[^~?[v[[[[BZYY i) #@5vJ :ˈI~,,0#&AAG@AqF@AT_~? AUةA &"AAvNA"AZAbAjArAzAAApP9@ALrAPO}@AFWAw=AK @A pԿA?AA+*A9?2Aֽ:A;'=BA9?JAֽRA;'=Y? @yw=ٓH`Ry? ~< ?` ?)? I٘i)I9O}@Y,G JB=J>JJJE&Kw> Ys^~?y6q>XA @E)7b7':9)B[[@[^~?[Eh[[[[BZYY ie) e@@))>@@>@@쩪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034508.803165 s, next control iter: 1743034509.163181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034509.183165 s.҈I~,ZK#&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743034509.183271F (some fields omitted in printout)AQG@AtkG@AǠ_~? AѩAw&"AAvNA"AZAbAjArAzAAA`a>M8@ABfrA#|@ArX;A=A @A@GտA?Ae*Aˑ9?2A/ֽ:A =BAˑ9?JA/ֽRA =٘i)I9|@YG J,FC=JJJJE&K Yc^~?yiWAEZ7SI7:9 B)$BE[[w@[^~?[Fa[[[[BZYY i) ܆ ]#&AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J8 propOmegaAction: 25.132812:J< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065445BJ< massPositionAction: 0.000000nJvJ4 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743034510.443266F (some fields omitted in printout)AzH@AH@A]{_~? AܻAU&"AA+vNA"AZAbAjArAzAAAo8@AorA{@A6<AI<=A@A@p׿A :?A*A9?2A5ֽ:AC =BA9?JA5ֽRAC =٘i)I9{@YG JզJJJJE&K YX4^~?yTVAE77{7|:9)2B[[@[gJ^~?[QM[[[[BZYY i) Ӻ;ID?i麾?o EF@))EF@EF@yFRfҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034510.463165 s, next control iter: 1743034510.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8009, header.stamp.nsec: 00 temperature: 13.383905* salinity: 33.391655, density: 1025.000000* values[0]: 0.708637F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034510.863165 s.+I~,>#&AA33333I@A5!I@Am_~? AAS&"AA>|vNA"AZAbAjArAzAAAv=G8@Ar5rAz@AaL:A=A @AؿA?A(*A9?2Aֽ:A8 =BA9?JAֽRA8 =Y@ @y=L:ٓH rE`?o@?@. "I? ?)@ I٘i)I9z@YG J'Jx =JJJ E&Kw> Y@"^~?y>MVA @E77:9B):BE[[}X@[6^~?[F[[[[BZYY i) ;I9D?i@"\ CXH@))CXH@CXH@yYrӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034510.883165 s, next control iter: 1743034511.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034511.283165 s.9RI~,#&AJ"J*J2J:JC5?BJC5?nJ>5vJAQI@A K8@Axj rADez@Ar#Ax>=Ac@AmٿA@?A#5*A9?2AF׽:A=BA9?JAF׽RA=٘i)I9ez@YfG JJJJJ E&K Y*^~?y|F#VAE77:9)>B[[ @[l!^~?[@[[[[BZYY i) 5~;ID?i+D NH))NHI@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034511.303165 s, next control iter: 1743034511.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8010., header.stamp.nsec: 0.0 temperature: 13.384185.* salinity: 33.391678., density: 1025.000000.* values[0]: 0.707467.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034511.703165 s.պI~, #&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743034511.703287F (some fields omitted in printout)Aףp= J@A=1I@AQ_~? A^AD&"AAORvNA"AZAbAjArAzAAA=7@A+xrAmy@A9}A]=Aط@A;ڿA_u?A̦*A9?2A׽:A#=BA9?JA׽RA#=٘i)I9y@YG JB=JJJJE&K Y]~?y?UAEb77<:9B)DBE[[=@[i ^~?[:[[[[BZYY i) }aB;ID?i~' F))FHK@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034511.723165 s, next control iter: 1743034512.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034512.123165 s.=I~,v$&AJ"J*J2J:JBJnJvJA)\uJ@AU[J@AC_~? AA.&"AAS ;ID?iP;$ _E))_EտL@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034512.143165 s, next control iter: 1743034512.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034512.543165 s.II~,"$&AA{GJ@AV6J@A3_~? A)A'&"AA%vNA"AZAbAjArAzAAA+S'7@Aҳ ݿrAx@AhdA9j=AC@AۿA?AĿ*A9?2Aֽ:AN=BA9?JAֽRAN=٘i)I9x@YdG JsJJJJE&K Y]~?y52TAEb7b7g:9)OB[[f@[]~?[G/[[[[BZYY i) d:ID?iϼ 5C))5C5N@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034512.563165 s, next control iter: 1743034512.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8011, header.stamp.nsec: 00 temperature: 13.384457* salinity: 33.391674, density: 1025.000000* values[0]: 0.706324F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034512.963165 s.zI~,=$&AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034512.963309F (some fields omitted in printout)ALK@A2K@AK$_~? AAZ.&"AAdvNA"AZAbAjArAzAAA{g7@A1trA;/x@A3p;AP=A@A@ܿA?A*Ao9?2A=ֽ:Axo=BAo9?JA=ֽRAxo=Y @ @yO=;ٓHY^ M?*?e m?@?) @ I٘i)I9/x@Y G JJuJJJE&Kx> Y]~?y,TA@E{7{7:9B)VBE[[׈@[w]~?[)[[[[BZYY i) кJ9IID?i㽉ޑ uB))uBO@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034512.983165 s, next control iter: 1743034513.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034513.383165 s.I~,'X$&AAQK@A;K@AG_~? AVA&"AAwuNA"AZAbAjArAzAAAQ?L77@A{Y rA@w@A?"r<Aѐ=Ag@AKݿA@EW?A*A9?2AI ֽ:AS=BA9?JAI ֽRAS=٘i)I9w@YG JtJJJJE&K Y|]~?y%(TAEj7:9)[B[[\@[]~?[h$[[[[BZYY i) XAIOD?iZ: A))AQ@ǪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034513.403165 s, next control iter: 1743034513.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8012&, header.stamp.nsec: 0&0 temperature: 13.384747&* salinity: 33.391697&, density: 1025.000000&* values[0]: 0.705157&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034513.803165 s.wAI~,{gs$&AJ"J*J2J:JBJnJvJAq= #L@A L@A_~? AA'&"AAuNA"AZAbAjArAzAAA݀~7@A@y6rAtw@A}f<A;=A@A@޿A` ?Aå*Ab9?2AJֽ:A#|=BAb9?JAJֽRA#|=٘i)I9w@Y_G JǨJJJJE&K  ;9YG]~? ;9ySA DE7)7';9B)aBE[[a!@[n]~?[?[[[[BZYY i) ںID?iG5v ?))?R@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034513.843165 s, next control iter: 1743034514.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034514.223165 s.g#I~,H$&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743034514.223274F (some fields omitted in printout)A(\L@ASDuL@A^~? A뀩A^&"AAuNA"AZAbAjArAzAAAs|r6@AtrAv@Ab;A^=A)o@A޿A8?A(*Ai9?2A\ֽ:AQB<BAi9?JA\ֽRAQB<٘i)I9v@Y G JrJJJJE&K Y]~?ybSAE)7b7;9B)gBE[["@[]~?[H[[[[BZYY i) f*IkD?i=.9 >))>&T@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034514.243165 s, next control iter: 1743034514.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034514.643165 s.x)I~,*$&AJ"J*J2J:JBJnJvJAGL@A%L@A^~? AzA&"AAuNA"AZAbAjArAzAAA,6@AìrAv@A<8Ac=AM@A ߿A`ri?A*A9?2A׽:A<<BA9?JA׽RA<<٘i)I9v@YG JJJJJ"E&K Yt]~?yrRAEŧ7Q;9)kB[[1$@[p]~?[[[[[BZYY i) kgID?i=^ju: ګ<))ګ<sU@ݼYFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8013, header.stamp.nsec: 00 temperature: 13.384995* salinity: 33.391724Waiting for Gazebo time sync: latest Gz time: 1743034514.663165 s, next control iter: 1743034515.043178 s, wait time: 0.380013 s, density: 1025.000000* values[0]: 0.704026F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034515.063165 s.0I~,c $&AAfffffM@A;jLLM@A"^~? AtA&"AAuNA"AZAbAjArAzAAAOۯh6@A|$rAu@A+RbAj/=A@A@A?AC{*A79?2A1׽:AK<BA79?JA1׽RAK Y^]~?y RA@E{7{7 ;9B)rBE[[%@[Y]~?[[[[[BZYY i) I}D?iq>$:  <;)) <;V@QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034515.103165 s, next control iter: 1743034515.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034515.483165 s.x_7I~,$&AJ"J*J2J:J4?BJ4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075954< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034515.483272F (some fields omitted in printout)AM@A|зM@A^~? AoA&"AAuuNA"AZAbAjArAzAAA26@AarAu@AwvAA=An@AasA`?AM*A 9?2A׽:A<BA 9?JA׽RA<٘i)I9u@Y,G JJJJJ'E&K YH]~?y{IRAEŧ7b7|;9 B)xBݹE[[ '@[IA]~?[c [[[[BZYY i) s ID?i0>*: 9))9RX@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034515.503165 s, next control iter: 1743034515.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8014, header.stamp.nsec: 00 temperature: 13.385221* salinity: 33.391716, density: 1025.000000* values[0]: 0.702986F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034515.903165 s.=I~,$&AA ףp=N@AX#N@A^~? AfiA[p&"AAYuNA"AZAbAjArAzAAAdYt45@ArAt@As Aus=A @A:A@[j?A҇*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG JaJJJJ*E&K Y2]~?yQAËE77;9){B[[mg(@[_)]~?[[[[[BZYY i) w3ѻID?i d>; ^8))^8%Y@ͷYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743034515.923165 s, next control iter: 1743034516.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034516.323165 s.|DI~,>%&AJ"J*J2J:J3?BJ3?nJ<5vJA\N@A:N@A^~? AcA&"AA=uNA"AZAbAjArAzAAA/ DyG5@A-XrA3t@AH0;A;=A!@AA?AA*A.9?2Azֽ:AJ<BA.9?JAzֽRAJ<٘i)I93t@YG JDB=JJJJ,E&K Yi]~?yQAƋEŧ7b7;9"B)BڹE[[z)@[T]~?[[[[[BZYY i) odID?iz>7; 6))6.[@y8xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034516.363165 s, next control iter: 1743034516.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8015*, header.stamp.nsec: 0*0 temperature: 13.385451** salinity: 33.391727*, density: 1025.000000** values[0]: 0.702063*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034516.743165 s.WKI~,m/%&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075954< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034516.743281F (some fields omitted in printout)AGzO@A#fN@AɅ^~? AU^AJ&"AA!uNA"AZAbAjArAzAAA-:E5@AYrAus@Aj{J<A>Z=A8#@A`QnA`s?Aဍ*A9?2An;ֽ:AM=BA9?JAn;ֽRAM=٘i)I9s@YYG JwC=JJJJ/E&K YN]~?y9QAɋEb77<;9$B)B׹E[[a*+@[8\~?[[[[[BZYY i) ID?i>da; s5))s5B\@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034516.763165 s, next control iter: 1743034517.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034517.163165 s.v}RI~,qJ%&AJ"J*J2J:JBJnJvJAO@A;1eO@AMr^~? AXAǴ&"AAuNA"AZAbAjArAzAAAg2L5@AXrAFs@A~<AE=A$@AA ?AB*A29?2A=ֽ:A=BA29?JA=ֽRA=Y@#$@y ݈=$<ٓH;`KJz`&;?1b)?^@ҏ?@?)@ I٘i)I9Fs@YG JKJ;JJJ2E&Kx> Y\~?yGPA$@ˋE7777;9%B)BԹE[[,@[\~?[[[[[[BZYY i) NID?i >z; 4))4^@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034517.183165 s, next control iter: 1743034517.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034517.583165 s.XI~,Se%&AARO@ApO@Ay^^~? ASA3&"AAtNA"AZAbAjArAzAAA"5@AZlrAr@AF -<A=Ad%@A A`X?A*Ai9?2Aтֽ:Ar=BAi9?JAтֽRAr=٘i)I9r@YG JJJJJ4E&K Y\~?yPA΋E77g ;9'B)BӹE[[-@[\~?[[[[[BZYY i) :&ID?i4>J; 2))2&o_@ʾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034517.603165 s, next control iter: 1743034517.983182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8016, header.stamp.nsec: 00 temperature: 13.385696* salinity: 33.391724, density: 1025.000000* values[0]: 0.701085F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034518.003165 s.y `I~,P4%&AJ"J*J2J:Jz3?BJz3?nJ2<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075954< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034518.003296F (some fields omitted in printout)Ap= WP@AB{u; ?G1))?G1v`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034518.023165 s, next control iter: 1743034518.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034518.423165 s.ufI~,%&AA(\P@A/wP@A5^~? AIA&"AAtNA"AZAbAjArAzAAA`Q׾Ô4@A;低rAq@A@+A=A(@A A@~?A֋*A.9?2A@2׽:A6=BA.9?JA@2׽RA6=٘i)I9q@Y7G J2JJJJ:E&K Y-\~?yOAӋE7777';9)B)B͹E[[a0@[@\~?[0[[[[BZYY i) EID?i: ?); ./))./@b@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034518.463165 s, next control iter: 1743034518.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8017, header.stamp.nsec: 00 temperature: 13.385932* salinity: 33.391739, density: 1025.000000* values[0]: 0.700116F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034518.843165 s.lI~,%&AJ"J*J2J:JBJnJvJAHz.Q@AxQ@A ^~? ADAwC&"AAtNA"AZAbAjArAzAAA~ەU4@AфɋrAkq@A|A➑=A)@AA?A*Aƶ9?2A=׽:A=BAƶ9?JA=׽RA=٘i)I9kq@YG JJJJJ Y1v\~?yKܧ OA+@ًE{7Z7.;9)B[[ a3@[d\~?[M[[[[BZYY i) ԯdIE?if%?; -))- e@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034519.283165 s, next control iter: 1743034519.663177 s, wait time: 0.380012 s1v\~?)Kܧ2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 80182, header.stamp.nsec: 020 temperature: 13.3861662* salinity: 33.3917432, density: 1025.0000002* values[0]: 0.6991672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034519.683165 s.lzI~,Z%&AJ"J*J2J:JBJnJvJAQR@A]Q@Ac]~? A;Aq&"AAItNA"AZAbAjArAzAAA+3@A$]n rAbsp@A(,A˖=Ag,@A`|A)?A\*AŲ9?2Aֽ:Ab =BAŲ9?JAֽRAb =٘i)I9sp@YXG JJJJJBE&K Y\\~?yRاNAۋESI7SI7R2;9,B)BǹE[[4@[J\~?[[[[[BZYY i) sIE?i`1?} ; +))+qf@nϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034519.683165 s, next control iter: 1743034520.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034520.103165 s.I~,&&AA= ףpR@A U1VR@A]~? A!7AS&"AA(tNA"AZAbAjArAzAAA.ٜ3@AbCkrAo@Aĩ <Aט=A-@AA_?Aؤ*AT9?2A<ֽ:A8=BAT9?JA<ֽRA8=٘i)I9o@YG JB=JJJJDE&K YC\~?yXԧCNAދEj7j75;9-B)BĹE[[6@[f1\~?[[[[[BZYY ih ) PIE?i&??5; I*))I*g@BҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034520.123165 s, next control iter: 1743034520.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034520.523165 s.I~,}!&&AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743034520.523347F (some fields omitted in printout)A(R@AKR@A]~? A2A&"AAtNA"AZAbAjArAzAAAJvqO3@Aj,kˀrA_o@A[v<AR=A.@AAԒ?A&*AE9?2Acֽ:A =BAE9?JAcֽRA =٘i)I9_o@YG JC=JJJJGE&K Y*\~?y^ЧMAE)7ŧ7}9;9.B)BE[[*k7@[\~?[[[[[BZYY i) 1I&E?iN?H< ())(,9i@MԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034520.543165 s, next control iter: 1743034520.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8019, header.stamp.nsec: 00 temperature: 13.386400* salinity: 33.391747, density: 1025.000000* values[0]: 0.698120F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034520.943165 s.ZdI~,J]<&&AAzGS@A(c|-S@AZ]~? A.A&"AAFsNA"AZAbAjArAzAAA_J 3@ABBPA~rAdn@Aa<Ad=A2<0@AP=AC?A*A9?2AEֽ:A=BA9?JAEֽRA=٘i)I9n@YYG J骼JJJJJE&K Yd\~?yȩ|MAEb77=;90B)BE[[8@[[~?[[[[[BZYY i) ͐I2E?i_? Y< '))'j@'֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034520.983165 s, next control iter: 1743034521.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034521.363165 s.I~,l>W&&AJ"J*J2J:J2?BJ2?nJ>;5vJA3333S@AeS@A̝]~? A*AK &"AAOsNA"AZAbAjArAzAAA /4N2@Aqq{rAAn@A;A'=A1@A@MzA?AV?*A9?2Apֽ:Aq=BA9?JApֽRAq=Y8#@\1@y=#;ٓH`X`&ֿ@㱿`?楠?w@u??)8#@ I٘i)I9An@YG JJ1<JJJME&K1x> Y [~?y>ɧMA1@E@;91B)BE[[::@[%[~?[[[[[BZYY i) JI?E?ijj?< $&))$&#k@yتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034521.383165 s, next control iter: 1743034521.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8020&, header.stamp.nsec: 0&0 temperature: 13.386683&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.697025&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034521.783165 s.UI~,r&&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034521.783293F (some fields omitted in printout)AQT@A4hT@A]~? A&AИ &"AAsNA"AZAbAjArAzAAA;2@ADGpyrAm@A»A =A2@A bA?Ah識*A,9?2A" ׽:Av=BA,9?JA" ׽RAv=BI٘i)I9m@YG JJJJJOE&K Y[~?yƧLAE7{7=D;92B)ůBE[[j;@[[~?[ާ[[[[BZYY i) ǟILE?iv? < $))$[m@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034521.803165 s, next control iter: 1743034522.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034522.203165 s.I~,!&&AJ"J*J2J:JI2?BJI2?nJ:5vJAףp=T@A-$pT@Ao]~? A #A &"AA0sNA"AZAbAjArAzAAA^6V<2@A%*wrA&m@AeA7Ӣ=AH4@AA4?A*As9?2A<׽:A=BAs9?JA<׽RA=٘i)I9&m@YUG J2JJJJRE&K YT[~?y§>LAE77G;94B)˯BE[[<@[[~?[/ݧ[[[[BZYY i) EIZE?iK?r&< {e#)){e#:n@ߪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034522.223165 s, next control iter: 1743034522.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034522.623165 s.UI~,T&&AA)\T@AM֨T@AX]~? AzA*!&"AA\sNA"AZAbAjArAzAAA@ 1@A*7-trA l@ApA%=Aܖ5@A#A X?A+*A9?2A׽:AY`=BA9?JA׽RAY`=٘i)I9l@YG JJJJJUE&K Y[~?yȿKAEgK;95B)ЯBE[[ >@[h[~?[ۧ[[[[BZYY i)  ®IiE?i&?}0< "))",p@YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743034522.643165 s, next control iter: 1743034523.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8021 , header.stamp.nsec: 0 0 temperature: 13.386960 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.695916 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034523.043165 s.I~,&&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743034523.043332F (some fields omitted in printout)J"J*J2J:JBJnJvJA{GaU@A1GU@AA]~? A Ao!&"AA8sNA"AZAbAjArAzAAA WƮ1@A\rrAl@A#AN=Ao6@A VA{?A*A̓9?2AǺֽ:A=BA̓9?JAǺֽRA=٘i)I9l@YG JJJJJWE&K Y[~?yjKAEb77N;96B)֯BE[[Z?@[[~?[mڧ[[[[BZYY i) ?IryE?iݒ?m;< Ъ ))Ъ tq@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034523.063165 s, next control iter: 1743034523.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034523.463165 s.WI~,&&AAU@AwU@AS)]~? AA!&"AAsNA"AZAbAjArAzAAAU?f1@AkìprAdk@Ac;AU=AN8@AA`U?A^~*A9?2AFֽ:Ac=BA9?JAFֽRAc=Y*@8@y=Ud;ٓH@п |t,??@o ql?`.?)*@ I٘i)I9dk@YDG J뺼JɅ<JJJZE&Kw> Yar[~?ySJA8@E7R;9)ۯB[[H@@[Ie[~?[I٧[[[[BZYY i) IΉE?i#? A`?Ap]ϼ*A{9?2ATֽ:AT*=BA{9?JATֽRAT*=٘i)I9fi@Y G J'ϼJJJEJbE&K Y [~?ykIAEj7j7R];9:B)BE[[>D@[[~?[֧[[[[BZYY i) ssӼI6E?i(?&]< J))J5v@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034524.743165 s, next control iter: 1743034525.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034525.143165 s.X/҉I~,*I'&AAGzW@A=`W@A^\~? A% A"&"AAyrNA"AZAbAjArAzAAA/G@0@A?nirAh@A=A!=AT=@A4A?Aμ*A19?2Aֽ:Az=BA19?JAֽRAz=٘i)I9h@Y G JϼJJJJeE&K Yu[~?y*IAE{7{7`;9;B)BE[[E@[sZ~?[f֧[[[[BZYY i) uڼIE?iݵ?h< ))x@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034525.163165 s, next control iter: 1743034525.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034525.563165 s.؉I~,k d'&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743034525.563278F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffW@AOW@A\~? A A"&"AA1]rNA"AZAbAjArAzAAA0Ȯ/@A,8aBhrA h@Am3A=A>@AV[AG?A̼*A 9?2A׽:Au=BA 9?JA׽RAu=Y0@;>@y=ψ4ٓH t5Ŀ U?3j?@Xz=?)0@ I٘i)I9 h@Y: G JͼJ <JJJgE&KAx> YZ~?yHA>@Ej7j7}d;9=B)BE[[$G@[Z~?[֧[[[[BZYY i) UIE?i?o< ))hy@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034525.583165 s, next control iter: 1743034525.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8024, header.stamp.nsec: 00 temperature: 13.387870* salinity: 33.391769, density: 1025.000000* values[0]: 0.692135F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034525.983165 s.߉I~,~'&AAQX@Ac#7X@AӖ\~? AFA"&"AA7rNA"AZAbAjArAzAAA=p6U/@A"frAa_g@A}A(=A@@A~An?A&9μ*A9?2A ׽:A=BA9?JA ׽RA=٘i)I9_g@Y G J\ͼJJJJjE&K YZ~?yB:HAEŧ7ŧ7h;9>B)BE[[_mH@[Z~?[է[[[[ZZ¸BZYY i¸h=) HռIE?i9?4Tw< _n))_nVz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034526.023165 s, next control iter: 1743034526.383186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743034526.403165 s.&I~,͙'&AJ"J*J2J:J1?BJ1?nJ95vJA ףpX@Aܠ[X@A}\~? AA)#&"AArNA"AZAbAjArAzAAA .@A'zerAf@ACAA`L=AjLA@A AL?AҼ*A9?2Abֽ:A=BA9?JAbֽRA=٘i)I9f@Yf G JмJJJJmE&K YZ~?yլGAE77k;9) B[[I@[JZ~?[է[[[[ZZBZYY i) ɼI1F?i.?< #'))#'{@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034526.423165 s, next control iter: 1743034526.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8025", header.stamp.nsec: 0"0 temperature: 13.388186"* salinity: 33.391766", density: 1025.000000"* values[0]: 0.690810"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034526.823165 s.I~,%'&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743034526.823284F (some fields omitted in printout)A\(Y@AY@Ad\~? A AR#&"AAqNA"AZAbAjArAzAAAqM?%.@A;drARe@AzAn =A]B@AӺA\?A*A9?2Afoֽ:A_<BA9?JAfoֽRA_<٘i)I9e@Y G JJJJJpE&K Y!Z~?yhJGA E7=o;9?B)BE[[J@[9Z~?[֧[[[[ZZBZYY i) 齼I'F?i?< .)).=}@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034526.843165 s, next control iter: 1743034527.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034527.243165 s.I~,~'&AJ"J*J2J:J0?BJ0?nJ@95vJAGzY@AczY@AsK\~? A'A"y#&"AAqNA"AZAbAjArAzAAA)-@AQ'rcrAHe@A~<A=AC@A0A3?AQ*A9?2A.ֽ:Aي<BA9?JA.ֽRAي<٘i)I9e@Yh G JJJJJrE&K YMzZ~?yFA Eŧ7b7r;9AB)BE[[F?i?o< ))~@y}Y=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034527.283165 s, next control iter: 1743034527.643180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034527.663165 s.I~,q'&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8026, header.stamp.nsec: 00 temperature: 13.388557* salinity: 33.391747, density: 1025.000000* values[0]: 0.689295F (some fields omitted in printout)AZ@AY@A2\~? AmA#&"AAnqNA"AZAbAjArAzAAASK`,@AwbrA5d@Ao<ACSs=AE@AOA?A*A9?2A*ֽ:Ar<BA9?JA*ֽRAr Y^Z~?ypFA E@E{7j7hv;9BB) BE[[M@[8hZ~?[֧[[[[ZZBZYY i) IIVF?i?< 6Y))6Y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034527.683165 s, next control iter: 1743034528.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034528.083165 s.DI~,S(&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034528.083287F (some fields omitted in printout)ARkZ@ACoQZ@A\~? AAʼ#&"AAxqNA"AZAbAjArAzAAAaW,@A#XarArc@A|L<AJ.=AaF@A A 9?ADRҼ*Aڨ9?2ArDֽ:AT;BAڨ9?JArDֽRAT;٘i)I9rc@Ym G JSC=JJJJxE&K YAZ~?y娧.FAE777y;9)'BE[[!N@[BOZ~?[xק[[[[ZZBZYY i) iI.oF?i?'͑< ))@tYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034528.103165 s, next control iter: 1743034528.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034528.503165 s.I~,v4 (&AAp= Z@AhZ@A [~? AtA#&"AA elevatorAngleAction: 0.082999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034529.343296F (some fields omitted in printout)AHz[@AB_z[@A[~? A!A $&"AAqqNA"AZAbAjArAzAAA_~4*@Ah*^rAa@AxASAGADA6?A*Ar9?2Aֽ:ABAr9?JAֽRA٘i)I9a@Y G JQJJJJE&K Y@Y~?yF9EAEj7Z7;9EB)5BE[[R@[Z~?[5ڧ[[[[ZZBZYY i) /_sIrF?i?"< S ))S Pf@)YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034529.363165 s, next control iter: 1743034529.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8028&, header.stamp.nsec: 0&0 temperature: 13.389179&* salinity: 33.391766&, density: 1025.000000&* values[0]: 0.686757&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034529.763165 s.<I~,4p(&AJ"J*J2J:J/?BJ/?nJY85vJA\@A˾+[@Aα[~? A5A$&"AA^pNA"AZAbAjArAzAAA#N)@Ar><^rA3a@AtANAFA`3SA`n?APj*A{9?2Aֽ:A;BA{9?JAֽRA;Y+=@hFyBtٓH`N7?p˖?` 5? y*?)+=@ I٘i)I9a@Yh G JJEJJJE&Kv> YY~?yWEAFE{7{7S;9)7B[[S@[Y~?[mۧ[[[[ZZBZYY i ]o=) xXaIF?i?У< % ))% H@9)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034529.783165 s, next control iter: 1743034530.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034530.183165 s."I~,x(&AAQ\@A yk\@A[~? AsA/$&"AA3pNA"AZAbAjArAzAAAf K)@A4Ff]rAa@AkA; A8EA@^A7?AJ*A39?2ARֽ:A1ټBA39?JARֽRA1ټ٘i)I9a@Y[ G JLJJJJE&K YY~?yuEAEj7;9FB)9BE[[ U@[Y~?[ܧ[[[[BZYY i=) SOIF?i@Ζ<  )) `@2<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034530.203165 s, next control iter: 1743034530.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034530.603165 s.74)I~,(&AJ"J*J2J:J/?BJ/?nJA85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034530.603290F (some fields omitted in printout)A= ף\@A!\@A~[~? AAg<$&"AApNA"AZAbAjArAzAAA섰p(@Ay*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034530.623165 s, next control iter: 1743034531.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8029 , header.stamp.nsec: 0 0 temperature: 13.389274 * salinity: 33.391777 , density: 1025.000000 * values[0]: 0.686406 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034531.023165 s.Z0I~,{(&AA(\]@ADB]@Ad[~? AnA|F$&"AAgpNA"AZAbAjArAzAAA (@AOX&]rA,a@A-W<A&L]ABAnA?ANa;*A9?2Aֽ:ABA9?JAֽRA٘i)I9a@Yw G J ;JJJJE&K Y|Y~?yEA$E77;9HB)E[[W@[դY~?[ߧ[[[[BZYY i) G+I/G?i @ﹰ< #V))#V@yK=T*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034531.043165 s, next control iter: 1743034531.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034531.443165 s.46I~,1](&AJ"J*J2J:JBJnJvJAz]@AW]@AJ[~? A+AXM$&"AAI@pNA"AZAbAjArAzAAAMs'@AH-\rAb@At<A'p{A?AA rA"X?A,Z-<*A9?2Aֽ:A~BA9?JAֽRA~٘i)I9b@Y G J<JJJJE&K Y_Y~?yEA&E7{7;9DB)3B|E[[X@[EY~?[[[[[BZYY i) +AIKNG?i?@<  )) Ձ@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034531.483165 s, next control iter: 1743034531.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8030, header.stamp.nsec: 00 temperature: 13.389276* salinity: 33.391750, density: 1025.000000* values[0]: 0.686604F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034531.863165 s.+=I~,u>(&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034531.863281F (some fields omitted in printout)A33333^@Ar^@A0[~? AAQ$&"AApNA"AZAbAjArAzAAA &@A?Z\rAQmb@AD<A鉽A#?AMtA@OS?Ac<*A9?2A.ֽ:Af BA9?JA.ֽRAf YD@@y>艽0<ٓH@՛??L¿:? 9?ҁ??)D@ I٘i)I9mb@Y G J"F<J޽JJJE&Kw> YCY~?yE+FA@)E77>;9)1ByE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #43q/+^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY ig=) X )*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034531.903165 s, next control iter: 1743034532.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034532.283165 s.5RDI~,)&AJ"J*J2J:JBJnJvJAQ^@A3^@A[~? A"A~Q$&"AAoNA"AZAbAjArAzAAA>Q8&@A4i\rAb@AA?WA͸>A 1sA@A؊<*Az9?2A'ֽ:AHBAz9?JA'ֽRAH٘i)I9b@Y G Jz<JJJJE&K Y'Y~?yFA,E{7{7ӝ;9).BvE[[>7[@[>^Y~?[[[[[BZYY i) WxImG?i@м< )) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034532.303165 s, next control iter: 1743034532.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 80312, header.stamp.nsec: 020 temperature: 13.3891872* salinity: 33.3917392, density: 1025.0000002* values[0]: 0.6872042F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034532.703165 s.׺JI~,-)&AAףp= _@A<,^@AZ~? AfAN$&"AAoNA"AZAbAjArAzAAAha%@AO3"]rApUc@A{r>AAD=A@{A جAg<*AZ:?2A:A BAZ:?JARA ٘i)I9Uc@Y[ G J֖<JJJJE&K Y Y~?yFA.Eŧ77i;9EB)*BsE[[p\@[GY~?[[[[[BZYY i) rջIkG?i@< ))/kCZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034532.723165 s, next control iter: 1743034533.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034533.123165 s.;QI~,mG)&AJ"J*J2J:J 0?BJ 0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743034533.123313F (some fields omitted in printout)A)\u_@AU0*[_@AZ~? AAG$&"AAoNA"AZAbAjArAzAAA0$@Ad]rAc@AvqAՇAZ=A{A@OAݰ<*Aw:?2A½:ABAw:?JA½RA٘i)I9c@Y G J<JJJJE&K YX~?yAGA1E7777;9)&BpE[[է]@[@0Y~?[![[[[BZYY i) qIG?ig@'< 3))3@yh=?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034533.143165 s, next control iter: 1743034533.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034533.543165 s.IXI~,b)&AA{G_@AQH2_@A Z~? AYA?$&"AA+{oNA"AZAbAjArAzAAA_$@Avv:]rAX|d@AԴ*AUÜA<A@xA@(aAc<*AG:?2A4'Ž:AD BAG:?JA4'ŽRAD ٘i)I9|d@Y G J<JJJJE&K YX~?y<GA4E;9)!B[[^@[Y~?[[[[[BZYY iȆ=) jIG?is@< ))@*YCiYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034533.583165 s, next control iter: 1743034533.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8032, header.stamp.nsec: 00 temperature: 13.388985* salinity: 33.391739, density: 1025.000000* values[0]: 0.688186F (some fields omitted in printout)X~?)< rAdjusting time to match Gazebo time: 1743034533.963165 s.w^I~,})&AJ"J*J2J:J,0?BJ,0?nJ85vJAL`@A$'2`@A Z~? AA4$&"AASoNA"AZAbAjArAzAAA'Z#@A J^rAe@ALAW A:ArAưAI<*Aʏ:?2AWȽ:ABAʏ:?JAWȽRAYHI@:yT zMٓH ???@,̿6vP?\?I@?)HI@ I٘i)I9e@Yl G Jֶ<J=JJJE&KE> YqX~?y.HA:6Eb77);9DB)BnE[[N`@[#Y~?[[[[[BZYY i) rIZG?i.!@O< ))",@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034534.003165 s, next control iter: 1743034534.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034534.383165 s.eI~,@)&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743034534.383290F (some fields omitted in printout)AQ`@A-W?`@AZ~? AAn&$&"AAU,oNA"AZAbAjArAzAAAO##@A^rAe@Arv<AA+9A`iA At<*A:?2AYy˽:ABA:?JAYy˽RA٘i)I9e@Y G J<JJJJE&K YX~?ynHA9E777;9)BkE[[Ia@[X~?[[[[[BZYY i) yo6IH?iO$@Q< #))#Ɖ@#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034534.403165 s, next control iter: 1743034534.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8033", header.stamp.nsec: 0"0 temperature: 13.388742"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.689335"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034534.803165 s.zAlI~,g)&AJ"J*J2J:Jx0?BJx0?nJ 95vJAq= #a@A a@A$zZ~? AA$&"AAoNA"AZAbAjArAzAAA_"@AMk)_rAIA?E{7{7;9)BeE[[ elevatorAngleAction: 0.065811BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4199982 time: 1743034535.643285F (some fields omitted in printout)AGa@Aдa@AzFZ~? A A#&"AAnNA"AZAbAjArAzAAA[ iM!@A{MC`rAUg@A@PS;AߪAҡ5A`j=AHľA<*A:?2A!ѽ:AiBA:?JA!ѽRAi٘i)I9Ug@Y G J<JJJJE&K YMJX~?yIAAE777~;9) BbE[[d@[X~?[[[[[BZYY i) @IH?i0@Sb< ))Y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034535.663165 s, next control iter: 1743034536.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8034, header.stamp.nsec: 00 temperature: 13.388535* salinity: 33.391720, density: 1025.000000* values[0]: 0.690398F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034536.063165 s.I~,R *&AAfffffb@A?MLb@A,Z~? ArA^#&"AAnNA"AZAbAjArAzAAA=ҍ| @ALoarAg@AAUATY4A@$)A=3Aͫ<*A-:?2Aҽ:ABA-:?JAҽRAYfO@-Q4yTٓHeBPZ??eUԿV̏??c} ?)fO@ I٘i)I9g@Y G J<J._<JJJE&Kw> Y/X~?y»JAQ4DE77;9)B_E[[f@[X~?[[[[[BZYY i) Fn:IH?i2@< o))o*@v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034536.083165 s, next control iter: 1743034536.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034536.483165 s.s_I~,*&AJ"J*J2J:J0?BJ0?nJw95vJAb@A$ӡӷb@A$Z~? AA#&"AAhnNA"AZAbAjArAzAAA @A^$bbrAKmh@Af_AM匽A/ 3A6A@ÿA <*A{:?2Aqӽ:ABA{:?JAqӽRA٘i)I9mh@Yu G J<JJJJE&K YX~?yfJAGE{7{7;9)B[[Bg@[rX~?[[[[[BZYY i) X :I H?i5@s< 1))1gÌ@*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034536.503165 s, next control iter: 1743034536.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8035, header.stamp.nsec: 00 temperature: 13.388329* salinity: 33.391705, density: 1025.000000* values[0]: 0.691459F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034536.903165 s.ȍI~,9*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034536.903285F (some fields omitted in printout)A ףp=c@A~įX#c@AY~? AA#&"AAAnNA"AZAbAjArAzAAA8[@AbmcrAh@A5UAoAK1AA@ĿAA<*Aw:?2AԽ:A+BAw:?JAԽRA+٘i)I9h@Y G J<JJJJE&K YW~?y^JAIE77>;9)B\E[[|rh@[lX~?[Y[[[[BZYY i) y6;IH?i8@Ҿ< ))9[@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743034536.923165 s, next control iter: 1743034537.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034537.323165 s.wI~,)T*&AJ"J*J2J:J$1?BJ$1?nJ95vJA\c@A6c@A:Y~? AA+s#&"AAFnNA"AZAbAjArAzAAA@A"ZdrAsyi@A!A<+A[0AAƿAf<*Ar:?2Acս:A&BAr:?JAcսRA&٘i)I9yi@YG Ju<JJJJE&K Y3W~?y,ħ'KALE777;9)BYE[[Ni@[=XX~?[[[[[BZYY i) _s;II?i<@4< v))v쿩"@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034537.343165 s, next control iter: 1743034537.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8036*, header.stamp.nsec: 0*0 temperature: 13.388140** salinity: 33.391701*, density: 1025.000000** values[0]: 0.692470*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034537.743165 s.WI~,qo*&AAGzd@AvoEbc@AY~? AA)M#&"AAmNA"AZAbAjArAzAAAo+N@A erAi@A;AVA.A`ʼAAȿA-<*AIn:?2Aֽ:A}pBAIn:?JAֽRA}p󼙘AI٘i)I9i@YdG Jr<JJJJE&K YnW~?yƧKAOE77i;9)BVE[[j@['DX~?[d [[[[BZYY i) ޱ;Ii@@< ))꿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034537.763165 s, next control iter: 1743034538.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034538.163165 s.y}I~,q*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420023J"J2 time: 1743034538.163323F (some fields omitted in printout)*J2J:JBJnJvJAd@A#)ed@AӭY~? AA$#&"AAmNA"AZAbAjArAzAAA_@A/R'grAolj@AKQ<A[Aa-A@Aq}ʿAC<*Ai:?2A ׽:A0BAi:?JA ׽RA0YgV@-yؼQ<ٓH@#?@ ? {ڿ@`?Ӟ?@C)? ?)gV@ I٘i)I9lj@YG JՌ<JC<JJJE&K8|> YW~?yʧKA-QEj7j7;9)BSE[[k@[0X~?[[[[[BZYY i-=) n;Ii)C@=< ))翩h@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034538.183165 s, next control iter: 1743034538.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034538.583165 s.樊I~, S*&AARd@AFqd@AٔY~? A* A"&"AAmNA"AZAbAjArAzAAA&0@AlhٖhrAj@Ac<APAR,A@vA+U̿A<*Ae:?2A8׽:ABAe:?JA8׽RA٘i)I9j@YG J <JJJJE&K YW~?yHΧ:LATE7)7;9)B[[u(m@[JX~?[[[[[BZYY i) >C;IiE@oK< f))f忩6@9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034538.603165 s, next control iter: 1743034538.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8037, header.stamp.nsec: 00 temperature: 13.387944* salinity: 33.391666, density: 1025.000000* values[0]: 0.693411F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034539.003165 s.x I~,L4*&AJ"J*J2J:J1?BJ1?nJ":5vJAp= We@A elevatorAngleAction: 0.077236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743034539.423269F (some fields omitted in printout)A(\e@Aj1xe@AccY~? AWA"&"AAv]mNA"AZAbAjArAzAAA5"@AO krARk@A^$A˅A)A&AzϿAs!<*AS:?2Aֽ:ABAS:?JAֽRA٘i)I9k@Y{G J<JJJJE&K Y]W~?yէLAYE{7;9)BNE[[~o@[W~?[[[[[BZYY i)  ٧FMA\E77T;9)BKE[[1p@[W~?[[[[[BZYY i) & Y+W~?yݧMA#'_E777;9BB)ݯBHE[[^q@[OW~?[)#[[[[BZYY i) * elevatorAngleAction: 0.077236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743034540.683270F (some fields omitted in printout)AQg@Amɪf@AY~? AAA!&"AAlNA"AZAbAjArAzAAA3Ѫe@A1qrA"m@Al AXHA%A˝A`ҿA<*A::?2A׽:A^BA::?JA׽RA^٘i)I9"m@YSG JU<JJJJȌE&K Y"W~?y&MAaE{7~;9)ٯB[[Nr@[W~?[y'[[[[BZYY i) ?9]|+&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034541.943293F (some fields omitted in printout)AzGh@A0-h@AX~? A#A(!&"AAlNA"AZAbAjArAzAAA>Ȏ @AxwrALn@Ai<AA#!AAAտA<*A-%:?2A׽:ABBA-%:?JA׽RAB٘i)I9n@Y/G J<JJJJЌE&K YV~?yOAiE)7ŧ7?;9AB)ͯB?E[[uqv@[W~?[4[[[[BZYY i) lh+&AJ"J*J2J:JBJnJvJA3333h@Ayh@AX~? AD'A &"AAo_lNA"AZAbAjArAzAAAi:@AKyayrA o@AO9<AA A lAֿAF<*A:?2Ai׽:A@ BA:?JAi׽RA@ YCc@P y 6:<ٓH@? ? aZ`9??@I6??)Cc@ I٘i)I9 o@Y|G JV<JJJJӌE&Kx> Y;V~?y{OA lE{7j7;9)ɯB@E[[[[[[BZYY i) H/ elevatorAngleAction: 0.077236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034543.203302F (some fields omitted in printout)Aףp=i@Amu9%pi@A X~? A&/AJ &"AAlNA"AZAbAjArAzAAA&p @Av;~rA%p@AAĩAEA@LA׿Aʪ<*A:?2Aֽ:ABA:?JAֽRA٘i)I9p@Y!G J<JJJJ،E&K YV~?yFPAqE7777;9@B)B:E[[~y@[hVW~?[+C[[[[BZYY i) BS)#rA.p@A+cAKAA AːؿA<*A :?2Aqֽ:ABA :?JAqֽRA٘i)I9p@YzG J֭<JJJJیE&K YnV~?yQPAtEb77;9)B7E[[ {@[AFW~?[H[[[[BZYY i`=)  S elevatorAngleAction: 0.086610< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034544.463273F (some fields omitted in printout)Aj@ACVj@ALX~? A<AS&"AAkNA"AZAbAjArAzAAArSmaL@A&/jrAq@A5>AA{A A@-ڿAC<*A:?2Ao ׽:AkBA:?JAo ׽RAkYej@/yٓH n?ut?_ ?`O ?t?)ej@ I٘i)I9q@Y0G J<J )JJJE&Kx> Y(CV~?yj~QAzE77<9?B)B4E[[Q}@[&W~?[ R[[[[BZYY i)  X elevatorAngleAction: 0.086610< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034545.723288F (some fields omitted in printout)A(\l@ANGk@A; X~? A"JAhD&"AASkNA"AZAbAjArAzAAAi?A߮crAys@A^<A AA!A ܿA$J<*A9?2A'׽:ABA9?JA'׽RA٘i)I9s@Y=G Jk<JJJJE&K YJV~?y!RAE)7ŧ7<9)B.E[[\@[V~?[a[[[[BZYY i) 7 YlU~?y-SAEb77<9)B[[}@[V~?[l[[[[BZYY i) Dj elevatorAngleAction: 0.086610< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743034546.983306F (some fields omitted in printout)AQm@A7m@AW~? AkYA&"AA$jNA"AZAbAjArAzAAA k*?A&ⴎ[rA-su@AmAAXA[QAA(޿A6<*Av9?2A@fֽ:ABAv9?JA@fֽRA٘i)I9su@YcG J<JJJJE&K YU~?y 4TAE?<9/B)B)E[[@[JV~?[r[[[[BZYY i) i elevatorAngleAction: 0.086610< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743034548.243332F (some fields omitted in printout)AGzn@A3bzn@AW~? AiA&"AAjNA"AZAbAjArAzAAAk V?A<\rAw@A\R/:A&ATAA iAb<*A9?2A׽:A&BA9?JA׽RA&٘i)I9w@YG Jk<JJJJE&K YŐU~?yGuUAE7777%<9)rB[[@[V~?[[[[[BZYY i) ~ YU~?yNUA Eb77)<9)lB#E[[M@[BV~?[[[[[ZZZZ¸>BZYY i¸>‚) jnW~? AoAJ&"AAjNA"AZAbAjArAzAAAOAe(rrAj{@AAzAA` ޿ADA5<*AH9?2A?ֽ:ArBAH9?JA?ֽRAr٘i)I9j{@YG J)=JJJJE&K Y_=U~?ykWAEŧ7ŧ77<9)RB[[@[oV~?[C[[[[ZZZZBZYY i) /[[[[ZZZZBZYY i)  A@ܿA$Aӱ<*Ag9?2Aֽ:A{:BAg9?JAֽRA{:٘i)I9|@YG J<JJJJ E&K YU~?yCyXAEj7SI7?<9)GB[[@[[V~?[@[[[[ZZZZBZYY i) ٪A6rAUb}@AomHAŧAAۿAA<*Aj9?2Aֽ:A<BAj9?JAֽRA<٘i)I9b}@Y8G J<JJJJE&K YU U~?yZIYAE777B<9-B)BBE[[O0@[iQV~?[G[[[[ZZZZBZYY i) 5vJAzr@Ajr@AV~? AA4&"AAiNA"AZAbAjArAzAAAZ6YA.`V!rAh}@Aa<Ad<AmZA@AڿA~tA7;*AN9?2AVCֽ:AgL<BAN9?JAVCֽRAgL<٘i)I9}@YG J <JJJJE&K YT~?y>ZAE777I<9)=BE[[F@[.?V~?[^[[[[ZZZZBZYY i) U7.&AA33333s@A,'s@AkV~? AkAK&"AAiNA"AZAbAjArAzAAA A٥w>rAh~@A\<AQj=AAfuٿAxA.:*A9?2AGֽ:As%<BA9?JAGֽRAs%JJJE&K> Y0T~?y ZAE{7j7kM<9.B)E[[Ӊ@[e6V~?[Ĩ[[[[BZYY iS) CyDA-&"AA0tiNA"AZAbAjArAzAAA_6AOzhrA~@Ak;AzA=AdzAؿAAC*A9?2Ayֽ:A=BA9?JAyֽRA=@I٘i)I9~@YG J -C=JJJJE&K YhT~?yYA DE7{7Q<9)[[`@[-V~?[ʨ[[[[BZYY ie) 813A)K(rA}@A|Aj=AA׿A X8Ao*AӜ9?2Aֽ:AT=BAӜ9?JAֽRAT=٘i)I9}@YG J'B=JJJJE&K YT~?yYAEb7b7T<9-B)>BE[[@[%V~?[/Ѩ[[[[BZYY i) !rAK}@A{BA>0=A "A@ֿAuA8*A9?2AI׽:A| =BA9?JAI׽RA| =٘i)I9}@YeG JC=JJJJE&K YֺT~?y}YAEŧ77*X<9)@B[[z@[3V~?[ר[[[[BZYY i) k~$-AvHrA{|@A-A-=AA@wKտAA>*A9?2Aֽ:A=BA9?JAֽRA=YuJ@S y,=sSٓH4ԿL?@`5Կ@ò!>?)uJ@ I٘i)I9|@YG JJ=JJJ$E&Kw> YT~?yXA E{7j7U_<9)GB[[@[V~?[H[[[[BZYY igi) r;IiI9= g))g@nҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034554.983165 s, next control iter: 1743034555.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034555.383165 s.صI~,I.&AAQu@A5?u@AV~? AةA&"AAiNA"AZAbAjArAzAAA0C\FAcrAg|@A:Agg=ALtA`CsԿANAE*A:9?2A%Rֽ:A=BA:9?JA%RֽRA=٘i)I9g|@YG J0JJJJ&E&K YۜT~?yNǨXAE7777b<9)KB[[ @[@ V~?[[[[[BZYY i) v>;Ii@P9= _5))_5B@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034555.403165 s, next control iter: 1743034555.783179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8054&, header.stamp.nsec: 0&0 temperature: 13.384813&* salinity: 33.391441&, density: 1025.000000&* values[0]: 0.709184&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034555.803165 s.{AI~,g.&AJ"J*J2J:J5?BJ5?nJ^>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034555.803300F (some fields omitted in printout)Aq= #v@AȗP v@AފV~? AߩA&"AADiNA"AZAbAjArAzAAAr:cSAU$N trA{@AM/<AQ=AA=ӿA`RAi<*A9?2ASֽ:A =BA9?JASֽRA =٘i)I9{@YGG JHJJJJ)E&K YēT~?yϨXAŒE7)7f<9)OB[[@[V~?[/[[[[BZYY i) C ;IiO@9= ))Φ@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034555.823165 s, next control iter: 1743034556.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034556.223165 s.gËI~,H/&AA(\v@ADuv@A Y>{T~?yVAʌE{7{7Aq<9)_B[[MQ@[XU~?[[[[[BZYY i) rH;Iil@k;= Kr))KrHs@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034557.083165 s, next control iter: 1743034557.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034557.483165 s.{_׋I~,^/&AJ"J*J2J:JBJnJvJAw@AV)=ӷw@ACcV~? AA|&"AAhNA"AZAbAjArAzAAA!dTN AM+rA_y@Ax,A=A RAпA@A*A9?2An ׽:A%<BA9?JAn ׽RA%<٘i)I9_y@YG J%C=JJJJ4E&K YtT~?yvxVA͌Eb7b7t<90B)eBE[[nݏ@[U~?[M [[[[BZYY iш) Γ:Iin@Eo;= A))Ai@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034557.523165 s, next control iter: 1743034557.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8056, header.stamp.nsec: 00 temperature: 13.385326* salinity: 33.391426, density: 1025.000000* values[0]: 0.707091F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034557.903165 s.$݋I~,y/&AA ףp=x@Ag\#x@AZV~? AbAY&"AAhNA"AZAbAjArAzAAAxR Ag}SsAx@AXeA&=AȫA.MοA69AO*A9?2AJ!׽:AM <BA9?JAJ!׽RAM <٘i)I9x@YmG JǮJJJJ6E&K YnT~?y VAόE77{7kx<9/B)iBE[[i@[ U~?[[[[[BZYY i) .9Ii@;= 5"|))5"|@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034557.923165 s, next control iter: 1743034558.303185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743034558.323165 s.I~,W/&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.066805"J*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000500:JBJ dt: 0.420004nJvJ2 time: 1743034558.323291F (some fields omitted in printout)A\x@A`ݎx@ArRV~? A A&"AAUhNA"AZAbAjArAzAAAq" ABhsAMAx@AѮ=A+=A޿A`|̿A_A*A9?2Aֽ:AN<BA9?JAֽRAN<٘i)I9Ax@YG JYJJJJ9E&K YAhT~?yUAҌE|<9,B)jB[[@[U~?[[[[[BZYY i) Ii@*<= -w))-w@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034558.343165 s, next control iter: 1743034558.723187 s, wait time: 0.380022 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8057*, header.stamp.nsec: 0*0 temperature: 13.385549** salinity: 33.391407*, density: 1025.000000** values[0]: 0.706100*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034558.743165 s.WI~,y/&AAGzy@Agex@AJV~? AA&"AAQhNA"AZAbAjArAzAAAye AUE&K@x> Yk^T~?yTAؿ׌E77+<9)rBE[[r @[U~?[%[[[[BZYY i) $Ii7@yp<= mo))mom/@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034559.183165 s, next control iter: 1743034559.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034559.583165 s.I~, S/&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743034559.583286F (some fields omitted in printout)ARy@A1zny@AH*A9?2A1ֽ:Ah<BA9?JA1ֽRAh<٘i)I9u@YG JJJJJGE&K YST~?y(.SAߌE77{7<9)~B[[ݱ@[U~?[9[[[[BZYY is) 骻IiF@F<= a))aӬ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034560.443165 s, next control iter: 1743034560.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8059", header.stamp.nsec: 0"0 temperature: 13.385962"* salinity: 33.391384", density: 1025.000000"* values[0]: 0.704355"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034560.843165 s.J "J *J 2J :J P4?BJ P4? I~nJ=5vJ,50&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743034560.843310F (some fields omitted in printout)AHz.{@APR`{@A$,V~? A<A &"AAmhNA"AZAbAjArAzAAA(MA#U*?"sA{Su@AzA=AhοAeA`A槁*A@9?2Al׽:Aw<BA@9?JAl׽RAw<٘i)I9Su@YPG J…JJJJIE&K YfPT~?y6tSAE)77<9)BE[[=@[U~?[@[[[[BZYY i)  ʻIi@== U]))U]_@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034560.863165 s, next control iter: 1743034561.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034561.263165 s.I~,#P0&AA{@A,σ{@A'V~? ACAV &"AAefhNA"AZAbAjArAzAAA_7A?'sAt@A LA=A˿AA*A߃t*Ad9?2A;׽:AB<BAd9?JA;׽RAB YOT~?y?SA˿E{7j7<9+B)B E[[ɔ@[xU~?[HG[[[[BZYY i) Ii#@]V<=  Y)) Y@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034561.283165 s, next control iter: 1743034561.663175 s, wait time: 0.380010 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 80606, header.stamp.nsec: 060 temperature: 13.5692826* salinity: 33.3750046, density: 1025.0000006* values[0]: 0.5766716F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034561.683165 s.lI~,gk0&AJ"J*J2J:J?BJ?nJ5vJAQ|@Ag{@A#V~? AKA &"AA_hNA"AZAbAjArAzAAAl1AB{g,sA/t@AW]A@=A;ɿA2A<Ar*A9?2A(׽:A<BA9?JA(׽RA<٘i)I9t@YG JqJJJJOE&K Y OT~?yHRAEj7Z7<9)B[[U@[LU~?[N[[[[BZYY i) Ii̒@;= T))Tw@yaLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034561.683165 s, next control iter: 1743034562.083177 s, wait time: 0.400012 s OT~?) H rAdjusting time to match Gazebo time: 1743034562.103165 s.!I~,Ú0&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200602 time: 1743034562.103354F (some fields omitted in printout)A= ףp|@AEV|@A V~? ASA &"AAZhNA"AZAbAjArAzAAA]p@IsAΣ`J1sAt@AA|܃=AƿAlALAny*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG JtJJJJQE&K Y}NT~?yRQsRAEb777A<9)BE[['@[U~?[T[[[[BZYY i) WIi@ӳ;= ]P))]P"@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034562.143165 s, next control iter: 1743034562.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034562.523165 s.'I~,|0&AJ"J*J2J:J?BJ?nJ5vJA(|@A[|@AV~? A[A &"AAUhNA"AZAbAjArAzAAAL՘AX5b06sAs@A)(;Az=A(ĿA APZAo*A9?2Avֽ:A1=BA9?JAvֽRA1=٘i)I9s@YRG J~JJJJTE&K YMT~?y!ZRAE7֟<9)B[[kn@[U~?[[[[[[BZYY i)  $Ii@Ӽ;= K))Kf@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034562.543165 s, next control iter: 1743034562.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8061, header.stamp.nsec: 00 temperature: 13.569510* salinity: 33.375015, density: 1025.000000* values[0]: 0.576176F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034562.943165 s.Zd.I~,J]0&AAzG}@A-}@AV~? AdA&"AAPhNA"AZAbAjArAzAAAbx3 Aو;sAAs@A:8<A=AAϯA oeA)X*A@9?2AMֽ:A*^=BA@9?JAMֽRA*^=٘i)I9As@Y G JdJJJJWE&K Y7MT~?ybQAE77k<9)B[[Tȿ[U~?[?b[[[[BZYY i) y3Ii@ <= G))GG3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034562.963165 s, next control iter: 1743034563.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034563.363165 s.5I~,>0&AJ"J*J2J:Jo?BJo?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743034563.363316F (some fields omitted in printout)A3333}@AϾ }@AV~? AlAH&"AAMhNA"AZAbAjArAzAAA9A@sAr@Ae<A/=A A:A@nA,*A!9?2ANֽ:A =BA!9?JANֽRA =YQ@쾿yi,=xf<ٓH4?"?`3? ~ ~??)Q@ I٘i)I9r@YG JB=JVg<JJJYE&Kw> YsOT~?ykhQA쾿Eŧ7b7<9)B[[$ƿ[OU~?[h[[[[BZYY i) WCIi/@;= 9C))9C9CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034563.383165 s, next control iter: 1743034563.763181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8062&, header.stamp.nsec: 0&0 temperature: 13.569712&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.575638&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034563.783165 s.];I~,0&AAQ~@Ag'~@A'V~? A%tA &"AAJhNA"AZAbAjArAzAAA}}%AGDsARr@AL!<A=A8fA AtA2*AU9?2Aݎֽ:Ax =BAU9?JAݎֽRAx =٘i)I9Rr@Y{G JSC=JJJJ\E&K YQT~?yt QAE77{7<9,B)BE[[ÿ[U~?[o[[[[BZYY i) RRIi@u:= >))>>SĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034563.803165 s, next control iter: 1743034564.183182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034564.203165 s.CI~,* 1&AJ"J*J2J:JK?BJK?nJs5vJAףp=~@A\[%p~@ABV~? A8|A &"AAIhNA"AZAbAjArAzAAA/ApIsAXq@AGA=AAAxAt*Aɿ9?2A ֽ:A =BAɿ9?JA ֽRA =٘i)I9q@Y1G JyJJJJ_E&K YST~?yF}PAE77+<9)B[[][ U~?[xv[[[[BZYY i) ;bIiW@ := t:))t:t:ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034564.223165 s, next control iter: 1743034564.603183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743034564.623165 s.XII~,a'1&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034564.623289F (some fields omitted in printout)A)\~@AZ!~@AV~? AKAo&"AA$HhNA"AZAbAjArAzAAA< /4A Yy]T~?y~OA䱿E77{7<9)BE[[-[iU~?[[[[[BZYY i) Ii]@ 8= #K-))#K-#K-ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034565.483165 s, next control iter: 1743034565.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8064, header.stamp.nsec: 00 temperature: 13.570201* salinity: 33.374996, density: 1025.000000* values[0]: 0.574508F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034565.883165 s.y]I~,Ix1&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034565.883290F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@AGq:@AV~? AA&"AA JhNA"AZAbAjArAzAAA7mAiq]sA-o@A6>A=ALEA@ʥ?A ^nA"*AP9?2Aֽ:AkN=BAP9?JAֽRAkN=٘i)I9o@YG J웼JJJJiE&K YbT~?y'#OAEb77<9)B[[[U~?[`[[[[BZYY i) Ii@7= g())g(g(yЭ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034565.903165 s, next control iter: 1743034566.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034566.303165 s.VdI~,wg1&AAq= ף@Ag@@AV~? AA&"AAGLhNA"AZAbAjArAzAAA(VAH?~bsAVo@A;Ag=AĬAxN?AzeA9é*A˩9?2ADֽ:A=BA˩9?JADֽRA=٘i)I9Vo@YG JJJJJlE&K YgT~?yШNAE777<9)B[[ȶ[U~?[[[[[BZYY i) 6:Ii.@FE7= $))$$۪YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743034566.323165 s, next control iter: 1743034566.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8065., header.stamp.nsec: 0.0 temperature: 13.570424.* salinity: 33.375000., density: 1025.000000.* values[0]: 0.573898.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034566.723165 s.kI~,H1&AJ"J*J2J:J?BJ?nJ5vJA(\@A6D@AV~? AAP\&"AAKOhNA"AZAbAjArAzAAAnAA@fgsAYn@A}_<Av=A8A@j?A9ZA8R*A¤9?2A,!ֽ:AR =BA¤9?JA,!ֽRAR =٘i)I9n@YRG J=JJJJoE&K YlT~?yyVNAE7<9)BE[[[ U~?[ɞ[[[[BZYY i) ȞIi܎@E6=  ))  MߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034566.743165 s, next control iter: 1743034567.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034567.143165 s.b/rI~,9*1&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743034567.143291F (some fields omitted in printout)AGz@A)@`@AV~? AAk&"AAShNA"AZAbAjArAzAAAf:AE} MlsAq.n@AL<A2=A1A 95?ALA䵼*A)9?2AHֽ:A1=BA)9?JAHֽRA1=٘i)I9.n@YG JJJJJrE&K YqT~?y"MA E77A<9-B)BE[[`[U~?[y[[[[BZYY i) VIi@6= ۱))۱۱YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034567.163165 s, next control iter: 1743034567.543184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034567.563165 s.xI~,k 1&AJ"J*J2J:JBJnJvJAffff恿@AŚ@A."V~? AA"&"AAWhNA"AZAbAjArAzAAAiSQ>A>]0qsAm@A3;A=AꤿA@?AA<An·*A9?2Aֽ:Aɓ=BA9?JAֽRAɓ=Yv՘@Mݤy="%;ٓH s?@j? Y?@A?r`Tss?u?)v՘@ I٘i)I9m@YG JJՍ<JJJtE&K*x> YyT~?y©~MAݤ E<9)B[[/[U~?[[[[[BZYY i) ұIi@]5= [N))[N[NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034567.583165 s, next control iter: 1743034567.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8066, header.stamp.nsec: 00 temperature: 13.570701* salinity: 33.374981, density: 1025.000000* values[0]: 0.573195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034567.983165 s.I~,1&AAQ@AE^7@A &V~? AĪAÆ&"AA ]hNA"AZAbAjArAzAAAЂAxNvsAl@AA =A3Aڽ?A@_)A*A 9?2A׽:A<=BA 9?JA׽RA<=٘i)I9l@Y:G JZJJJJwE&K YT~?y˩MAEŧ7b7l<9)ƯB[[[)U~?[[[[[BZYY i)  Ii֌@E4= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034568.003165 s, next control iter: 1743034568.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034568.403165 s.&I~,2&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743034568.403282F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AmY@Al*V~? A̪A$&"AAXchNA"AZAbAjArAzAAA m,XvAvQ_zsA]l@A!;PA!=AA?AA`*Am9?2A/׽:ABy=BAm9?JA/׽RABy=٘i)I9]l@YG JJJJJzE&K YmT~?yzөLAE7777<9.B)˯BE[[ƫ[U~?[a[[[[BZYY i) TfIi*@i3= ~))~~!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034568.423165 s, next control iter: 1743034568.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8067", header.stamp.nsec: 0"0 temperature: 13.570987"* salinity: 33.375004", density: 1025.000000"* values[0]: 0.572513"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034568.823165 s.I~,42&AA\(@AnK@AU/V~? AԪAP&"AA\jhNA"AZAbAjArAzAAAV6 AqsA(k@AYA_=A眿A?A'Ad*A9?2A ׽:A&=BA9?JA ׽RA&=٘i)I9k@Y{G JB=JJJJ|E&K YMT~?y۩-LAE{7Z7<9/B)ѯBE[[[ U~?[[[[[BZYY i) üIi@2= 3 ))3 3 `YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034568.843165 s, next control iter: 1743034569.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034569.243165 s.I~,qO2&AJ"J*J2J:JBJnJvJAGz@A!kz@A4V~? AdܪA%"AA(rhNA"AZAbAjArAzAAAo{ Aur͑sA2k@AA =A_A-?A(AǼ*A9?2AQֽ:A>=BA9?JAQֽRA>=٘i)I9k@YG J0üC=JJJJE&K Y-T~?y`KAE77,<9)֯B[[sZ[U~?[Ʃ[[[[BZYY i) R˼Iia@g2=  ))  WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034569.263165 s, next control iter: 1743034569.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034569.663165 s.I~,qj2&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034569.663279F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8068, header.stamp.nsec: 00 temperature: 13.571264* salinity: 33.375000, density: 1025.000000* values[0]: 0.571762F (some fields omitted in printout)A@Ay>僿@A:V~? A?A%"AAzhNA"AZAbAjArAzAAAw/+w AD;]sAnpj@ArO;Aв=A5◿A`d?AAϼ*Au9?2AIֽ:A=BAu9?JAIֽRA=Y@!ٗyв==P;ٓH??@y? @?`ROi??)@ I?I٘i)I9pj@YG JM˼JS<JJJE&Kw> YT~?yDKAٗEŧ7b7<9)ۯB[[&[fV~?[ͩ[[[[BZYY i) PҼIi-@0= =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034569.683165 s, next control iter: 1743034570.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034570.083165 s.DI~,S2&AJ"J*J2J:J^?BJ^?nJ{5vJARk@AbmQ@A%AV~? AAς%"AAhNA"AZAbAjArAzAAAwB{$O A=z܇"sAi@Aj=<A=A_AB7?A AKּ*A29?2Aֽ:A[=BA29?JAֽRA[=٘i)I9i@YCG JEӼJJJJE&K YUT~?yJAEW<9)BE[[G[V~?[ө[[[[BZYY i) ؄ټIi(@͏/= f))fflYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034570.103165 s, next control iter: 1743034570.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034570.503165 s.I~,P42&AAp= ׄ@Ay"󼄿@AHV~? AA%"AA0hNA"AZAbAjArAzAAA&nK A|4sAi@Ac<A =AW˒A@ ?AĆANMڼ*A?9?2A ֽ:AO=BA?9?JA ֽRAO=٘i)I9i@Y G JؼJJJJE&K YT~?yTJA E777<90B)B E[[鹠[9V~?[$ک[[[[BZYY i) 7IiR@>~.= ))`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034570.523165 s, next control iter: 1743034570.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8069, header.stamp.nsec: 00 temperature: 13.571554* salinity: 33.374996, density: 1025.000000* values[0]: 0.570964F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034570.923165 s.7I~,2&AJ"J*J2J:J*?BJ*?nJD5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034570.923279F (some fields omitted in printout)A(\B@AVy(@AOV~? AA,S%"AAhNA"AZAbAjArAzAAAz AsAAQh@A6h<A=A{!A`?AScA%ڼ*A9?2AXֽ:Avb=BA9?JAXֽRAvb=٘i)I9Qh@Yd G JڼJJJJE&K Y~T~?yIA"E<9)B[[#[4V~?[[[[[ZZ¸BZYY i¸`?=) ԼIi@`-= ))義YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034570.943165 s, next control iter: 1743034571.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034571.343165 s.A%"AAhNA"AZAbAjArAzAAAqم0 AJHsAg@Ag9A3=AjA?A7=A׼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9g@Y G JLټJJJJE&K YT~?y# dIA%E7)7<9)B[[;G[V~?[[[[[ZZBZYY i) ȼIi5@`-= 6޾))6޾6޾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034571.363165 s, next control iter: 1743034571.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8070&, header.stamp.nsec: 0&0 temperature: 13.571868&* salinity: 33.374989&, density: 1025.000000&* values[0]: 0.570139&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034571.763165 s.?I~,A2&AJ"J*J2J:J?BJ?nJ 5vJA@AL@A_V~? A AH'%"AA&hNA"AZAbAjArAzAAAjrc AsAJf@A #AG=AA̓?A-A*A9?2A׽:A_ <BA9?JA׽RA_ YBT~?yHAЊ(E77<92B)B$E[[[:$V~?[x[[[[ZZBZYY i) z¼Ii؅@Q+= "־))"־"־CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034571.803165 s, next control iter: 1743034572.163185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743034572.183165 s.ŒI~,R 3&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743034572.183301F (some fields omitted in printout)AQ@A>[k@AhV~? AnA%"AAThNA"AZAbAjArAzAAA׾A sAe@A%hhA=AdAƧ?A`+A&*A%9?2Afֽ:AG<BA%9?JAfֽRAG<٘i)I9e@Y G J9JJJJE&K YqT~?y|HA*EB<9)B[[ח[H,V~?[[[[[ZZBZYY i) ҰIi@)= ?;))?;?;y=lѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034572.223165 s, next control iter: 1743034572.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034572.603165 s.=4ɌI~,Ț&3&AJ"J*J2J:JBJnJvJA= ף@Aɍֆ@AjrV~? AA%"AAChNA"AZAbAjArAzAAAFKABw8##sAS-e@A7Ar=A~A?A A]*Ay9?2A/ֽ:AzX<BAy9?JA/ֽRAzX<٘i)I9-e@Y{ G J(JJJJE&K YT~?yw$HA-E{7{7<9) B'E[[ќ[4V~?[,[[[[ZZBZYY i) 㤼Ii@(= Sľ))SľSľYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034572.623165 s, next control iter: 1743034573.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8071 , header.stamp.nsec: 0 0 temperature: 13.572196 * salinity: 33.375004 , density: 1025.000000 * values[0]: 0.569233 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034573.023165 s.ZЌI~,|A3&AA(\@AB@A^|V~? Ac!Am%"AAhNA"AZAbAjArAzAAA/AwsApd@A!)A|9/=AAm?AA,oμ*An9?2AOֽ:A;BAn9?JAOֽRA;٘i)I9pd@Y G JzB=JJJJE&K YU~?y>,GA0E77m<9)B[[_[=V~?[}[[[[ZZBZYY i) Iiۂ@s'= 6`))6`6`/vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034573.043165 s, next control iter: 1743034573.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034573.443165 s.:֌I~,J]\3&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034573.443300F (some fields omitted in printout)J"J*J2J:JBJnJvJAzLJ@A螭@AІV~? A(A%"AA_hNA"AZAbAjArAzAAAj:=Aq_b0sA/c@A);Av<AaA N?AT\Aw3&AA33333@Auq@AV~? A0A6M%"AAhNA"AZAbAjArAzAAAp+7,ADsA;Jc@AN<A<A{A[-?A)A҅*A9?2A$ֽ:A BA9?JA$ֽRA Yv@{y<N<ٓH[?@*?v @j?@`eQԉ? ?)v@ I٘i)I9Jc@YT G J J8JJJE&Kx>  =9YU~? =9y];GA{5E77=9)B[[县[@PV~?[ [[[[ZZBZYY i=) )Ii@)$= w))ww?_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034573.903165 s, next control iter: 1743034574.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034574.283165 s.7RI~,3&AJ"J*J2J:JBJnJvJAQ@A|Y@A%V~? AU7A%"AAn iNA"AZAbAjArAzAAA(Μ{AsN0sASb@A7<AIA[vA ?AA1M7*A9?2Aֽ:A%yBA9?JAֽRA%y٘i)I9b@Y G JiJJJJE&K Yk/U~?yBGA8Eb77,=9)B[[[)ZV~?[*[[[[ZZBZYY i=) rIi~@#= F|))F|F|)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034574.303165 s, next control iter: 1743034574.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8073., header.stamp.nsec: 0.0 temperature: 13.572737.* salinity: 33.375008., density: 1025.0000002* values[0]: 0.5677712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034574.703165 s.غI~,3&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743034574.703328F (some fields omitted in printout)Aףp= @A1е/@AV~? A>A2%"AA iNA"AZAbAjArAzAAA#.TwAِlousAb@AJl;AӺA21qA ?AA*A9?2A/eֽ:AaBA9?JA/eֽRAa٘i)I9b@Y G J` B=JJJJE&K Y"?U~?y JFA;E{7j7=95B) B.E[[e[udV~?[R[[[[ZZBZYY i) ^Iim|@ԍ!= v))vv)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034574.723165 s, next control iter: 1743034575.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034575.123165 s.7I~,]3&AJ"J*J2J:JBJnJvJA)\u@Ab [@A_V~? AEA%"AA_/iNA"AZAbAjArAzAAAj KAcysAb@AfɻAW AlA?A AE8*Au9?2AF$ֽ:A#%мBAu9?JAF$ֽRA#%м٘i)I9b@Y G JJC=JJJJE&K YNU~?yeQFA=E77W =96B)!B/E[[s"[#oV~?[p[[[[BZYY i) 8KIiz@Q = j))jjyG=8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034575.143165 s, next control iter: 1743034575.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034575.543165 s.II~,3&AA{Gቿ@AQ/4lj@A,V~? ALA%"AAeBiNA"AZAbAjArAzAAA-'QAP)`sAb@ABSA5A fA?A@;JAp;*A99?2A<ս:ABA99?JA<սRA9٘i)I9b@Y G J:JJJJE&K Y^U~?yXFA@Eb77=97B)2E[[a݅[3zV~?[%[[[[BZYY i) `7Iix@T= U))UUt*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034575.563165 s, next control iter: 1743034575.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8074, header.stamp.nsec: 00 temperature: 13.572761* salinity: 33.375008, density: 1025.000000* values[0]: 0.567600F (some fields omitted in printout)2^U~?)2X rAdjusting time to match Gazebo time: 1743034575.963165 s.zI~,3&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799:JBJ> elevatorAngleAction: 0.074668nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034575.963324F (some fields omitted in printout)AL@AU2@AoV~? ASA$%"AAViNA"AZAbAjArAzAAABukAQQsAb@AUADZA#aA[?A@& Ag<*A9?2A ֽ:A9BA9?JA ֽRA9Y٥@ay|ZUٓH =T?~?k kV?RO??L??)٥@ I٘i)I9b@Y G J;JJJJE&K w> YpU~?y_+GAaCE777=9)5E[[[V~?[{+[[[[BZYY if=) o;'Iiu@&2= x))xxk*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034575.983165 s, next control iter: 1743034576.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034576.383165 s.I~,+4&AAQ@A9@A%V~? AnZAZ %"AAjiNA"AZAbAjArAzAAA>AMsUsA c@A.ԻAFyA#{\AC,?A FAd5<*A9?2ATֽ:A? BA9?JATֽRA? ٘i)I9 c@Y0 G J<JJJJE&K YU~?yWftGAEE77=9)B[[Z[1V~?[h1[[[[BZYY i) }Iir@M= ,f)),f,f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034576.403165 s, next control iter: 1743034576.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8075&, header.stamp.nsec: 0&0 temperature: 13.572649&* salinity: 33.375015&, density: 1025.000000&* values[0]: 0.567795&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034576.803165 s.tA I~,og34&AJ"J*J2J:JBJnJvJAq= #@A @ANV~? A2aAD%"AAiNA"AZAbAjArAzAAA3:_AǡsAcc@A&[;AA8WAt?AA0.g<*A>9?2Aֽ:A BA>9?JAֽRA ٘i)I9cc@Yd G JM<JJJJE&K YU~?y$mGAHEŧ7b7=98B)B8E[[*~[HV~?[M7[[[[BZYY i=) Iip@Ц= kT))kTkT'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034576.843165 s, next control iter: 1743034577.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034577.223165 s.gI~,HN4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034577.223294F (some fields omitted in printout)A(\@AnEu@AV~? AgA%"AAdiNA"AZAbAjArAzAAAHAsAc@A 9<AAQA ?ABAjЅ<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9c@Y G Jay<JJJJE&K YU~?ysHAKE77B=99B)B9E[[Sy[V~?[%=[[[[BZYY i) $Iim@3>= -B))-B-By"g=g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034577.243165 s, next control iter: 1743034577.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034577.643165 s.{I~,*i4&AJ"J*J2J:Jy?BJy?nJ5vJAG@At_@AW~? AtnAl%"AA֫iNA"AZAbAjArAzAAAZƱLAˠJsA~Bd@A.Y<A6ALA#?A`A<*A"9?2Aֽ:A BA"9?JAֽRA ٘i)I9Bd@Y G J0<JJJJE&K Y}U~?yzQHAMEb77 =9:B)B???)@ I٘i)I9d@Y: G J5<JUJJJE&Kx> YU~?yHAGPE{7j7m$=9)B[[p[V~?[H[[[[BZYY i) Iiuh@= p))pp*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034578.083165 s, next control iter: 1743034578.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034578.483165 s.}_'I~,4&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743034578.483319F (some fields omitted in printout)Aь@A6׷@AT(W~? AS{A%"AAiNA"AZAbAjArAzAAAP{7ʝAErsAhNe@ATA9CA`BA@?AiA'<*A9?2AQֽ:Adr BA9?JAQֽRAdr ٘i)I9Ne@Y G J<JJJJE&K YU~?y IASEb77(=9;B)B?E[[k[V~?[ elevatorAngleAction: 0.065711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743034579.743340F (some fields omitted in printout)AGz@AW]j@AtZW~? AAt%"AA%jNA"AZAbAjArAzAAA{õt=zʿAvFsAg@Aa"AjA2A@OB?AAA<*A9?2AUֽ:A BA9?JAUֽRA ٘i)I9g@Y G J<JJJJE&K YV~?yVJA[Eŧ7b72=9=B)BFE[[#^[V~?[^[[[[BZYY i) պIi]@ = @))@@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034579.763165 s, next control iter: 1743034580.143192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743034580.163165 s.u}BI~,q 5&AJ"J*J2J:JBJnJvJA@A~e@AkW~? AؓA%"AA?jNA"AZAbAjArAzAAA=(@?AҞ*sAPg@AEdA8#A-A`U?A``-A֬<*A9?2APֽ:AIBA9?JAPֽRAIYv\@-y2#ʐٓH?`e?`>?`D?@?` Rg?)v\@ I٘i)I9g@Y G J=<J;JJJōE&K x> Y2V~?y4JA-]E{7Z7X6=9>B)BIE[[gY[| W~?[#d[[[[BZYY i)  9IiY@9 = `))``f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034580.183165 s, next control iter: 1743034580.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034580.583165 s.HI~,S%5&AAR뎿@A'jinю@A}W~? AA4/%"AAZjNA"AZAbAjArAzAAA~U4?AWsA))Z>Z>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034580.603165 s, next control iter: 1743034580.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8079, header.stamp.nsec: 00 temperature: 13.571402* salinity: 33.375065, density: 1025.000000* values[0]: 0.570388F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034581.003165 s.w PI~,H4@5&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034581.003297F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A <@A'W~? ApA%"AAvjNA"AZAbAjArAzAAAg0?w9w?AZ)sAyh@A}Z<A#[AQ"A?AA%<*A9?2A׽:ABA9?JA׽RA٘i)I9h@Y G J<JJJJʍE&K Y^V~?y?KAcE77==9)BLE[[SP[3)W~?[n[[[[BZYY i) N:IidS@J= ))輩*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034581.023165 s, next control iter: 1743034581.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034581.423165 s.uVI~,[5&AA(\@A5w@AѢW~? AAN%"AA jNA"AZAbAjArAzAAAPڍr?Ai{ZEsAPi@AL;<A2%AɫA?At*A'<*Ad9?2Axֽ:ABAd9?JAxֽRA٘i)I9Pi@YG Jh<JJJJ͍E&K YtV~?yįKAeE7777A=9?B)BOE[[wK[!9W~?[s[[[[BZYY i) D ;IiP@%= ''))''''*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034581.443165 s, next control iter: 1743034581.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8080, header.stamp.nsec: 00 temperature: 13.571027* salinity: 33.375057, density: 1025.000000* values[0]: 0.571105F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034581.843165 s.\I~,u5&AJ"J*J2J:JBJnJvJAHz.@A @AٵW~? AA%"AAjNA"AZAbAjArAzAAA?An}jtAi@Ad;AgAAV?A߿A<*A9?2Aqֽ:ARBA9?JAqֽRAR٘i)I9i@YRG J̠<JJJJЍE&K Y܊V~?yIULAhE7D=9@B)BPE[[F[nIW~?[x[[[[BZYY i) C;IiZN@= <))<<*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743034581.863165 s, next control iter: 1743034582.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034582.263165 s.dI~,Aؐ5&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034582.263281F (some fields omitted in printout)A@AU@A;W~? AAw%"AAjNA"AZAbAjArAzAAA?AztA^j@A̻AڌA4A`ħ?A޿Ao<*Ab9?2ApYֽ:AnBAb9?JApYֽRAnY@uyڌ[ͻٓH?p? c«`c@?@ۥ?`?y y?)@ I٘i)I9^j@YG J<JV<JJJҍE&Kx> YV~?yLAukE{7CH=9AB)BSE[[_^B[YW~?[}[[[[BZYY iI=) ڢ;Ii@J@$q= /<)),/</<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034582.283165 s, next control iter: 1743034582.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 80812, header.stamp.nsec: 020 temperature: 13.5706742* salinity: 33.3750802, density: 1025.0000002* values[0]: 0.5718112F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034582.683165 s.ljI~,g5&AJ"J*J2J:JBJnJvJAQ@AK됿@AW~? A7A%"AAHjNA"AZAbAjArAzAAAkFk?AubtApj@A{OAKA]xA?A$8޿A<*A9?2A=ֽ:AxBA9?JA=ֽRAx٘i)I9j@YG J<JJJJՍE&K Y?V~?yᾪMAmEb777K=9BB)BVE[[=[jW~?[[[[[BZYY i) ;IiF@3 < 5=)) 5=5=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034582.683165 s, next control iter: 1743034583.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743034583.103165 s.qI~,5&AA= ףp@A,V@A W~? A[Aک%"AAmkNA"AZAbAjArAzAAAA˖9?AQ* tAhk@AIKAB݈AP AF?AzݿAy<*A9?2A~ս:ABA9?JA~սRA٘i)I9hk@YFG J#<JJJJ؍E&K YV~?yêpMApEŧ7b7mO=9)BZE[[9[{W~?[[[[[BZYY i) [;Ii4C@ < Z=))Z=Z=Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034583.123165 s, next control iter: 1743034583.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034583.523165 s.wI~,|5&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743034583.523320F (some fields omitted in printout)A(ܑ@AUka‘@AqX~? A]AF%"AA&kNA"AZAbAjArAzAAAb?A5rtAk@Ab'AAAۑ?A`ټܿA<*A9?2Aս:A5BA9?JAսRA5٘i)I9k@YG JC<B=JJJJڍE&K YV~?yyȪMAsEb7S=9)B[[M4[W~?[S[[[[BZYY i) G;;IiC@@4< `=))`=`=yʘ=b*Y~ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034583.563165 s, next control iter: 1743034583.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8082, header.stamp.nsec: 00 temperature: 13.570329* salinity: 33.375095, density: 1025.000000* values[0]: 0.572514F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034583.943165 s.Xd~I~,B]5&AAzG@A,-@A-X~? A?īA%"AAA:sA@?A ۿA{<*A9?2AKֽ:ABA9?JAKֽRA٘i)I9]l@YG J<C=JJJJݍE&K YOW~?yEͪ-NAvE7777V=9CB)B]E[[/[W~?[[[[[BZYY i) P;Ii=@< =))==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034583.983165 s, next control iter: 1743034584.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034584.363165 s.I~,>6&AJ"J*J2J:J?BJ?nJ5vJA3333@AW@A9/X~? AȫAɇ%"AAdkNA"AZAbAjArAzAAAZ76@AtAbl@A?<A@AA#?A3ۿA<*A9?2A-ֽ:ABA9?JA-ֽRAY^ٲ@6y>@<ٓHd?t9?ȝ 4ݿnw?ஔ? $?? ?)^ٲ@ I٘i)I9l@Y"G J<Jn;JJJE&K9v> YoW~?yLѪNA6xE{7{7-Z=9DB)ޯBaE[[*[W~?[[[[[BZYY i)  elevatorAngleAction: 0.074654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743034584.783328F (some fields omitted in printout)AQ@A4h@ADX~? AͫA=,%"AAkNA"AZAbAjArAzAAAh0@A>+tACm@A"V<A튽A]A@ei?A@jڿA|ӈ<*A79?2A}ֽ:ABA79?JA}ֽRA٘i)I9Cm@YgG J<JJJJE&K Y3W~?yTժNA{Eŧ7ŧ7]=9EB)ۯBdE[[&&[W~?[[[[[BZYY i) Y))  > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034584.803165 s, next control iter: 1743034585.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034585.203165 s.I~,M6&AJ"J*J2J:JBJnJvJAףp=@A5&p@A=ZX~? AҫAY%"AAkNA"AZAbAjArAzAAA؝@ANtAm@A ;AAS޾A n?AٿA<*AI9?2AAս:ABAI9?JAAսRA٘i)I9m@YG J<JJJJE&K YLW~?y[٪BOA~Eb7Xa=9)ׯB[[e![W~?[U[[[[BZYY i) g,))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034585.223165 s, next control iter: 1743034585.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034585.623165 s.]I~,vg6&AA)\@A-ۓ@A/pX~? Ao֫A}%"AAkNA"AZAbAjArAzAAA ڨ@AF~0tA1n@AʕA:A{ԾA?A ؿA<*A9?2AQս:AdBA9?JAQսRAd>I٘i)I91n@YG J6<JJJJE&K YeW~?ybݪOAEb77d=9)ԯBgE[[[ W~?[[[[[BZYY i) 5'<))1>1>*Y5"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034585.663165 s, next control iter: 1743034586.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8084 , header.stamp.nsec: 0 0 temperature: 13.569699 * salinity: 33.375134 , density: 1025.000000 * values[0]: 0.573769 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034586.043165 s.I~,Â6&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743034586.043286F (some fields omitted in printout)A{Ga@A>>!;G@AfX~? AګAk)%"AAkNA"AZAbAjArAzAAA @A tAѯn@A*AAn|ʾA-,?A ؿAP<*A9?2Asս:AS BA9?JAsսRAS ٘i)I9n@YEG JЖ<B=JJJJE&K Y~W~?yjOAE7ŧ7h=9FB)ЯBjE[[[W~?[Ц[[[[BZYY i) K))E>E>\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034586.083165 s, next control iter: 1743034586.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034586.463165 s.[I~,6&AA̔@AB#ظ@AX~? AޫAn%"AA lNA"AZAbAjArAzAAA @AN >"tA 3o@Ar\AfA=8A@h?AA<׿Ah<*A~9?2AUս:A BA~9?JAUսRA Y/@yu]ٓH@Ѵ?w? zY׿?Hԣ?@M?`WI?)/@ I٘i)I93o@YG J@<C=JN1JJJE&K=u> Y6W~?y]PAE7l=9)ͯBmE[[[/X~?[ت[[[[BZYY i) Z))98{X>X>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034586.503165 s, next control iter: 1743034586.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8085, header.stamp.nsec: 00 temperature: 13.569374* salinity: 33.375145, density: 1025.000000* values[0]: 0.574407F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034586.883165 s.yI~,46&AJ"J*J2J:JBJnJvJAQ8@A)u8@AX~? AA.%"AA,lNA"AZAbAjArAzAAAdI @AEw$tA\o@AAߓAA`?A gֿA՞<*AV9?2Ayս:Aqx BAV9?JAyսRAqx ٘i)I9o@YG J<JJJJE&K Y~W~?yPAEb77o=9)ɯBpE[[D['%X~?[ˮ[[[[BZYY i\=) ?:j)) /k>/k>Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034586.903165 s, next control iter: 1743034587.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034587.303165 s.TI~,og6&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034587.303294F (some fields omitted in printout)Aq= ף@A‰@AX~? AlA>%"AANlNA"AZAbAjArAzAAA'2@AF&%&tA=p@AAxAA`?AqտA<*A9?2A[Խ:Ae BA9?JA[ԽRAe ٘i)I9=p@Y7G J|<JJJJE&K YW~?y!QAE{7{7Cs=9)ůB[[[q [9X~?[[[[[BZYY i) Fy))z~>z~>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034587.343165 s, next control iter: 1743034587.703177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 80862, header.stamp.nsec: 020 temperature: 13.5690082* salinity: 33.3751372, density: 1025.0000002* values[0]: 0.5751102F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034587.723165 s.I~,H6&AJ"J*J2J:JBJnJvJA(\@A8L4H@AX~? AA4%"AAqlNA"AZAbAjArAzAAA$!@A Yi+)tAp@AT<AǖAՕA .?A@FԿAK<*A9?2A`ս:Aw= BA9?JA`սRAw= ٘i)I9p@YG J<JJJJE&K YW~?yLQAE7ŧ7v=9GB)BsE[[ߖ[5NX~?[i[[[[BZYY i) d))>>Q*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034587.763165 s, next control iter: 1743034588.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034588.143165 s.T/I~,) 7&AAGz@AW`@AXX~? AAt%"AA1lNA"AZAbAjArAzAAAŮV@A!HL+tABq@AZ<A4eAAI?A<ӿAHR<*A9?2Aս:A[ BA9?JAսRA[ ٘i)I9Bq@YG J\<JJJJE&K YWX~?yQAE7{7nz=9IB)BwE[[l[>cX~?[[[[[BZYY i) C))1>1>ylI=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034588.163165 s, next control iter: 1743034588.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034588.563165 s.ȍI~,N $7&AJ"J*J2J:JR?BJR?nJz5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034588.563293F (some fields omitted in printout)Affff斿@A80Q̖@A Y~? AAm%"AAlNA"AZAbAjArAzAAA.2@A'W-tA!q@A)2<A:A"݋A'{?A ~ҿA.<*A9?2Aս:As~BA9?JAսRAs~Y$H@BJy|]2<ٓH@c?C?8bDѿ`? M̄? ?E??)$H@ I٘i)I9q@Y&G J<B=J8=JJEJE&Kt> YX~?yORAJEj7Z7~=9)BzE[[[FxX~?[[[[[BZYY i) ))|xY>Y> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034588.583165 s, next control iter: 1743034588.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8087, header.stamp.nsec: 00 temperature: 13.568645* salinity: 33.375160, density: 1025.000000* values[0]: 0.575807F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034588.983165 s.ύI~,>7&AAQ@A7@A(Y~? AA-%"AAlNA"AZAbAjArAzAAAmr@ARJ/tAOr@A4-;APA ˁA ?A@ ҿA Ҩ<*A9?2Aս:AwBA9?JAսRAw٘i)I9Or@YzG J<C=JJJJE&K Y8X~?yHRAE77=9)B}E[[5 [X~?[[[[[BZYY i) Q )) >>z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034589.003165 s, next control iter: 1743034589.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034589.403165 s.&֍I~,Y7&AJ"J*J2J:JBJnJvJA ףp@AysV@A AY~? A#A|%"AAWmNA"AZAbAjArAzAAAӳy9@AH&1tAr@A~A΢ASpA?A`;ѿA<*A9?2Awӽ:AǑBA9?JAwӽRAǑ٘i)I9r@YG J<JJJJE&K YSX~?y!SAEZ7Z7.=9)BE[[EA[mX~?[=Ī[[[[BZYY i) ))qޯ>qޯ>r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034589.423165 s, next control iter: 1743034589.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8088", header.stamp.nsec: 0"0 temperature: 13.568286"* salinity: 33.375183", density: 1025.000000"* values[0]: 0.576523"F (some fields omitted in printout)BSX~?)B rAdjusting time to match Gazebo time: 1743034589.823165 s.܍I~,)t7&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034589.823293F (some fields omitted in printout)A\(@AO=@AZYY~? AAQ%"AA&mNA"AZAbAjArAzAAAUĆ04`@A2tAys@ASA,AgC\A`W?A`bпAs<*AJ9?2A[Խ:A7RBAJ9?JA[ԽRA7R٘i)I9ys@Y/G J<JJJJE&K YoX~?y SAEj7j7È=9)B[[eؾ[X~?[kǪ[[[[BZYY i) R ))>>e*YI0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034589.843165 s, next control iter: 1743034590.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034590.243165 s.I~,7&AJ"J*J2J:JBJnJvJAGz@A/Iez@AqY~? AA%"AAJmNA"AZAbAjArAzAAAÆM@A<f4tA7t@AGAƧAGA_+?A@ϿA<*AG9?2AžԽ:A+$BAG9?JAžԽRA+$٘i)I9t@YG J<JJJJE&K Y=X~?ymSAE{7Y=9JB)BE[[}zξ[X~?[{ʪ[[[[BZYY i) c))9>9>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034590.263165 s, next control iter: 1743034590.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034590.663165 s.I~,q7&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8089, header.stamp.nsec: 00 temperature: 13.567886* salinity: 33.375172, density: 1025.000000* values[0]: 0.577332F (some fields omitted in printout)A@A 0嘿@A{Y~? A`AJ%"AA+pmNA"AZAbAjArAzAAAE@A'<-6tAat@AqAAC2AQ?A@X9ͿA#<*A?9?2A4Tս:Av>BA?9?JA4TսRAv>Y~@1yqٓHi?+?@ ƿ?8?v1?`0t?)~@ I٘i)I9t@YG J<B=JT|JJJE&Kt> Y X~?yeTA1Ej7=9)BE[[ľ[NX~?[`ͪ[[[[BZYY i) ))Wws>s>:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034590.683165 s, next control iter: 1743034591.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034591.083165 s.DI~,S7&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241239> elevatorAngleAction: 0.083673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034591.083294F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@AOtQ@AKY~? AAi%"AAmNA"AZAbAjArAzAAA{z@AN(C7tA*Xu@A;AɖAܕA@{v?A:e˿Aa<*Ag9?2Acֽ:AjBAg9?JAcֽRAj٘i)I9Xu@YSG Js<C=JJJJ E&K YX~?ywTAE7{7=9)BE[[q˺[X~?[(Ъ[[[[BZYY i) 5))͖ET>ET>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034591.103165 s, next control iter: 1743034591.483184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034591.503165 s.I~,H47&AAp= י@AB{񼙿@ADY~? AAC%"AA\mNA"AZAbAjArAzAAAO]@Ahn9tAu@A!oD<AZkA1A@?A}ɿA<*A9?2A8Խ:ABA9?JA8ԽRA٘i)I9u@YG J!<JJJJ E&K YX~?yIUAE7=9)BE[[aװ[ Y~?[Ҫ[[[[BZYY i) _)) UH>UH>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034591.523165 s, next control iter: 1743034591.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8090, header.stamp.nsec: 00 temperature: 13.567470* salinity: 33.375206, density: 1025.000000* values[0]: 0.578161F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034591.923165 s.<I~,7&AJ"J*J2J:JBJnJvJA(\B@A|E{(@AcY~? A6A.%"AAPmNA"AZAbAjArAzAAAkk.k@@ASZ:tAۜv@A^T<A5AA?AwǿA<*A9?2AԽ:ABA9?JAԽRA٘i)I9v@YG Jm<JJJJE&K YiX~?yUAEb77=9)BE[[Ѧ[i+Y~?[]ժ[[[[BZYY i)  ))N>N>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034591.943165 s, next control iter: 1743034592.323183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743034592.343165 s.<I~,8&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034592.343290F (some fields omitted in printout)AHz@AK@AY~? A.A%"AAxnNA"AZAbAjArAzAAA+Gr@AW\a;tAFDw@A;A԰AپA@?A&ſA<*A9?2AԽ:ABA9?JAԽRA٘i)I9Dw@Y~G JR<JJJJE&K Y3Y~?y-VAE{7{7D=9)BE[[[CY~?[ת[[[[BZYY iKս=) /))c>c>*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743034592.363165 s, next control iter: 1743034592.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8091*, header.stamp.nsec: 0*0 temperature: 13.567028** salinity: 33.375214*, density: 1025.000000** values[0]: 0.579006*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034592.763165 s.7 I~,08&AJ"J*J2J:JBJnJvJA@Ah@AZ~? A As%"AA-nNA"AZAbAjArAzAAA*A@A} YT1Y~?yVA DE١=9)BE[[Ē[ZY~?[ڪ[[[[BZYY i) f))2 v[>[>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034592.783165 s, next control iter: 1743034593.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034593.183165 s.I~,sK8&AAQ@A_k@Az!Z~? A AP%"AASTnNA"AZAbAjArAzAAAm @AU?=tARx@A1AQ`A3^A@?A`K¿AC<*A9?2AtԽ:AXBA9?JAtԽRAX٘i)I9x@YTG J<JJJJE&K YuMY~?yRWAESI7SI7n=9)B[[[zrY~?[!ܪ[[[[ZZZZ¸>BZYY i¸>媽) ftALXy@Aa*\AA A@]!?A`z`A)%<*A9?2A`ӽ:AI BA9?JA`ӽRAI ٘i)I9Xy@YG Jf<JJJJE&K YiY~?yWAE{7j7=9)BE[[S*}[Y~?[ު[[[[ZZZZBZYY i) e8&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034594.863324F (some fields omitted in printout)A33333@A}@AFZ~? AA%"AAnNA"AZAbAjArAzAAA/"@A:'-@tAO{@AG<AuA <AQ?A AX<*A:?2AO+ս:AcBA:?JAO+սRAcY@M YY~?yXA<Eb77ij=9)kBE[[C?[Y~?[2[[[[ZZZZBZYY i) !oNA"AZAbAjArAzAAAl$@A[AtAo,}@As><A|ڼAr=A@m?A[ A\<*A(:?2ADӽ:A;BA(:?JADӽRA;٘i)I9,}@YG Jb<C=JJJJ(E&K YY~?y{YAE77{7=9)`BE[[[Z~?[[[[[ZZZZBZYY i) 㚋<*A:?2AԽ:Aw<BA:?JAԽRAw<٘i)I9~@YG JMi<JJJJ.E&K Y/Z~?y ZAƍE77{7=9)XB[[6ٽ[9Z~?[[[[[ZZZZBZYY i) .jA?A`c&AuL;*A:?2A2ս:A?<BA:?JA2սRA?<٘i)I9Q~@YG J.<JJJJ0E&K Y_KZ~?yrZAɍE77=9)VBE[[֫[SZ~?[[[[[ZZZZBZYY i) SAʀ?A`k?A';*A?:?2ASս:A<BA?:?JASսRA<٘i)I9s~@YG J{;JJJJ3E&K YgZ~?yZAˍE7777D=9HB)UBE[[vU[mZ~?[C[[[[ZZZZBZYY i) r"=[~? ACA4%"AAdpNA"AZAbAjArAzAAA魢,'@A>iPBtA}r~@A%iAR;=A +>A@~?A}?A&<*A9?2A@ս:Aj<BA9?JA@սRAj<٘i)I9r~@YG JJJJJ6E&K YZ~?yg[A΍E77=9)TBE[[5[Z~?[[[[[BZYY i) 6&A z?A ?A*A9?2Aս:A4 =BA9?JAսRA4 =٘i)I9P~@YG J'JJJJ8E&K Y"Z~?y+j[AэE7o=9)UBE[[[BZ~?[[[[[BZYY it) A r?AB?AS@*A9?2Aս:Au=BA9?JAսRAu=٘i)I9~@YG JJJJJ;E&K YcZ~?y[AӍE77=9NB)]BE[[.[Z~?[[[[[BZYY i)  ;Ii?t-< aH?))aH?aH?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034598.663165 s, next control iter: 1743034599.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8097, header.stamp.nsec: 00 temperature: 13.564804* salinity: 33.375309, density: 1025.000000* values[0]: 0.583290F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034599.063165 s.pI~,R 9&AAfffff@AnnLOL@A5[~? AA%"AAypNA"AZAbAjArAzAAA6v)@AAtAг}@ADY<A̓=Aoh>A Dh?Aԯ?A@8t*A9?2Afս:Ab=BA9?JAfսRAb=Y<'i>yvɓ=0Z<ٓH?`̿@? ?,?QXk?@u 3??)< I٘i)I9}@YiG JXJ2>JJJ>E&K> YZ~?yZ[Ai>֍Ej7Z7=9MB)`BE[[iQ<[kZ~?[ [[[[BZYY i0~@) w;Ii|?!< fM?))4jfM?fM?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034599.103165 s, next control iter: 1743034599.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034599.483165 s._wI~,9&AJ"J*J2J:JK?BJK?nJ5vJAѡ@A/ޏ۷@A[~? A0A%"AApNA"AZAbAjArAzAAA5)@A+m AtAD}@A:;A =A~>A9[?A@ڼ?A*A>9?2A4Mֽ:A~%=BA>9?JA4MֽRA~%=٘i)I9D}@Y&G JFB=JJJJAE&K YiZ~?yZAٍEb7b7/=9)cBE[[T=[qZ~?[[[[[BZYY i d) <$;Iirk?˯< 0R?))0R?0R?yWܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034599.523165 s, next control iter: 1743034599.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8098, header.stamp.nsec: 00 temperature: 13.564837* salinity: 33.375336, density: 1025.000000* values[0]: 0.583024F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034599.903165 s.}I~,9&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261587@ elevatorAngleAction: -0.063668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199062 time: 1743034599.903297F (some fields omitted in printout)A ףp=@Ax]#@A[~? AAA6%"AA6pNA"AZAbAjArAzAAA?*@Aaz@tA)|@A24AP7=A~>AN?Aҷ?Av̭*AQ9?2Aӽ:ABp=BAQ9?JAӽRABp=٘i)I9|@YG JC=JJJJCE&K Y[~?yZAۍE)7ŧ7=9)gB[[tq=[ [~?[i[[[[BZYY i) /;Ii"\? < /X?)) /X?/X?y4CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034599.923165 s, next control iter: 1743034600.303183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743034600.323165 s.sI~,:&AJ"J*J2J:JBJnJvJA\@AEHݎ@A[~? A(A%"AA^pNA"AZAbAjArAzAAAPt*@A ?tAP'|@A#5A~=A>A 5??Ap?Ae*AX9?2AvԽ:A =BAX9?JAvԽRA =٘i)I9'|@YxG J˴JJJJFE&K Yj*[~?y0ZAލE777Z=9LB)kB¹E[[ˣ=[$[~?[[[[[BZYY i) ]r;IiN?5< P]?))P]?P]?yY@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034600.363165 s, next control iter: 1743034600.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8099*, header.stamp.nsec: 0*0 temperature: 13.564959** salinity: 33.375320*, density: 1025.000000** values[0]: 0.582473*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034600.743165 s.WI~,q/:&AAGz@ADlp@A[~? A A%"AAkqNA"AZAbAjArAzAAAE*tw+@A\| ?tA܅{@A.^A=AL>A -?A{?AbZż*A<9?2A<Խ:A8=BA<9?JA<ԽRA8=٘i)I9{@YG JB=JJJJIE&K YE[~?yYAE{7{7=9)oBŹE[[=[x?[~?[[[[[BZYY i) _^5;IiB?V; .b?)).b?.b?y-ȂYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034600.763165 s, next control iter: 1743034601.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034601.163165 s.J "J *J {}I~2J:J?,qJ:&ABJ?nJD5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.063668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034601.163281F (some fields omitted in printout)A@Ae@A& \~? A~ A%"AA[=qNA"AZAbAjArAzAAAE],@AB?.>tA^z@A+A/=A>A_?Ah_?A-ͼ*A9?2A ս:AV=BA9?JA սRAV==I٘i)I9z@YG JɼC=JJJJKE&K Ypa[~?yiYAE)7ŧ7=9KB)tBȹE[[.=[Z[~?[)[[[[BZYY i) :Ii8?5; Uh?))Uh?Uh?ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034601.183165 s, next control iter: 1743034601.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034601.583165 s.明I~,Se:&AAR룿@AvSkѣ@A&\~? A As<%"AA(dqNA"AZAbAjArAzAAAkܭ,@A>?9=tA,z@A :A\=A~>Ap?A`d2?AӼ*A9?2Aս:Au=BA9?JAսRAu=٘i)I9,z@YCG JѼJJJJNE&K Y|[~?yYAE77j7=9JB)yB˹E[[>[t[~?[ [[[[BZYY i) m:Ii0?; Tm?))Tm?Tm?~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034601.603165 s, next control iter: 1743034601.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8100, header.stamp.nsec: 00 temperature: 13.565140* salinity: 33.375351, density: 1025.000000* values[0]: 0.581811F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034602.003165 s. I~,j4:&AJ"J*J2J:JBJnJvJAp= W@A#<@A%@\~? A3 Ap\%"AAϊqNA"AZAbAjArAzAAA䞃&&H-@A$f+A`/?A?Aռ*A:?2A3ս:A=BA:?JA3սRA=٘i)I9yy@YG J;ռJJJJQE&K Ys[~?yXAE77=9)~BιE[[u(>[B[~?[[[[[BZYY i) m÷IiH*?; x:s?))x:s?x:s?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034602.023165 s, next control iter: 1743034602.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034602.423165 s.uI~,:&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.063668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034602.423290F (some fields omitted in printout)A(\¤@A|@AyY\~? AQA%"AAKqNA"AZAbAjArAzAAAg~[-@A8C;tAx@Am^<A=Auk>A|?A?A Ҽ*AA :?2A|ս:AfY =BAA :?JA|սRAfY =٘i)I9x@YiG JԼB=JJJJSE&K Y[~?y@XAEb77E=9IB)BѹE[[}>>[ߩ[~?[K[[[[BZYY i) zIi%?*; x?))x?x? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034602.463165 s, next control iter: 1743034602.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8101, header.stamp.nsec: 00 temperature: 13.565347* salinity: 33.375362, density: 1025.000000* values[0]: 0.581070F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034602.843165 s.ݬI~,:&AJ"J*J2J:J?BJ?nJ5vJAHz.@Aw@Ar\~? AFA%"AAqNA"AZAbAjArAzAAAd*z.@A9tA|x@Anp*<A#=A>A@,?A?ALʼ*AP :?2APս:A==BAP :?JAPսRA==٘i)I9x@YG JvϼC=JJJJVE&K Yx[~?yWAEj7j7=9)B[[|T>[j[~?[[[[[BZYY i) fIi#?; /~?))/~?/~?ܪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034602.863165 s, next control iter: 1743034603.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034603.263165 s.I~,:&AA@AD@A\~? AA%"AAqNA"AZAbAjArAzAAAŗ/@AT(0n8tArw@A#@:A=A9>A"?AƏ?A*A:?2Aֽ:A1L=BA:?JAֽRA1L=YmW>/>y윚= :ٓH@?`ڿ Ǽ?7?@]? h?N\?`?)mW> I٘i)I9rw@YG JżJ<JJJYE&Kg> Y#[~?yZuWA>Eb77o=9FB)BӹE[[i>[S[~?[ߪ[[[[BZYY i) 7Ii?; ǁ?))jnǁ?ǁ?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034603.283165 s, next control iter: 1743034603.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 81022, header.stamp.nsec: 020 temperature: 13.5655352* salinity: 33.3753782, density: 1025.0000002* values[0]: 0.5803552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034603.683165 s.lI~,^:&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.233217@ elevatorAngleAction: -0.063668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743034603.683309F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ar 륿@A\~? AAa%"AA#rNA"AZAbAjArAzAAAI/@AݿZ6tAv@AAl=Aq>A@gi?Ai?Ao*A9:?2Aqֽ:ABu<BA9:?JAqֽRABu<٘i)I9v@Y<G JSJJJJ[E&K Y\~?y WAEZ7SI7=9EB)BֹE[[ի>[T[~?[ݪ[[[[BZYY i) sIi?a; h}?)) h}?h}?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034603.683165 s, next control iter: 1743034604.083176 s, wait time: 0.400011 s2\~?)2 rAdjusting time to match Gazebo time: 1743034604.103165 s.I~,;&AA= ףp@Ak*V@An\~? A0A+%"AABIrNA"AZAbAjArAzAAAq)60@A$r5tADv@A]Aΐ=A&>ACD?Ar\?A*A;:?2A Խ:A(<BA;:?JA ԽRA(<٘i)I9Dv@YG J筼JJJJ^E&K  >9Yy\~? >9yVAE)7ŧ7>9DB)BٹE[[Š>[e\~?[۪[[[[BZYY i) nIi>h; 8?))8?8?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034604.123165 s, next control iter: 1743034604.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034604.523165 s.ǎI~,{!;&AJ"J*J2J:J|?BJ|?nJ5vJA(ܦ@Au¦@A\~? AA]%"AAnrNA"AZAbAjArAzAAA%#j0@AE3tA%u@ADAь=A>A@&?A ?A*A>:?2AԽ:A2-<BA>:?JAԽRA2-<٘i)I9u@YG JJJJJaE&K Y#6\~?y[=VAE8787/>9CB)BܹE[[OÕ>[{,\~?[[٪[[[[BZYY i) @6Ii>?; ?))??ªY{4YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034604.543165 s, next control iter: 1743034604.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8103, header.stamp.nsec: 00 temperature: 13.565707* salinity: 33.375378, density: 1025.000000* values[0]: 0.579730F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034604.943165 s.YdΎI~,F]<;&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073035< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743034604.943341F (some fields omitted in printout)AzG@AB-@Au\~? AAV%"AAړrNA"AZAbAjArAzAAA䎴0@A([2tA%5u@AdAԉ=Ab?A ?A@M?Aߍ*A;:?2ArԽ:A:*<BA;:?JArԽRA:*<٘i)I95u@Y=G JCB=JJJJcE&K YO\~?yߪUAE7S7 >9)B[['֠>[F\~?[֪[[[[BZYY i) ]ԻIi>h; w?))w?w?罪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034604.963165 s, next control iter: 1743034605.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034605.363165 s.ՎI~,}>W;&AJ"J*J2J:JV?BJV?nJ5vJA3333@AU@A]~? AA%"AArNA"AZAbAjArAzAAA0@A7RD0tA˳t@Ao|;A =A`?A9?A`?AV$*A7:?2AZԽ:A<BA7:?JAZԽRAž>y?yv=;ٓHя?$֮? ??@s2? w?@?)>ž> I٘i)I9t@YG JC=JJJJfE&K&s> Y3h\~?y>۪zUAy?E77{7Z >9BB)B߹E[[ͫ>[;`\~?[Ԫ[[[[BZYY i) tIi>8E<; U{?))lC~U{?U{?ysYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034605.383165 s, next control iter: 1743034605.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8104&, header.stamp.nsec: 0&0 temperature: 13.565829&* salinity: 33.375378&, density: 1025.000000&* values[0]: 0.579182&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034605.783165 s.YێI~,r;&AAQ@A@A]~? AAA%"AA^rNA"AZAbAjArAzAAA#F1@Al[.tA$4t@AP<A=Au ?AӚ?A?Aw*A$3:?2A6ս:A <BA$3:?JA6սRA <٘i)I94t@YG JJJJJiE&K Y\~?y֪UAE{7j7>9)BE[[ݶ>[y\~?[:Ѫ[[[[BZYY i) H Iig>R; O??)) O??O??YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743034605.803165 s, next control iter: 1743034606.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034606.203165 s.I~,;&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J< rudderAngleAction: -0.261799*J@ elevatorAngleAction: -0.0730352J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJ dt: 0.419965nJ2 time: 1743034606.203286vJF (some fields omitted in printout)Aףp=@A;%p@A6]~? ALAE%"AAsNA"AZAbAjArAzAAABC1@AD [,tA|s@AׇT<A =AC?Ai?A?A瓼*A@:?2AlԽ:Ar<BA@:?JAlԽRAr<٘i)I9s@YTG JJJJJlE&K Y\~?yZҪTAE77>9AB)BE[[g>[\~?[$Ϊ[[[[BZYY i) RIi0>: ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034606.223165 s, next control iter: 1743034606.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034606.623165 s.VI~,X;&AA)\@A ۨ@A9N]~? AA%"AA%sNA"AZAbAjArAzAAA>1@AdبD*tA;s@A;AW=Ao?A 17?AS[?AV*A<:?2Aս:A<BA<:?JAսRA<٘i)I9;s@Y G J͑JJJJnE&K Y]\~?yͪhTAE777>9=B)E[[<>[9\~?[ʪ[[[[BZYY i) g(Ii>: ח?))ח?ח?ϹYiYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034606.643165 s, next control iter: 1743034607.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8105 , header.stamp.nsec: 0 0 temperature: 13.565953 * salinity: 33.375397 , density: 1025.000000 * values[0]: 0.578663 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034607.043165 s.J "J *J 2J :J #?BJ #?I~nJU5,;&AvJA{Ga@Aa80G@Ae]~? AMA%"AARIsNA"AZAbAjArAzAAA 8Y2@A(tAcr@AihAĖ=A5)?A]?A5?A3劼*A_7:?2Ayս:Au<BA_7:?JAyսRAu<٘i)I9r@YG J:JJJJqE&K Y\~?yuɪ TA E>9)B[[>[\~?[aǪ[[[[BZYY ix) 7Ii=uOc: (?))(?(?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034607.063165 s, next control iter: 1743034607.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034607.463165 s.WI~,;&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743034607.463276F (some fields omitted in printout)A̩@A#@A|]~? AA%"AAlsNA"AZAbAjArAzAAAӘd2@AFݶ%tAQr@A=A@=A!?A@?A ?AŢ*A1:?2A4Nֽ:A<BA1:?JA4NֽRAM!?y==Y(>ٓH ? 2???G?m$? ?)j> I٘i)I9Qr@Y{G JJJ:JJJtE&Ku> Y\~?yDĪSAM!? EZ7Z7E>9[\~?[ê[[[[BZYY i) ~GIi<_9 t?))~Ȁt?t?⼪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034607.483165 s, next control iter: 1743034607.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8106, header.stamp.nsec: 00 temperature: 13.566064* salinity: 33.375416, density: 1025.000000* values[0]: 0.578203F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034607.883165 s.zI~,j;&AJ"J*J2J:JBJnJvJAQ8@AemS<@A]~? AA[%"AAsNA"AZAbAjArAzAAA!ƌ2@Am)v#tAq@A")]A5=A&?A`Ǎ?A?Ap釼*A(:?2Aֽ:Ai=BA(:?JAֽRAi=٘i)I9q@Y6G JJJJJvE&K Yf\~?yTSAE777">9;B)BE[[>[\~?[[[[[BZYY i) WIYI?iP( N:?)) N:?N:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034607.923165 s, next control iter: 1743034608.283183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743034608.303165 s.XI~,g<&AAq= ף@Aquĉ@A[]~? AܫA%"AAsNA"AZAbAjArAzAAAY?c:2@AK3!tAClq@AA>=A#+?A P?A`H?A"*A,:?2Aս:A>=BA,:?JAսRA>=٘i)I9lq@YG JJJJJyE&K Y:]~?y㹪RAE77{7p&>9)B[[V>[]~?[뻪[[[[BZYY i) fI$I?i$e  ?)) ? ?yĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034608.323165 s, next control iter: 1743034608.703178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 81072, header.stamp.nsec: 020 temperature: 13.5661602* salinity: 33.3754392, density: 1025.0000002* values[0]: 0.5777362F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034608.723165 s. I~,H.<&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034608.723304F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A'G@A]~? AثA0%"AAAsNA"AZAbAjArAzAAA523@AB{tAp@A-:Aa=A0?A@>?A?An^*A@$:?2Aս:A#] =BA@$:?JAսRA#] =٘i)I9p@YG J^JJJJ|E&K Y %]~?yRAE)7ŧ7*>9:B)BE[[g?[v*]~?[[[[[BZYY i) VvIV I?iL竺 d̥?))d̥?d̥?ɪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034608.743165 s, next control iter: 1743034609.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034609.143165 s.`/I~,0*I<&AAGz@Ax`@A]~? AIԫATJ%"AAsNA"AZAbAjArAzAAAvs)u3@ANtAVrp@Ac'<A%t=A5?AT?A@O?A**A:?2Aս:A;=BA:?JAսRA;=٘i)I9rp@YWG J*JJJJ~E&K Y;]~?y@RAE77->95B)E[[]?[ C]~?[J[[[[BZYY i) ;͂I I?i,+Sۺ 잨?))잨?잨?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034609.163165 s, next control iter: 1743034609.543189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743034609.563165 s.I~,R d<&AJ"J*J2J:JBJnJvJAffff櫿@Av;O̫@A]~? AϫA"%"AATtNA"AZAbAjArAzAAAS\3@ACP>,tAo@Awb<A=A,:?A`ː?A ?A*A:?2Ajս:A8h=BA:?JAjսRA8h=Y?6;?y=c<ٓH`#? X@Ʈ?{O?y?Qb?@9\? ?)? I٘i)I9o@YG JdJ%<JJJE&Kv> YP]~?yQA6;?E77{701>94B)BE[[R?[[]~?[[[[[BZYY i) VII?ijt@ a?))a?a?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034609.583165 s, next control iter: 1743034609.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8108, header.stamp.nsec: 00 temperature: 13.566280* salinity: 33.375458, density: 1025.000000* values[0]: 0.577235F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034609.983165 s.I~,~<&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743034609.983335F (some fields omitted in printout)AQ@Au7@A>^~? AQ˫A%"AA88tNA"AZAbAjArAzAAAVa3@A4dtAj^o@Ab'<A`*=A+=@?ArK?A?A*Ag :?2Aֽ:Av|=BAg :?JAֽRAv|=٘i)I9^o@YG JJJJJE&K Ye]~?yqQAEŧ7b74>9)B[[s?[r]~?[[[[[BZYY i)  ᑼII?il{$: ,?)),?,?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034610.003165 s, next control iter: 1743034610.383185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743034610.403165 s.&&I~,͙<&AJ"J*J2J:JBJnJvJA ףp@AyY@Az^~? AƫAP%"AAXtNA"AZAbAjArAzAAAX!g94@AS "tAn@Aϣ:A(=AE?AU?A?A*A1:?2Aֽ:A=BA1:?JAֽRA=٘i)I9n@YXG J&JJJJE&K Yz]~?yߝ QAE[8>93B)BE[[?[]~?[ [[[[BZYY i) -kIjH?i#Y ?))??%ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034610.443165 s, next control iter: 1743034610.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8109&, header.stamp.nsec: 0&0 temperature: 13.566429&* salinity: 33.375465&, density: 1025.000000&* values[0]: 0.576668&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034610.823165 s.,I~,6<&AA\(@AS@Ae,^~? AAu%"AAxtNA"AZAbAjArAzAAA"zx4@A~tA.?n@AAF=ANK?Aθ?A` p?AIì*A`9?2A%׽:A1=BA`9?JA%׽RA1=٘i)I9?n@YG JǫJJJJE&K Y]~?yPA!E)7;>9)B[[?[6]~?[矪[[[[BZYY i) INH?i7s ׳?))׳?׳?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034610.863165 s, next control iter: 1743034611.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034611.243165 s.3I~,m<&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034611.243283F (some fields omitted in printout)AGz@Aefbz@A@^~? AڼA %"AAtNA"AZAbAjArAzAAAx'%4@A6Zt tAǬm@A/U]AD=AgP?Aol?Ak2?Ao*A9?2AH׽:A 8=BA9?JAH׽RA 8=٘i)I9m@YG JWJJJJE&K Y]~?y;PA$E777?>92B)įBE[[%?[k]~?[[[[[BZYY i) ~IH?i|ξ& ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034611.263165 s, next control iter: 1743034611.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034611.663165 s.:I~,q<&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8110, header.stamp.nsec: 00 temperature: 13.566587* salinity: 33.375469, density: 1025.000000* values[0]: 0.576053F (some fields omitted in printout)A@A}孿@A?U^~? AŷAn%"AAtNA"AZAbAjArAzAAA=S4@A`$B v tAMm@AgU=Aۏ=A͖U?A?A@?AL߶*A9?2Al(׽:A=BA9?JAl(׽RA=Y??TXU?y==ٓH{q?{?A?`}?? ` ?)?? I٘i)I9m@YKG JJ <JJJE&Kx> Y]~?yOAXU?&Ej7j7C>9-B)ůBE[[CK+?[]~?[[[[[BZYY i) ֯IgH?ip쾉|R ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034611.683165 s, next control iter: 1743034612.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034612.083165 s.J "J *J 2J :J x?BJ x?nJ 5vJ EAI~,7S=&AARk@ALnQ@A+i^~? AA%"AAtNA"AZAbAjArAzAAAB05@A 'HtAyl@AeAڪ=AZ?A`?AK?AK*A9?2Aqֽ:A@=BA9?JAqֽRA@=٘i)I9yl@YG JJJJJE&K Y]~?yYOA)E77F>9*B)ƯB[[!1?[w]~?[v[[[[BZYY i) P.IYH?iF  \?)) \? \?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034612.103165 s, next control iter: 1743034612.483182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034612.503165 s.GI~,P4 =&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743034612.503322F (some fields omitted in printout)Ap= ׮@A%Z򼮿@A|^~? A:A9%"AAztNA"AZAbAjArAzAAA!l5@Aۨ7tAk@AӘ;An=A__?Ax?A\?AǼ*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9k@YG J$üJJJJE&K Y]~?y~NA,Eb7FJ>9)B)ʯBE[[7?[]~?[[[[[BZYY i) IH?ibA &:?))&:?&:?CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034612.543165 s, next control iter: 1743034612.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8111, header.stamp.nsec: 00 temperature: 13.566787* salinity: 33.375469, density: 1025.000000* values[0]: 0.575411F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034612.923165 s.@NI~,;=&AJ"J*J2J:JBJnJvJA(\B@Aaxw(@A^~? AǧA%"AAuNA"AZAbAjArAzAAA9(B)ίBE[[9)ԯB[[B?['^~?[X}[[[[BZYY i) 5ͼIH?i(˻ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034613.363165 s, next control iter: 1743034613.743180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8112&, header.stamp.nsec: 0&0 temperature: 13.566992&* salinity: 33.375477&, density: 1025.000000&* values[0]: 0.574678&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034613.763165 s.:[I~,,p=&AJ"J*J2J:J?BJ?nJC5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.090845< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034613.763295F (some fields omitted in printout)A@Am@AR^~? AA`|%"AAJuNA"AZAbAjArAzAAA,ؖ6@AfisAi@A';A=A#Uo?A%?A ?Aa̼*A89?2A{ֽ:A=BA89?JA{ֽRA=Y]7?uo?y#=%ھ;ٓH;?`X?@?`/??۵w??)]7? I٘i)I9i@YMG JμB=J;JJJE&Kx> Y^~?yxjMAuo?4Eb7U>9#B)կBE[[H?[<^~?[w[[[[BZYY i) wԼIH?i,Wܻ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034613.803165 s, next control iter: 1743034614.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034614.183165 s.bI~,=&AAQ@AUk@Am^~? AA%"AAeuNA"AZAbAjArAzAAAqd|N6@AbԈHsA$i@AA=AFt?Ab'?A`K ?A Lʼ*AM9?2A:׽:Aŕ=BAM9?JA:׽RAŕ=٘i)I9$i@Y G J˼C=JJJJE&K YN%^~?ydcMA7E{7j7X>9)گB[[N?[1Q^~?[}p[[[[BZYY i) ۼIϺH?i85 ,?)),?,?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034614.203165 s, next control iter: 1743034614.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034614.603165 s.64iI~,=&AJ"J*J2J:JBJnJvJA= ף@A^ְ@A$^~? AːA^%"AAuNA"AZAbAjArAzAAAmC16@A'sAO{h@AiBAG=A{*z?A?A`?Aaʼ*AY9?2ABn׽:A P=BAY9?JABn׽RA P=٘i)I9{h@Y~ G JɼJJJJE&K Y 6^~?yP\LA9E7770\>9"B)ޯB E[[ɥT?[Qe^~?[i[[[[BZYY i) I[H?i|B  ?)) ? ?QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034614.643165 s, next control iter: 1743034615.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8113 , header.stamp.nsec: 0 0 temperature: 13.567238 * salinity: 33.375504 , density: 1025.000000 * values[0]: 0.573948 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034615.023165 s.ZpI~,|=&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.090845< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743034615.023316F (some fields omitted in printout)A(\@A B@Au^~? AÊAu%"AAuNA"AZAbAjArAzAAAЩ6@AdcsAg@AZA=Aj?A?A #?Anͼ*A9?2AW׽:A =BA9?JAW׽RA =٘i)I9g@Y G J$˼B=JJJJE&K YF^~?y9)B[[Z?[ y^~?[b[[[[ZZ¸BZYY i¸r=) f׼IxH?isJ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034615.043165 s, next control iter: 1743034615.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034615.443165 s.6vI~,:]=&AJ"J*J2J:JBJnJvJAzDZ@A1@A_^~? AA(J%"AAuNA"AZAbAjArAzAAAۺ6@A(c>sA!g@AAƻ=A??A` $?A@m?A_Լ*A49?2Aֽ:AP=BA49?JAֽRAP=٘i)I9!g@Y G JOмC=JJJJE&K YW^~?y(NKA?E777[c>9B)B E[[`?[L^~?[[[[[[ZZBZYY i) @˼IFH?igP` ֗?))֗?֗?XYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034615.463165 s, next control iter: 1743034615.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8114, header.stamp.nsec: 00 temperature: 13.567450* salinity: 33.375507, density: 1025.000000* values[0]: 0.573198F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034615.863165 s.+}I~,>=&AA33333@A^#@A _~? Ac~A%"AAuNA"AZAbAjArAzAAA.7@AZ3mosAYf@A8:A=A?Ape?AH?A0*A9?2ARֽ:A=BA9?JARֽRA=YFoQ?Ä?y=*n:ٓH6?`j?r?G?H?5Fp^??)FoQ? I٘i)I9Yf@Y2 G JB=JV;JJJE&K,x> Ye^~?yFBKAÄ?AEŧ7b7f>9)B[[f?[^~?[T[[[[ZZBZYY i)  IbH?i ]bw 3?))3?3?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034615.883165 s, next control iter: 1743034616.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034616.283165 s.J "J *J 2J :J ?BJ ?nJ 5vJ :RI~,>&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034616.283293F (some fields omitted in printout)AQ@A+@A_~? A xA=%"AAuNA"AZAbAjArAzAAAoN7@A7 sA+xe@A#*<A׳=AC?A@ͥ?A ?Ab*A9?2Ajֽ:A7<BA9?JAjֽRA7<٘i)I9xe@Y G JcC=JJJJE&K Y9t^~?y?JADE777j>9B)BE[[@l?[^~?[UM[[[[ZZBZYY i) IH?igE  o?)) o? o?y=٪YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743034616.303165 s, next control iter: 1743034616.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8115., header.stamp.nsec: 0.0 temperature: 13.567734.* salinity: 33.375515., density: 1025.000000.* values[0]: 0.572314.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034616.703165 s.ԺI~,->&AAףp= @AhwH1@A+_~? AqA/%"AAuNA"AZAbAjArAzAAA);Q~7@Ak-+sA_d@AX<A}=Aى?A?A`W?Aj*A9?2Asֽ:Aq<BA9?JAsֽRAq<٘i)I9d@Y! G JB=JJJJE&K Y^~?yp7TJAGE)7b7n>9)B[[|r?[^~?[E[[[[ZZBZYY i)  IuH?iOp &e?))&e?&e?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034616.723165 s, next control iter: 1743034617.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034617.123165 s.8ᑏI~,aG>&AJ"J*J2J:JBJnJvJA)\u@AAS[@A:_~? AkA8%"AA5vNA"AZAbAjArAzAAAS7@AIsAc@A<A19=AK|?A ?A$?ANؼ*A9?2Aֽ:A!;BA9?JAֽRA!;٘i)I9c@Y G JC=JJJJE&K Y^~?y/IAIE77{7q>9B)BE[[x?[ ^~?['>[[[[ZZBZYY i) }IgH?iv >`?))>`?>`?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034617.163165 s, next control iter: 1743034617.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034617.543165 s.II~,b>&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034617.543293F (some fields omitted in printout)A{G᳿@Aa0dz@AI_~? ArdA?%"AA.vNA"AZAbAjArAzAAANx7@ADřsA)c@A$A><A?AX?A4k?Ag*A9?2Aֽ:ApBA9?JAֽRAp9)B[[p~?[^~?[U6[[[[ZZBZYY in=) 4I:ZH?i|{ n`?))n`?n`?"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034617.563165 s, next control iter: 1743034617.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8116, header.stamp.nsec: 00 temperature: 13.568053* salinity: 33.375519, density: 1025.000000* values[0]: 0.571392F (some fields omitted in printout)C^~?)L( rAdjusting time to match Gazebo time: 1743034617.963165 s.yI~,}>&AJ"J*J2J:JBJnJvJAL@AH2@AX_~? A]A;%"AA3DvNA"AZAbAjArAzAAA!8@A " ~sAAb@A'$Aw3<AH?A^?A?A'M*A 9?2APzֽ:AVBA 9?JAPzֽRAVYXk??y#3<$ٓH@?5r ???y@Η?)Xk? I٘i)I9b@Y G J]B=J8JJJE&Kv> Y!^~?yG VIA?OEZ7SI7x>9)B[[j?[^~?[f.[[[[ZZBZYY i=) C%ILH?iZ"( 2W?))2W?2W?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034617.983165 s, next control iter: 1743034618.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034618.383165 s.إI~,8>&AAQ@AȒ9@Af_~? AVA%"AAYvNA"AZAbAjArAzAAARl/8@A+PVsAFb@AmAAR?A?A?A?$5*A9?2ATbֽ:AuBA9?JATbֽRAu٘i)I9Fb@Y G JcC=JJJJE&K Y^~?yDGIAQE777q|>9B)BE[[?[T_~?[N&[[[[ZZBZYY i쇙=) yvI|=H?i񇿉o. GT?))GT?GT?(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034618.403165 s, next control iter: 1743034618.783179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8117&, header.stamp.nsec: 0&0 temperature: 13.568238&* salinity: 33.375534&, density: 1025.000000&* values[0]: 0.570762&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034618.803165 s.zAI~,g>&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743034618.803321F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@A& @As_~? APAE%"AAnvNA"AZAbAjArAzAAAk\X8@A>OsA b@AB>AAX?A9)B[[?[O_~?[[[[[ZZBZYY i) ЧbI|.H?i2 W?))W?W?y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034618.843165 s, next control iter: 1743034619.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034619.223165 s.gI~,H>&AA(\@A,+MJu@A_~? AIA%"AAvNA"AZAbAjArAzAAASӦ8@AdsAOa@A|;A{Al?A@f?A`o?AҺ*A9?2A,ֽ:A6̼BA9?JA,ֽRA6̼٘i)I9a@Y G J|JJJJE&K Y^~?y<)IAWEb77>9B)BE[[B?[!_~?[[[[[BZYY i) xNI6H?io5 B`?))B`?B`?yӚ=,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034619.243165 s, next control iter: 1743034619.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034619.643165 s.tйI~,)>&AJ"J*J2J:J?BJ?nJ)5vJAG@Ayൿ@A2_~? AAAMV%"AA$vNA"AZAbAjArAzAAAǵt8@A-&sAa@AN;AՍ.A$4?ALC?A;?Ar;*Aۼ9?2Aֽ:A!BAۼ9?JAֽRA!弙٘i)I9Y J%8JJJJŽE&K Y^~?y9IAYEj7Z71>9B)BE[[Ԏ?[t/_~?[+ [[[[BZYY i) ;IH?i7 m?))m?m?=j*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743034619.663165 s, next control iter: 1743034620.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8118, header.stamp.nsec: 00 temperature: 13.568263* salinity: 33.375549, density: 1025.000000* values[0]: 0.570580F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034620.063165 s.I~,[ ?&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743034620.063331F (some fields omitted in printout)Afffff@ACVL@AO_~? A:A%"AAvNA"AZAbAjArAzAAAr8@A}9.sAu b@AX<AzUAٞ?A'i?An?A;*A9?2Ap ׽:A&BA9?JAp ׽RA&Y?Þ?yuU1eX<ٓH0?E@r5:?@H?Yk? ?@*?)? I٘i)I9 b@Y G J|;B=JJJJĎE&K:x> Y^~?yaIAÞ?\ENJ>9)[[V?[~<_~?[[[[[BZYY iMf=) ȩ*IG?iX= |m?))|m?|m?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034620.103165 s, next control iter: 1743034620.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034620.483165 s.w_ǏI~,?&AJ"J*J2J:J?BJ?nJ(5vJAѶ@A0ܷ@A_~? A3ANm%"AAvNA"AZAbAjArAzAAAmh/8@AŹsA?b@AVhF<AvAr?A N?A?Ap<*A;9?2Aֽ:AUBA;9?JAֽRAU٘i)I9?b@Y G J;C=JJJJǎE&K Y^~?yIA_E77\>9B)BE[[X?[H_~?[[[[[BZYY i) {QIxG?i"B s?))s?s?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034620.503165 s, next control iter: 1743034620.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8119, header.stamp.nsec: 00 temperature: 13.568183* salinity: 33.375546, density: 1025.000000* values[0]: 0.570687F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034620.903165 s.͏I~,9?&AA ףp=@AiV#@A_~? AI,A%"AA9vNA"AZAbAjArAzAAA|9@A˜QsAb@A;ARA?AY?AN?Aa<*A9?2Ahֽ:A4 BA9?JAhֽRA4 ٘i)I9b@Y G J=<JJJEJʎE&K Y^~?y5IAaEb7>9 B)BE[["?[T_~?[[[[[BZYY iʆ=) M IG?i⚿E@F  ?)) ? ?Ӹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034620.923165 s, next control iter: 1743034621.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034621.323165 s.xԏI~,-T?&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034621.323292F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@AN厷@Aκ_~? A$A%"AAvNA"AZAbAjArAzAAAwS09@A-NӰsAb@AKA落Aǀ?AT?A ?A[<*A.9?2AK@ֽ:ABA.9?JAK@ֽRA٘i)I9b@Y# G J<{<B=JJJJ̎E&K YH^~?yީ8JAdE77>9)B[[9?[__~?[![[[[BZYY i) =IG?ipH ?))??yo=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034621.363165 s, next control iter: 1743034621.723179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8120*, header.stamp.nsec: 0*0 temperature: 13.567967** salinity: 33.375557*, density: 1025.000000** values[0]: 0.571092*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034621.743165 s.WۏI~,mo?&AAGz@Aefb@A_~? AA\%"AAvNA"AZAbAjArAzAAA IO9@AiJsAtc@APAuA ?A?Ai?A4<*A9?2A5ֽ:ABA9?JA5ֽRA٘i)I9tc@Yn G Jʓ<C=JJJJώE&K Yt_~?y֩JAgE{7{7>9)B[[aW?[Ej_~?[[[[[BZYY i) һIG?iAJI Q@))Q@Q@y=*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034621.763165 s, next control iter: 1743034622.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034622.163165 s.t}I~,q?&AJ"J*J2J:JF?BJF?nJa5vJA@A}e@A_~? AA%"AAvNA"AZAbAjArAzAAAFl9@AKsHsAc@A6YA ڙA?A?A ?A<*A9?2A1ֽ:A|BA9?JA1ֽRA|Y Y_~?yͩJAī?jE77>9 B)BE[[(r?[s_~?[ ة[[[[BZYY i) fIG?i;`N @))@@\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034622.183165 s, next control iter: 1743034622.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034622.583165 s.%I~,;S?&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034622.583295F (some fields omitted in printout)AR븿@A&jjѸ@A_~? AuA>%"AA> wNA"AZAbAjArAzAAAPĈ9@AD~sAsd@Ac|AwA=O?A 0?A?An<*A79?2A>ֽ:AKBA79?JA>ֽRAK٘i)I9d@Y G Jԩ<JJJJԎE&K YC_~?ybũNKAlE7F>9 B)BE[[?[|_~?[Ω[[[[BZYY i) 9@A,5wsAe@AM;Ar՛A?A͏?A2?Aѹ<*A9?2Avֽ:At BA9?JAvֽRAt ٘i)I9e@Yp G J)<JJJJ׎E&K Y_~?yϼKAoE{7j7ܣ>9)B[[?[K_~?[ũ[[[[BZYY i) 'pI9)ܯB[[_Ѫ?[_~?[A[[[[BZYY i) [3IJvG?i妿U p@))p@p@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034623.443165 s, next control iter: 1743034623.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8122, header.stamp.nsec: 00 temperature: 13.567364* salinity: 33.375565, density: 1025.000000* values[0]: 0.572438F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034623.843165 s.I~,?&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743034623.843314F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@A@A_~? AyA%"AA0wNA"AZAbAjArAzAAAn9@A?sA;f@Ab<AVAT?AY?A@~?At<*A9?2A#׽:ABA9?JA#׽RA٘i)I9;f@Y G J<JJJJ܎E&K Y{(_~?yLAtE77>9B)կBE[[?[œ_~?[ڲ[[[[BZYY i) I\dG?i^]U I@))I@I@Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034623.863165 s, next control iter: 1743034624.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034624.263165 s.I~,@&AA@A0 @A_~? AA%"AA9 Y,_~?yLA͸?wEb7b7>9)ЯB[[?[_~?[l[[[[BZYY i) >lIRG?iͩRXY  @)) @ @K*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034624.283165 s, next control iter: 1743034624.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 81232, header.stamp.nsec: 020 temperature: 13.5670602* salinity: 33.3755802, density: 1025.0000002* values[0]: 0.5731632F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034624.683165 s.l I~,c+@&AJ"J*J2J:J?BJ?nJ5vJAQ@Ahx뺿@A_~? AA,%"AAFwNA"AZAbAjArAzAAA9)̯B[[5?[H_~?[럩[[[[BZYY i) 7I?G?iݫf[  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034624.683165 s, next control iter: 1743034625.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743034625.103165 s.I~,ÚF@&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743034625.103305F (some fields omitted in printout)A= ףp@AɍV@A`~? AA%"AAPwNA"AZAbAjArAzAAA}gĉ:@AyʆsAg@A|2"AtA?Af?A?AC<*AC9?2AjQֽ:AlBAC9?JAjQֽRAl٘i)I9g@Y( G J$<JJJJE&K Y63_~?yvMA|Eǵ>9B)ƯBE[[Y?[_~?[[[[[[BZYY i) (8w:I -G?iିSH] Κ @))Κ @Κ @a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034625.143165 s, next control iter: 1743034625.503181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034625.523165 s.I~,|a@&AJ"J*J2J:JBJnJvJA(ܻ@A*»@As `~? A.تA,_%"AAYwNA"AZAbAjArAzAAA`!:@A+-sASh@A(@cAA{~?A?A?A˨<*A99?2ASNֽ:A8BA99?JASNֽRA8٘i)I9h@Y G Jp<JJJJE&K Y6_~?yNAEj7\>9B)BE[[~?[ק_~?[Ì[[[[BZYY i) nx:IuG?i֬F;] b(@))b(@b(@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034625.543165 s, next control iter: 1743034625.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8124, header.stamp.nsec: 00 temperature: 13.566772* salinity: 33.375591, density: 1025.000000* values[0]: 0.573861F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034625.943165 s.XdI~,B]|@&AAzG@AI -@A`~? ACЪAm%"AAawNA"AZAbAjArAzAAAWq1:@A)%}sA{i@A^,AώAD"?A`?AD?A}<*A9?2A,ֽ:A?BA9?JA,ֽRA?٘i)I9i@Y G J?<JJJJE&K Y]:_~?yNAE7777>9)B[[ɡ?[_~?[%[[[[BZYY i) G6;IG?is[ @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034625.983165 s, next control iter: 1743034626.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034626.363165 s.%I~,>@&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034626.363286F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A:;@AE`~? APȪAT&"AAdiwNA"AZAbAjArAzAAAC?i?:@AyhKxsAzi@AKӺAAC?A`ˌ?A&?A<*AC9?2Aֽ:AeBAC9?JAֽRAeYɩ??y1ӺٓH ? ]O[k???z?pZ?)ɩ? I٘i)I9i@Y*G J<Jr<JJJE&K=x> Y;_~?y2wNA?Eŧ7b7>9)B[[?[^_~?[y[[[[BZYY iۘ=) xt;IJF?i^ eA@))eA@eA@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034626.383165 s, next control iter: 1743034626.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8125&, header.stamp.nsec: 0&0 temperature: 13.566466&* salinity: 33.375599&, density: 1025.000000&* values[0]: 0.574549&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034626.783165 s.\+I~,@&AAQ@AE@Ac`~? AUA/&"AApwNA"AZAbAjArAzAAAunfL:@Ar lssA4j@A<AĉAZ?Aﺻ?A:?A<*A.9?2A'׽:AnBA.9?JA'׽RAn٘i)I9j@YxG J;<JJJJE&K Y;_~?ydnAOAEb77>9B)BE[[?[_~?[o[[[[BZYY i) /$;IuF?i#a-` @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034626.823165 s, next control iter: 1743034627.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034627.203165 s.3I~,*@&AJ"J*J2J:J+?BJ+?nJQ5vJAףp=@A}%p@A`~? AUA&"AAuwNA"AZAbAjArAzAAAg:V:@AxnsAj@A_<A5mAP*?A~?AiK?A<*A9?2A<׽:A*BA9?JA<׽RA*󼙘٘i)I9j@YG J<JJJJE&K Y<_~?yeOAEj7j7>9)B[[?[ݯ_~?[&f[[[[BZYY i) p ;IF?iA5S` [@))[@[@׹*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034627.243165 s, next control iter: 1743034627.603181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743034627.623165 s.g9I~,@&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034627.623306F (some fields omitted in printout)A)\@A%۽@A `~? AOANh&"AA{wNA"AZAbAjArAzAAAMo.`:@AisA}k@A8D<AFZAA?A@?A@Y?AS<*A9?2A ׽:AZBA9?JA ׽RAZ٘i)I9k@Y G J <JJJJE&K Y7=_~?y\OAE{7{7G>9)B[[6?[_~?[v\[[[[BZYY i) ;I߼F?iP[_ &@))&@&@yΘ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034627.643165 s, next control iter: 1743034628.023188 s, wait time: 0.380023 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8126 , header.stamp.nsec: 0 0 temperature: 13.566186 * salinity: 33.375591 , density: 1025.000000 * values[0]: 0.575188 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034628.043165 s.@I~,A&AJ"J*J2J:JBJnJvJA{Ga@AS.G@A!`~? ADA$&"AAJwNA"AZAbAjArAzAAA:g:@A94dsA"zk@Aڂ;AAUJ?AS?A e?A<*A9?2A!ֽ:AKHBA9?JA!ֽRAKH٘i)I9zk@YQG J<JJJJE&K Y=_~?yS\PAE7)7>9)B[[Z?[O_~?[R[[[[BZYY i) *;IWF?iRx\ {@)){@{@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034628.083165 s, next control iter: 1743034628.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034628.463165 s.UGI~,A&AA̾@AhX@A#`~? A6AH&"AAƂwNA"AZAbAjArAzAAA|A{m:@AF_sAsk@A.ǻA8A?A?A n?A'<*A"9?2Altֽ:AaBA"9?JAltֽRAaYж?V?yD84ȻٓH 3Ni? yEU C?x2?)ж? I٘i)I9k@YG J<B=J ;JJJE&Kx> Y;_~?y1KPA?Eŧ7ŧ7r>9B)BE[[~?[_~?[ I[[[[BZYY i) `m elevatorAngleAction: 0.074638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034628.883326F (some fields omitted in printout)AQ8@AԻx?@A%`~? A&A?&"AAxwNA"AZAbAjArAzAAAj~^}r:@AfW=ZsA/ll@A TAAZ?AY?A@t?A<*A9?2ANֽ:Ac5BA9?JANֽRAc5٘i)I9ll@YG J <C=JJJJE&K Y9_~?yiBQAE7>9)B[[?[_~?[w?[[[[BZYY i) 9)B[[?[è_~?[5[[[[BZYY i) k):BA9?JAնֽRA>:٘i)I9fm@Y|G J<JJJJE&K YH5_~?y0QAE7772>9)B[[?[_~?[;,[[[[BZYY i) 8 elevatorAngleAction: 0.074638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034630.143301F (some fields omitted in printout)AGz@A `@Ac&`~? AA&"AAwNA"AZAbAjArAzAAAļMov:@ATLsAm@A*w;AƏAS?A`A`Yz?A=<*A9?2A׽:ABA9?JA׽RA٘i)I9m@YG JJ<JJJJE&K Y3_~?y(,RAE77>9B)BE[[+?[_~?["[[[[BZYY i) @lH Y._~?ygRA?E)7ŧ7]>9B)BE[[0?[p_~?[,[[[[BZYY i) W9)B[[HS?[_~?[[[[[BZYY i6=) #g elevatorAngleAction: 0.083601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034631.403317F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@Aa@A"`~? AgA&"AAwNA"AZAbAjArAzAAAӟþk:@A\6U=sAHVo@AT<AbA.?AAh?A9<*A9?2Aֽ:A`BA9?JAֽRA`٘i)I9Vo@YG J<B=JJJJ E&K Y$_~?yQSAE77>9B)BE[[t?[Վ_~?[J[[[[BZYY i) Vv9)B[[J?[s_~?[[[[[BZYY i) тjz¿@A`~? AWA+ &"AA~wNA"AZAbAjArAzAAAC\:@Aӫ3sA(ap@A#g+AAf6?A`õAP?Ar<*A9?2A_Aֽ:AQOBA9?JA_AֽRAQO٘i)I9ap@YMG J<B=JJJJE&K Y_~?yTA DEb7b7>9)|B[[?[[_~?[[[[[BZYY i) { elevatorAngleAction: 0.083601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034632.663305F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8131, header.stamp.nsec: 00 temperature: 13.565016* salinity: 33.375584, density: 1025.000000* values[0]: 0.578113F (some fields omitted in printout)Aÿ@A8¿@A`~? AOAl &"AAywNA"AZAbAjArAzAAA[!R:@A{Р.sAp@AdArA?A@A@?A3&<*Am9?2A9ֽ:AlBAm9?JA9ֽRAlY??y-nRyeٓHѿ E@H?઩?ѿAó爳?@P?)? I٘i)I9p@YG J<C=JOJJJE&KIx> YA_~?yF}TA?E7777H>9)xB[[m?[v_~?[[[[[BZYY i) 9B)tBE[[?[m_~?[e[[[[BZYY i) |9)pB[[$?[b_~?[_ب[[[[BZYY i) S elevatorAngleAction: 0.083601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034633.923296F (some fields omitted in printout)A(\BĿ@AF}(Ŀ@A `~? A7A &"AAGgwNA"AZAbAjArAzAAAE+:@AC sAr@A <AA?Au¿A?AYƭ<*A 9?2AC$׽:ANBA 9?JAC$׽RAN;I٘i)I9r@YG JA<JJJJE&K  ?9Y^~? ?9yڨUAE77j7?9)kB[[!?[W_~?[uϨ[[[[BZYY i) 4_:sA3s@Ae`<AA ~?AyXĿA?A<*A9?2A4׽:AmBA9?JA4׽RAm٘i)I93s@YG J<JJJJ E&K Y ^~?yrҨ!VAE77?9)gB[[ 6?[oL_~?[ƨ[[[[BZYY i)  Y^~?yHʨVA?E7)72?9B)cB E[[M?[6@_~?[[[[[BZYY i) U elevatorAngleAction: 0.083601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743034635.183272F (some fields omitted in printout)AQſ@A\pkſ@A_~? A( ASi &"AAMwNA"AZAbAjArAzAAA (9@A(&ksA:gt@AY;AF۫A?AȿA3?Ag<*AI9?2Aֽ:A2BAI9?JAֽRA2٘i)I9gt@YG J̺<JJJJ%E&K Y^~?y¨WAEj7j7 ?9)_B[[1@[X3_~?[U[[[[BZYY i)  elevatorAngleAction: 0.083601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743034636.443306F (some fields omitted in printout)Azƿ@A^ƿ@A_~? AA/&"AAp-wNA"AZAbAjArAzAAAkYڲ9@A}sAdv@AQA$A+@AiwͿA`fD?A6$<*A9?2A /ֽ:ABA9?JA /ֽRA٘i)I9dv@YG J<B=JJJJ-E&K Yr^~?yZXAŎE7)7?9B)QBE[[@[( _~?[L[[[[BZYY i=) 7C&AA33333ǿ@A|%ǿ@A}_~? AQA&"AA!wNA"AZAbAjArAzAAAb&_9@AY^rAw@AAAt@AHϿA[?AT<*A9?2AMֽ:A_BA9?JAMֽRA_Y?}@yiٓHGݿ`U? 49? eݿ@95?6wd?)? I٘i)I9w@YaG J8<C=J JJJ0E&Kx> YS^~?y֡XA}@ǎE77?9)KB[[Q@[^~?[-[[[[BZYY i) XBAʼn9?JAֽRA>٘i)I9w@YG J<JJJJ2E&K Y7^~?yGYAʎEj7j7?9B)GBE[[@[^~?[2[[[[BZYY i)  elevatorAngleAction: 0.092544< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034637.703293F (some fields omitted in printout)Aףp= ȿ@AbX9ǿ@A,_~? A7A&"AA.wNA"AZAbAjArAzAAAɵa9@A9˜rAMmx@AF<Ä́Ar)@ArѿA?A_<*A9?2A\׽:AqBA9?JA\׽RAq٘i)I9mx@Y3G JU<B=JJJJ5E&K Y^~?yBYA͎E7777I!?9)BB[[] @[^~?[[[[[[ZZZZ¸>BZYY i¸>) "Ag@A@/ӿA"a?A<*A9?2Alֽ:AѹBA9?JAlֽRAѹ٘i)I9y@YG J <JJJJ;E&K Y|^~?yZAҎE77s(?9)9B[[` @[1^~?[4u[[[[ZZZZBZYY i) :+@))>@>@y0>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034638.583165 s, next control iter: 1743034638.943183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8137, header.stamp.nsec: 00 temperature: 13.384337* salinity: 33.391647, density: 1025.000000* values[0]: 0.706719F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034638.963165 s.}I~,C&AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082578< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743034638.963297F (some fields omitted in printout)ALɿ@A]02ɿ@A_~? A ܩA&"AA/vNA"AZAbAjArAzAAA1l9@A+rAyz@A%tAVA @A`b ԿA-?AO=*Aɖ9?2Aiֽ:A(BAɖ9?JAiֽRA(Y\?T @yV.ٓH@֡F p?? حp`f?_n?)\? I٘i)I9z@YG J=J<JJJ=E&Kx> Y@m^~?y[{[A @ՎE{7j7,?9 B)6BE[[@[^~?[m[[[[ZZZZBZYY i) x5vJAq= #ʿ@A{ ʿ@A_~? AͩA&"AAvNA"AZAbAjArAzAAA, _K8@A.DrA5V|@AUA+7A @A`NտAU?A5<*Ap9?2A*Sֽ:Am>BAp9?JA*SֽRAm>٘i)I9V|@YG JU<B=JJJJCE&K Y N^~?yl[AڎE{7Z733?9B)+BE[[@[^~?[t_[[[[ZZZZBZYY i) V^~?yZeL\AݎEb776?9)&B[[Wc@[l^~?[X[[[[ZZZZBZYY i) bJJJKE&Kv> Y^~?y/W\Ax@E77{7=?9)!B[[;]@[C^~?[7K[[[[ZZZZBZYY iǚz) Euv[[[[BZYY i) +PvNA"AZAbAjArAzAAAM7@A ߶rAE*~@Az1#;A~/=Aa@AHڿA)M?A8P*A19?2Aqֽ:Ab<BA19?JAqֽRAb<٘i)I9*~@YG JjC=JJJJSE&K Y]~?yB\AE777H?9B)#BE[[@[^~?[o8[[[[BZYY i) s=rA ~@A}AYgT=A(@A1qۿA4?A`ֻ*A9?2Abֽ:A\.<BA9?JAbֽRA\.<٘i)I9 ~@YG J(JJJJUE&K Y]~?y;\AEŧ7b7IL?9)$B[[C@[C]~?[2[[[[BZYY i) *?At*Al9?2Aֽ:AqZ=BAl9?JAֽRAqZ=Y+@P@ycs=ΆWٓHl`mX>?ີ`? quo䊿?)+@ I٘i)I9}@Y|G JJ>JJJXE&K"x> Y]~?y5=\A@Eb77O?9B)(BE[[@[]~?[,[[[[BZYY ifhg) 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056496< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034644.003340F (some fields omitted in printout)Ap= Wο@Atѐ<ο@A_~? AfA&"AAuNA"AZAbAjArAzAAAzw: 7@A LJ>rA9"}@AHAh=A@AIݿA!'?A'*A9?2A`lֽ:AT =BA9?JA`lֽRAT =٘i)I9"}@YG JnJJJJ]E&K Y]~?y=)[AE7 W?9)0B[[ @[2]~?[![[[[BZYY i) ;IsD?i0}b @))@Q@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034644.023165 s, next control iter: 1743034644.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034644.423165 s.uFI~,E&AA(\ο@Atο@AO^~? A4A`&"AAuNA"AZAbAjArAzAAA:%g6@AiNvrA|@A;A=A@An޿A?A *A9?2A4ֽ:A_=BA9?JA4ֽRA_=٘i)I9|@YG J䐼JJJJ`E&K Y]~?y#H[AE{7j7Z?9B)6BE[["@[]~?[[[[[BZYY iK݆) ;IoD?isK? ?))?S@ygϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034644.443165 s, next control iter: 1743034644.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8143, header.stamp.nsec: 00 temperature: 13.383829* salinity: 33.391678, density: 1025.000000* values[0]: 0.709127F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034644.843165 s.LI~,5E&AJ"J*J2J:JBJnJvJAHz.Ͽ@Ay Ͽ@AA^~? A~A&&"AAuNA"AZAbAjArAzAAAw Ƴ6@AQorA|@A/O<A™=A@A@%߿A`-?A쪼*AD9?2A8ս:A~=BAD9?JA8սRA~=٘i)I9|@YsG JϣJJJJcE&K Yp]~?yZAE{73^?9):B[[#@[{]~?[[[[[BZYY i) 5;IDD?ik =))=T@ySgӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034644.863165 s, next control iter: 1743034645.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034645.263165 s.TI~,0PE&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034645.263296F (some fields omitted in printout)AϿ@AϿ@A^~? A xA*N&"AAguNA"AZAbAjArAzAAAp6@AVbrA،{@AT<A{=Al@A@߿A9?A\*AN9?2Aֽ:A=BAN9?JAֽRA=Yv@|@ytx= YZ]~?yEZA|@Ej7a?9B)ABE[[$@[c]~?[[[[[BZYY i) ;ID?iG  <)) <U@y1ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034645.283165 s, next control iter: 1743034645.663180 s, wait time: 0.380015 s"Z]~?)"E2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 81442, header.stamp.nsec: 020 temperature: 13.3841062* salinity: 33.3917052, density: 1025.0000002* values[0]: 0.7080152F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034645.683165 s.lZI~,kE&AJ"J*J2J:J@5?BJ@5?nJ>5vJAQп@AlϿ@A^~? AArA &"AAyuNA"AZAbAjArAzAAA%U[:6@ArAz@A;A@=A=@AFA?Ak*Aզ9?2Alֽ:A =BAզ9?JAlֽRA =٘i)I9z@YG J%JJJJhE&K YE]~?y&ZAEZ7SI7^e?9B)GB޹E[[,f&@[K]~?[M[[[[BZYY i) fs;I}D?iBwǺ ٪:))٪:tW@/ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034645.683165 s, next control iter: 1743034646.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034646.103165 s.aI~,E&AA= ףpп@AVп@A^~? AlA3&"AAd^uNA"AZAbAjArAzAAA{|6@ArAqfz@A{]A=A  @AqAe?A쫼*A"9?2ARֽ:Aע=BA"9?JARֽRAע=٘i)I9fz@YgG JMJJJJkE&K Y/]~?y0 YAE777h?9"B)OBڹE[['@[U3]~?[ [[[[BZYY i) T7;ID?iн  69)) 69X@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034646.123165 s, next control iter: 1743034646.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034646.523165 s.gI~,{E&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034646.523274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(п@Aп@A'^~? AfA&"AABuNA"AZAbAjArAzAAA#5@AvarA]y@A`<ATv=Acs!@AA:7?A*AC9?2A׽:A=BAC9?JA׽RA=٘i)I9y@YG JhJJJJnE&K Y#]~?yWYAEZ7Z7l?9)SB[[>=)@[]~?[[[[[BZYY i) :IyD?i 6 7))7]Z@ЪYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743034646.543165 s, next control iter: 1743034646.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8145, header.stamp.nsec: 00 temperature: 13.384379* salinity: 33.391708, density: 1025.000000* values[0]: 0.706841F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034646.943165 s.mdnI~,]E&AAzGѿ@AU-ѿ@A.^~? AUaA0&"AA&uNA"AZAbAjArAzAAAi5@Ab-rA.Ky@Ai_Aƕ=A$"@A`XJA@?A֥*A"9?2A׽:AQ=BA"9?JA׽RAQ=٘i)I9Ky@YG JҦB=JJJJpE&K Y1]~?yXAE77p?9$B)YB׹E[[*@[h]~?[[[[[BZYY i) zs|:ID?i<gU9 wP6))wP6>[@KΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034646.963165 s, next control iter: 1743034647.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034647.363165 s.uI~,u>E&AJ"J*J2J:J4?BJ4?nJ=5vJA3333ѿ@AdXѿ@Au^~? A[Az&"AA uNA"AZAbAjArAzAAA(V5@AMdrA0x@AK A=AL $@AA ?AU*AŶ9?2A*ֽ:A%]=BAŶ9?JA*ֽRA%]=Y@%$@y"= ٓH~pw?@?zlU?)@ I٘i)I9x@YeG JC=JJJJsE&K2x> Y\~?yJXA$@ E{7{7s?9%B)_BԹE[[P,@[e\~?[[[[[BZYY i)  8ID?ip=N: a4))a4T@]@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034647.383165 s, next control iter: 1743034647.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8146&, header.stamp.nsec: 0&0 temperature: 13.384675&* salinity: 33.391712&, density: 1025.000000&* values[0]: 0.705702&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034647.783165 s.Z{I~,E&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034647.783282F (some fields omitted in printout)AQҿ@Aҿ@A,b^~? AVAV&"AAtNA"AZAbAjArAzAAAjK5@A$9¨rA4x@A}:As=A\L%@ATA@O?Ax*A79?2Asֽ:A;=BA79?JAsֽRA;=٘i)I94x@YG J楼JJJJvE&K Y\~?yx(XA E7b7Iw?9)cB[[w-@[?\~?[[[[[BZYY i) f,kID?i=: n3))n3ٰ^@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034647.823165 s, next control iter: 1743034648.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034648.203165 s.I~,! F&AJ"J*J2J:JBJnJvJAףp=ҿ@A\[%pҿ@A'N^~? AQAWI&"AAvtNA"AZAbAjArAzAAÅ4@Ak=rAw@AP#<Aڰ=Ap&@A@8A`?Av*A9?2A9ֽ:A=BA9?JA9ֽRA=٘i)I9w@YG JJJJJxE&K YJ\~?yWAE777z?9'B)iBѹE[[C.@[\~?[s[[[[BZYY i) ~I+D?iM!>w: X1))X1] `@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034648.223165 s, next control iter: 1743034648.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034648.623165 s.\I~,q'F&AA)\ҿ@A4Lmҿ@A9^~? AxLA&"AAtNA"AZAbAjArAzAAAi,4@A3hqrAw@Ab`<A@C=A'@AA`q?A'*A9?2AS9ֽ:A7&=BA9?JAS9ֽRA7&=٘i)I9w@YgG J{JJJJ{E&K Y\~?ybWAE77{7t~?9*B)qB͹E[[A0@[\~?[![[[[BZYY i) +4I*D?i^>; 0))0a@ªYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034648.643165 s, next control iter: 1743034649.023179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8147, header.stamp.nsec: 00 temperature: 13.384921* salinity: 33.391739, density: 1025.000000* values[0]: 0.704599F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034649.043165 s.I~,BF&AJ"J*J2J:J`4?BJ`4?nJ#=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034649.043288F (some fields omitted in printout)A{Gaӿ@Ar/0Gӿ@A %^~? AGA &"AAӏtNA"AZAbAjArAzAAAr5b4@AsrAfv@A];'<AΊ=A*)@A@A`L?AXŝ*Ap9?2A.sֽ:A&<BAp9?JA.sֽRA&<٘i)I9v@YG JPJJJJ~E&K Y\~?yVAEb77 ?9,B)wBʹE[[1@[l\~?[[[[[BZYY i) %qID?i>:; a$/))a$/Tb@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034649.063165 s, next control iter: 1743034649.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034649.463165 s.WI~,]F&AAӿ@A[Υӿ@A!^~? ABA}l&"AADptNA"AZAbAjArAzAAA.N"4@AHrAv@Aq:A=AA*@AaAO?AC֕*A9?2A4ֽ:Aa<BA9?JA4ֽRAa Ys\~?yVA*@Eb7?9){B[[3@[j\~?[[[[[BZYY il) ID?i>AU; G-))G-ngd@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034649.503165 s, next control iter: 1743034649.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8148, header.stamp.nsec: 00 temperature: 13.385166* salinity: 33.391747, density: 1025.000000* values[0]: 0.703495F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034649.883165 s.yI~,Ae&"AA9PtNA"AZAbAjArAzAAAC3@AŒ0rA˙u@AĂ=A8+@A_A@_?A:*A 9?2A׽:A1<BA 9?JA׽RA1<٘i)I9u@YzG JcJJJJE&K YZ\~?yGVAE7)74?9-B)BǹE[[h4@[P\~?[=[[[[BZYY i) ID?iy>ku;  M,)) M,e@͹YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034649.903165 s, next control iter: 1743034650.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034650.303165 s.[I~,gF&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075891< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743034650.303307F (some fields omitted in printout)Aq= ףԿ@AquĉԿ@A5]~? A9A!&"AA/tNA"AZAbAjArAzAAA~4k3@A?rA%u@A]A` =A3--@A$AU?A ҆*Av9?2Ao"׽:A<BAv9?JAo"׽RA<٘i)I9%u@Y4G J[JJJJE&K YA\~?yܧUAEŧ7b7Ɍ?9/B)BĹE[[5@[7\~?[[[[[BZYY i) ZֻID?i>; *))* =g@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034650.323165 s, next control iter: 1743034650.703181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8149., header.stamp.nsec: 0.0 temperature: 13.385425.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.702504.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034650.723165 s.I~,HF&AJ"J*J2J:J3?BJ3?nJ<5vJA(\տ@A4RԿ@AN]~? AO5A9x&"AAtNA"AZAbAjArAzAAAU^3@ANrA]t@A?A=Afx.@AA?A*A9?2Aֽ:ALz<BA9?JAֽRALz<٘i)I9t@YG JB=JJJJE&K Y(\~?yاUA E77{7_?90B)BE[[ &7@[1\~?[<[[[[BZYY i) f4IeD?i>" ; y)))y))h@y[bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034650.743165 s, next control iter: 1743034651.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034651.143165 s.T/I~,)F&AAGzտ@AԜ`տ@A]~? A1A&"AA_sNA"AZAbAjArAzAAAd=3@A,BrADt@A oA=A/@A`%A?A*A9?2Aֽ:A8x<BA9?JAֽRA8x<٘i)I9Dt@YG JbC=JJJJE&K Y\~?yԧ4UA#Ej7Z7?91B)BE[[*8@[s\~?[[[[[BZYY i) D% ID?i?; (())(( j@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034651.183165 s, next control iter: 1743034651.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034651.563165 s.J "J *J 2J I~:J3?BJ3?nJu<5,V F&AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075891< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743034651.563316F (some fields omitted in printout)Affffտ@A~*Oտ@A]~? A-AE &"AAsNA"AZAbAjArAzAAA B2@AV >}rA7s@A;A2=A40@AaAI?Ac*A9?2AD\ֽ:Ac!=BA9?JAD\ֽRAc!=Y#@&1@y=[\;ٓH``׿<ݮ`kl?@E?`z9`y? F?)#@ I٘i)I9s@YdG JzJ+:JJJE&K x> YE[~?yѧTA1@%E?9)B[[9@[P[~?[[[[[BZYY i)  IiD?io?; &))&tk@ϽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034651.583165 s, next control iter: 1743034651.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8150, header.stamp.nsec: 00 temperature: 13.385666* salinity: 33.391735, density: 1025.000000* values[0]: 0.701618F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034651.983165 s.I~,F&AAQֿ@A|7ֿ@A]~? A)Ak &"AA^sNA"AZAbAjArAzAAA>ԑ2@A8;zrAWs@AS<A2ދ=A9E2@AੜA,v?A#*Ax9?2A7ֽ:A=BAx9?JA7ֽRA=٘i)I9Ws@YG JJJJJE&K Y[~?yRΧ{TA(E77{7?95B)BE[[89;@[0[~?[ߧ[[[[BZYY i) ()IfD?i('?; E%))E% l@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034652.023165 s, next control iter: 1743034652.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034652.403165 s.J "J *J 2J :J |3?BJ |3?nJ 4<5vJ &ƑI~,G&AA ףpֿ@A3FYֿ@Au]~? AG%AX &"AAdžsNA"AZAbAjArAzAAA 57L2@A#xrAr@AQ<A͍=A3@AA?ARY*A9?2ASֽ:A7 =BA9?JASֽRA7 =٘i)I9r@YG J>JJJJE&K Y[~?y˧TA+E7?94B)BE[[x<@[[~?[aݧ[[[[BZYY i) ު8I*D?i5?; #))#?n@$êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034652.423165 s, next control iter: 1743034652.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8151", header.stamp.nsec: 0"0 temperature: 13.385880"* salinity: 33.391739", density: 1025.000000"* values[0]: 0.700660"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034652.823165 s.̑I~,-4G&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075891< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034652.823296F (some fields omitted in printout)A\(׿@AB׿@A]]~? A!A(!&"AAcsNA"AZAbAjArAzAAA 2@AIJ_KvrA2_r@Aq-;Aػ=A4@AB A?AD*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9_r@YG JvJJJEJE&K Ym[~?yǧSA-Eb77J?95B)BE[[=@[![~?[ۧ[[[[BZYY i) 0HID?iE?bb; |"))|"o@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034652.863165 s, next control iter: 1743034653.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034653.243165 s.ӑI~,dOG&AJ"J*J2J:JBJnJvJAGz׿@Acz׿@A[F]~? A AF!&"AAz@sNA"AZAbAjArAzAAAʾ1@AnLk(trAq@A3ꂻAđ=AA6@ABA?Ao*A9?2AHֽ:A5=BA9?JAHֽRA5=٘i)I9q@Y8G JJJJJE&K Y&[~?yħeSA0ES7S7ߥ?96B)BE[[@y=vb<ٓH`gn`g ƿ&?Ä? E@8?@5?)0@ I٘i)I9n@YRG JKJ3<JJJE&K> YZ~?y*QA >@@E777_?9;B)ůBE[[ F@[@Z~?[֧[[[[BZYY i) IUE?iN?E[< )))y@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034655.783165 s, next control iter: 1743034656.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034656.183165 s.I~,| H&AAQڿ@Akڿ@A\~? A A"&"AAD@rNA"AZAbAjArAzAAA{w/@AlgrAg1n@A!<A¢=AN?@AqAR?Aƭ*A9?2Adֽ:A=BA9?JAdֽRA=٘i)I91n@YG JmJJJJE&K YZ~?yvPACE{7{7?9)ɯB[[DH@[Z~?[է[[[[BZYY i) IhE?i?rc< [))[Zz@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034656.223165 s, next control iter: 1743034656.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034656.603165 s.;4 I~,&H&AJ"J*J2J:JO2?BJO2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034656.603289F (some fields omitted in printout)A= ףڿ@Aڿ@A\~? AA #&"AArNA"AZAbAjArAzAAAͼ.@A4hfrAm@AD:As=A@@AA-x?A*A9?2ACֽ:A=BA9?JACֽRA=٘i)I9m@YG J6B=JJJJE&K YNZ~?ySPAEE77?9=B)ЯBE[[CI@[?Z~?[է[[[[BZYY i) I|E?i?>l< {M)){M:{@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034656.623165 s, next control iter: 1743034657.003177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8155, header.stamp.nsec: 00 temperature: 13.386919* salinity: 33.391754, density: 1025.000000* values[0]: 0.696531F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034657.023165 s.ZI~,|AH&AA(\ۿ@AyBۿ@Aj\~? A|A5#&"AAqNA"AZAbAjArAzAAAWH JH.@AR:8erA m@AIwA>=AB@A޳Aq?Am*A9?2A"׽:A^=BA9?JA"׽RA^=٘i)I9m@YAG JXC=JJJJE&K YZ~?yrOAHEŧ7b7?9>B)֯BE[[KJ@[Z~?[ ֧[[[[BZYY i) "qI`E?i?w< s))sB}@7YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743034657.043165 s, next control iter: 1743034657.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034657.443165 s.6I~,:]\H&AJ"J*J2J:JBJnJvJAzۿ@AAJۿ@AOQ\~? AA]#&"AAqNA"AZAbAjArAzAAAm9~-@AocrAll@A]A =AUC@A@!A P?A[*A9?2A!׽:A=BA9?JA!׽RA=٘i)I9ll@YG JJJJJE&K Y}Z~?y}OAKEb77?9)ۯBE[[L@[Z~?[X֧[[[[BZYY i) h淼IE?i?>< ))]~@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034657.463165 s, next control iter: 1743034657.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8156, header.stamp.nsec: 00 temperature: 13.387166* salinity: 33.391754, density: 1025.000000* values[0]: 0.695393F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034657.863165 s.+I~,>wH&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034657.863286F (some fields omitted in printout)A33333ܿ@Aܿ@A7\~? AA#&"AADqNA"AZAbAjArAzAAA#-@AZJbrAk@A)8AW=AD@AA?A7Y*A 9?2Aֽ:AU=BA 9?JAֽRAU=Y6@4D@y=I8ٓHS@Yܵ9?u  ?)6@ I٘i)I9k@YG JuJƒ<JJJE&Kx> YaZ~?yROAD@ME7ŧ7J?9?B)BE[[aM@[jZ~?[֧[[[[BZYY i) +IeE?ih?< ,z)),z@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034657.883165 s, next control iter: 1743034658.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034658.283165 s.?R$I~,H&AJ"J*J2J:JBJnJvJAQܿ@A ܿ@A\~? AA#&"AAɁqNA"AZAbAjArAzAAAq{,@AarA,k@AEA-q=A[E@AhA C?AǼ*A9?2Aāֽ:A`#=BA9?JAāֽRA`#=٘i)I9,k@Y!G J!¼JJJJE&K YgEZ~?yNAPEb77?9@B)BE[[N@[QZ~?[gק[[[[BZYY i)  qƼI`E?i?OLj< +4))+4u@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034658.303165 s, next control iter: 1743034658.683188 s, wait time: 0.380023 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8157., header.stamp.nsec: 0.0 temperature: 13.387469.* salinity: 33.391758., density: 1025.000000.* values[0]: 0.694189.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034658.703165 s.غ*I~,H&AAףp= ݿ@AbX9ܿ@A\~? AA#&"AA&[qNA"AZAbAjArAzAAAh[+@AYFp`rA7j@A>;A2~=Ax G@AA_)?A&ϼ*A9?2A !ֽ:A =BA9?JA !ֽRA =٘i)I9j@YG J˼B=JJJJE&K Y>)Z~?yNASE77u?9AB)BE[[O@[8Z~?[)ا[[[[BZYY i) SͼI"E?i? [< ))@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034658.723165 s, next control iter: 1743034659.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034659.123165 s.71I~,]H&AJ"J*J2J:J1?BJ1?nJ+:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034659.123294F (some fields omitted in printout)A)\uݿ@A$C[ݿ@AT[~? AQA#&"AA^4qNA"AZAbAjArAzAAA&NE+@AM"`rAi@AL@V<A>=AdH@A+A@?As]ּ*A9?2Aս:Aڃ=BA9?JAսRAڃ=٘i)I9i@YNG J5ӼC=JJJJE&K Y Z~?yxMAUE)7ŧ7 ?9)BE[[-Q@[+ Z~?[٧[[[[BZYY i) ԼIF?i?u< ))@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034659.143165 s, next control iter: 1743034659.523177 s, wait time: 0.380012 s" Z~?)"x rAdjusting time to match Gazebo time: 1743034659.543165 s.I8I~,H&AA{Gݿ@A7n1ݿ@A[~? A*A1#&"AAv qNA"AZAbAjArAzAAA}:`*@Aۥ'n_rAhi@AL<A=AwlHA`<AԸ?A3ټ*A~9?2AZֽ:A;=BA~9?JAZֽRA;=٘i)I9i@Y G JؼJJJJE&K YY~?yک5MAXE{7j7?9)B[[-lR@[Z~?[ڧ[[[[BZYY i) @ܼIFF?i?< o ))o X@YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743034659.563165 s, next control iter: 1743034659.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8158, header.stamp.nsec: 00 temperature: 13.387806* salinity: 33.391754, density: 1025.000000* values[0]: 0.692873F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034659.963165 s.~>I~, H&AJ"J*J2J:JBJnJvJAL޿@A32޿@AԷ[~? A-AA $&"AAqpNA"AZAbAjArAzAAAi_s *@Ap{^rAdh@AV7;A4=AhGA@KA ?Aeؼ*A|9?2Axֽ:A0O=BA|9?JAxֽRA0O=Y =@ Gy=6;ٓH ŵ? 񲶿@ @ %e? ժu??) =@ I٘i)I9dh@Yp G JOټB=J<JJJďE&Kw> YY~?y!LA G[E77{75?9BB)BE[[S@[3Y~?[Pۧ[[[[ZZ¸BZYY i¸=) e2мIj8F?i?6<  - )) - V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034659.983165 s, next control iter: 1743034660.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034660.383165 s.EI~,'I&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084462< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743034660.383289F (some fields omitted in printout)AQ޿@A28޿@A[~? AYA$&"AARpNA"AZAbAjArAzAAA,Pp)@A^!R^rA:g@A1PA#=AXEA8XA@)?A ּ*A{9?2Aֽ:A=BA{9?JAֽRA=٘i)I9g@Y G J>ؼC=JJJJƏE&K YY~?ygALA]E77?9)BE[[9T@[Y~?[ܧ[[[[ZZBZYY i) 'ļI/SF?i ?p<  )) @XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034660.403165 s, next control iter: 1743034660.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8159&, header.stamp.nsec: 0&0 temperature: 13.388124&* salinity: 33.391743&, density: 1025.000000&* values[0]: 0.691512&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034660.803165 s.J "J *J 2J :J 1?BJ 1?nJ 95vJ wALI~,{g3I&AAq= #߿@AҨ ߿@A[~? AA+$&"AA!pNA"AZAbAjArAzAAAX(@A}]rAf@AFA=A1`DA_A࿪?A+*A9?2Ay׽:A<BA9?JAy׽RA<٘i)I9f@Y G JJJJJɏE&K YiY~?yKA`Eŧ7b7`?9CB) BE[[.V@[Y~?[&ާ[[[[ZZBZYY i) InF?i@<  )) 8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034660.823165 s, next control iter: 1743034661.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034661.223165 s.gSI~,HNI&AA(\߿@AkFu߿@A/j[~? A1A"7$&"AAppNA"AZAbAjArAzAAAZO56(@AE_]rA(f@AsI\Ac=ACAeA?Ai*A9?2Aֽ:Ac<BA9?JAֽRAc<٘i)I9f@Y G J JJJJ̏E&K Y9Y~?yMKAcE77?9)BE[[jW@[ަY~?[ߧ[[[[ZZBZYY i) LIF?i@0< -q))-qDׄ@yM=9ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034661.243165 s, next control iter: 1743034661.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034661.643165 s.uYI~,*iI&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084462< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034661.643303F (some fields omitted in printout)J"J*J2J:JBJnJvJAG߿@Ao߿@A>P[~? AAX?$&"AAIpNA"AZAbAjArAzAAA+S'@A[T\j]rA=e@A7Akt=A AA jAі?A*A9?2Aֽ:A\<BA9?JAֽRA\<٘i)I9=e@Y G JJJJJΏE&K Y dY~?y<JAfE)7ŧ7?9)B|E[[X@[JY~?[[[[[ZZBZYY i) IhF?iC@>k< 6))tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 8160[t@, header.stamp.nsec: 00 temperature: 13.388500* salinity: 33.391758, density: 1025.000000* values[0]: 0.689997F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034661.663165 s, next control iter: 1743034662.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034662.063165 s.`I~,g I&AAfffff@AbMeQL@AH6[~? AA[D$&"AAC"pNA"AZAbAjArAzAAA[&@A8P]rA}d@A:A0=A@A:nA E~?Aa_Ҽ*Aʢ9?2Aֽ:A:;BAʢ9?JAֽRA:;YC@@y0=nF:ٓH@ t?@5`e+@kq@`7cW?@[?)C@ I٘i)I9}d@Y G JJݽJJJяE&Kx> YGY~?yhJA@hEj7Z7 ?9DB) ByE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #44q/,^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[ZZBZYY i6p=) 5)uxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034662.083165 s, next control iter: 1743034662.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034662.483165 s.x_gI~,I&AJ"J*J2J:JBJnJvJA@A|Է@AP[~? AA*F$&"AAoNA"AZAbAjArAzAAAlR^&@AO]rA4c@A6<AM<Ap elevatorAngleAction: 0.074433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034662.903294F (some fields omitted in printout)A ףp=@ApW#@AQ[~? AAC$&"AAoNA"AZAbAjArAzAAA|yg%@AWo]rASc@ABL<AAzAeAĂ*A?p:?2AM½:ABA?p:?JAM½RA٘i)I9Sc@YZ G JJJJJ֏E&K YY~?y!JAnE7777J?9)*BsE[[Z\@[HY~?[[[[[ZZBZYY i) ?<I F?i2@ٹ< ))ǀwO@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034662.943165 s, next control iter: 1743034663.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034663.323165 s.J "J *J 2J :J 0?BJ 0?nJ 85vJ utI~,!I&AA\@A6@AKZ~? A@A>$&"AA oNA"AZAbAjArAzAAAEm͖"%@A8]]rAWb@A <AeлA#=A@|A At2*A0:?2AIý:AcqBA0:?JAIýRAcq٘i)I9b@Y G JdB=JJJJُE&K YX~?yIApE7?9)-B[[]@[1Y~?[[[[[ZZBZYY i=) 4iI,G?i@< G))G@y(=(YmYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034663.363165 s, next control iter: 1743034663.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8162*, header.stamp.nsec: 0*0 temperature: 13.389131** salinity: 33.391750*, density: 1025.000000** values[0]: 0.687500*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034663.743165 s.#W{I~,I&AAGz@A7i@ADZ~? AAq7$&"AAoNA"AZAbAjArAzAAA+ۜVɄ$@AȰ]rAb@Aw A\A <A4zA G`A*AՅ:?2AMŽ:AڧBAՅ:?JAMŽRAڧ٘i)I9b@Y G J; C=JJJJ܏E&K YX~?yIAsEv?9).BqE[[^@[Y~?[f[[[[ZZBZYY i)  TI'G?i0@< ))]@yL=)YjYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034663.783165 s, next control iter: 1743034664.143185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743034664.163165 s.t}I~,q J&AJ"J*J2J:J/?BJ/?nJy85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083801< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743034664.163269F (some fields omitted in printout)A@A[B>e@ABZ~? ALA-$&"AA$]oNA"AZAbAjArAzAAAg#@A>HJ^rAb@AA\dA=_;AtA dA@[*A%{:?2Aǽ:A=zӼBA%{:?JAǽRA=zӼYHH@KZ;ybٓHg@`+? ҆? 1˿D_`?Ͱ /?)HH@ I٘i)I9b@Y G J{gJ9JJJޏE&KD>  @9Y4X~? @9yIAZ;vEŧ7b7 @9)/BnE[[`@[VY~?[[[[[BZYY im=) BIHG?i@G< ))#@y=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034664.183165 s, next control iter: 1743034664.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034664.583165 s.戒I~,S%J&AAR@AOm@AGZ~? AA!$&"AA5oNA"AZAbAjArAzAAA1pI#@Aàa$^rAYb@A+t[A35A5&:AHlA9uAj;*Al:?2Aʽ:A/BAl:?JAʽRA/٘i)I9b@Y G JP:JJJJE&K YX~?yڴJAxE@9)kE[[;a@[X~?[[[[[BZYY i>=) 8A1IjG?i_@2< oA))oA@yq=&t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034664.603165 s, next control iter: 1743034664.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8163, header.stamp.nsec: 00 temperature: 13.389228* salinity: 33.391731, density: 1025.000000* values[0]: 0.687119F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034665.003165 s. I~,4@J&AJ"J*J2J:JBJnJvJAp= W@A <@AXZ~? AAb$&"AAboNA"AZAbAjArAzAAA6Y7G"@AM8 B_rAb@A1An[A<8A`A`굿A<*Ac:?2A5Aͽ:A=BAc:?JA5AͽRA=٘i)I9b@Y G J];JJJJE&K YX~?y3JA{E5 @9).BhE[[_pb@[X~?[z[[[[BZYY i) qIG?i#@}< ))+Z@yf=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034665.023165 s, next control iter: 1743034665.403189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743034665.423165 s.uI~,[J&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743034665.423293F (some fields omitted in printout)A(\@AH2w@AvfZ~? AAM$&"AAnNA"AZAbAjArAzAAARW"@A%_rAc@A]55AxAu7ARA:AQ6<*A3Y:?2AϽ:AgBA3Y:?JAϽRAg9I٘i)I9c@Y1 G J<JJJJE&K Y?iX~?y`JA~E777 @9),BeE[[c@[ X~?[e[[[[BZYY i) [vIG?i*'@^< ;p));p@yB$=L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034665.443165 s, next control iter: 1743034665.823177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8164", header.stamp.nsec: 0"0 temperature: 13.389212"* salinity: 33.391739", density: 1025.000000"* values[0]: 0.687355"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034665.843165 s.ݜI~,uJ&AJ"J*J2J:J/?BJ/?nJ85vJAHz.@AJi@ALZ~? AA(#&"AAnNA"AZAbAjArAzAAA˃Fr!@A}ȗ`rAec@A;A A&6AAA]1A_<*AQ:?2Aѽ:A]y BAQ:?JAѽRA]y ٘i)I9ec@Ye G J!J<JJJJE&K YMX~?y{JAE`@9))BbE[[d@[X~?[k[[[[BZYY i) "IG?i+@< s))s>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034665.883165 s, next control iter: 1743034666.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034666.263165 s.I~,,ؐJ&AA@AMg'@A2Z~? AeA#&"AAۘnNA"AZAbAjArAzAAADR @AGgarAc@A/K<An[A 4A-A`sA<*AK:?2Akӽ:A0q BAK:?JAkӽRA0q Y@O@}4yXWK<ٓH@>W?`C?ӿg{S?*'?`e? ?)@O@ I٘i)I9c@Y G Jp<JܸJJJE&Kw> Y2X~?y7JA4Ej7Z7@9)&B[[9f@[+X~?[[[[[BZYY in=) 1ۻIbG?ia.@4<  )) &@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034666.303165 s, next control iter: 1743034666.663179 s, wait time: 0.360014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 81652, header.stamp.nsec: 020 temperature: 13.3890912* salinity: 33.3917052, density: 1025.0000002* values[0]: 0.6880012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034666.683165 s.lI~,cJ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743034666.683273F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A\p@AEZ~? AA#&"AAqnNA"AZAbAjArAzAAA<K; @AeߴPbrA>d@A=<AguAw3A A M¿A$[<*AE:?2AfԽ:AsBAE:?JAfԽRAs٘i)I9>d@Y G J3<JJJJE&K YX~?yQKAEZ7@9)"B_E[[A:g@[ X~?[[[[[BZYY i) 漻I"H?i1@74< B))B@I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034666.683165 s, next control iter: 1743034667.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034667.103165 s.I~,J&AA= ףp@AcV@AY~? AA#&"AA!KnNA"AZAbAjArAzAAAZ5A@@AdJ|RcrAd@A;AA>-2AXA>%ĿAܥ<*A F:?2AԽ:ABA F:?JAԽRA٘i)I9d@Y9 G J@<JJJJE&K YW~?y§KAEb77 @9)B\E[[jh@[7mX~?[B[[[[BZYY i) qH?i8@< ))쿩r@y%o=8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034667.543165 s, next control iter: 1743034667.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8166, header.stamp.nsec: 00 temperature: 13.388922* salinity: 33.391705, density: 1025.000000* values[0]: 0.688948F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034667.943165 s.VdI~,:]J&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743034667.943296F (some fields omitted in printout)AzG@A-@AY~? AOAR#&"AA mNA"AZAbAjArAzAAAݲ@A܆erA`e@Aw?A)A`/AAǿA<*A-I:?2ATս:A BA-I:?JATսRA ٘i)I9e@Y G J<JJJJE&K Y]W~?y(ȧvLAE777K#@9)BVE[[j@[DX~?[O [[[[BZYY i)  BIH?i;=@^7< ?-))?-꿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034667.983165 s, next control iter: 1743034668.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034668.363165 s.ŒI~,}>K&AJ"J*J2J:JBJnJvJA3333@Ar@AӳY~? AnA*#&"AAmNA"AZAbAjArAzAAAQR@A,frA{f@AKAAL.AAAɿA9˻<*A}K:?2Aֽ:AC BA}K:?JAֽRAC YQU@C=.yj!LٓHd%??`ٿ@=?@r?,q?)QU@ I٘i)I9f@YP G J;<JEJJJE&K{> YW~?y˧LA=.E7&@9)BSE[[_k@[0X~?[ [[[[BZYY i) I'H?i?@cj< ))翩+@_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034668.383165 s, next control iter: 1743034668.763176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8167*, header.stamp.nsec: 0*0 temperature: 13.388684** salinity: 33.391663*, density: 1025.000000** values[0]: 0.690079*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034668.783165 s.V˒I~,2K&AAQ@ARd@A˚Y~? A A#&"AAmNA"AZAbAjArAzAAA5(ox@AsPhrA(g@A5ػA[A,AmA˿AѶ<*AM:?2AEֽ:ABAM:?JAEֽRA٘i)I9(g@Y G JZ<JJJJE&K YʓW~?yRϧGMAEŧ7b7v*@9) B[[;"m@[X~?[[[[[BZYY i}{=) IH?iB@5< s))s忩@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034668.803165 s, next control iter: 1743034669.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034669.203165 s.ӒI~,MK&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067130< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034669.203283F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@Aq&p@AY~? A( A"&"AAmNA"AZAbAjArAzAAAQuK@A zirA˾g@Af*3;AþA(+A<^A4[ͿA2I<*AO:?2A׽:ABAO:?JA׽RA٘i)I9g@Y G J~<JJJJE&K YzW~?yҧMAE7777 .@9CB)BQE[[|Nn@[: X~?[[[[[BZYY i) u[II?iE@Q< ))㿩9I@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034669.223165 s, next control iter: 1743034669.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034669.623165 s.[ْI~,mgK&AA)\@Ak@A6iY~? AA"&"AAQfmNA"AZAbAjArAzAAAT 8z@A6jdkrALh@AP.<AڵAT@*AC6A1ϿA <*AN:?2Ak׽:Ar]BAN:?JAk׽RAr]٘i)I9Lh@Ya G J:<JJJJE&K Y6`W~?y|֧NAE771@9)BNE[[xo@[W~?[[[[[BZYY i) 9:IiI@= ))࿩qސ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034669.643165 s, next control iter: 1743034670.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8168 , header.stamp.nsec: 0 0 temperature: 13.388448 * salinity: 33.391670 , density: 1025.000000 * values[0]: 0.691249 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034670.043165 s.I~,ÂK&AJ"J*J2J:JBJnJvJA{Ga@Aޏ/G@APY~? AAl"&"AA@mNA"AZAbAjArAzAAA?@AKmrAh@A0kU<AwA(A A пA<*AK:?2A~|׽:ABAK:?JA~|׽RA򼙘٘i)I9h@Y G Je<JJJJE&K YlFW~?yڧNAEŧ7b765@9)BKE[[hp@[ZW~?[[[[[BZYY i) \ :IiM@= t޿))t޿r@yw=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034670.063165 s, next control iter: 1743034670.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034670.463165 s.^I~, K&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067130< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743034670.463289F (some fields omitted in printout)A@A_@AW8Y~? AmA5"&"AAmNA"AZAbAjArAzAAA/@A}AdnrASi@AD <Av%Aܤ'AA`eѿA<*AcI:?2A0T׽:ABAcI:?JA0T׽RA򼙘٘i)I9Si@YG J<JJJJE&K Y,W~?yݧNAE{7Z78@9BB)BHE[[q@[W~?[#[[[[BZYY i) &;IiR@o= (ܿ))(ܿ@P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034670.483165 s, next control iter: 1743034670.863183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8169, header.stamp.nsec: 00 temperature: 13.388250* salinity: 33.391666, density: 1025.000000* values[0]: 0.692308F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034670.883165 s.yI~, elevatorAngleAction: 0.067130< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743034671.723267F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A6D@AX~? AA~!&"AAlNA"AZAbAjArAzAAAjg@A噽trArj@A^UAA5#A@]MA@ԿA~ȓ<*A@:?2Aֽ:ABA@:?JAֽRA٘i)I9j@YG J<JJJJE&K YDV~?ye#PA DE77C@9)BBE[[4,u@['W~?[/[[[[BZYY i) ʀ;Iia@_= _տ))_տ@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034671.743165 s, next control iter: 1743034672.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034672.143165 s.d/I~,A* L&AAGz@A!%`@AX~? A"A;!&"AAЊlNA"AZAbAjArAzAAA-PJ@AC(vrAHk@A%A9ރAI~"A A@OԿA%<*A>:?2AP ׽:ABA>:?JAP ׽RA٘i)I9Hk@Y3G JБ<JJJJE&K YzV~?yPAE7{7!G@9AB)B?E[[bHv@[[W~?[@4[[[[BZYY i) ;Ii{g@%= &ӿ))&ӿ,F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034672.163165 s, next control iter: 1743034672.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034672.563165 s.I~,N $L&AJ"J*J2J:JBJnJvJAffff@A˚X@AX~? A?&A &"AA]glNA"AZAbAjArAzAAA0ݗ0@A?TyrAk@AAA&!AA`տAl<*A!;:?2AzZ׽:A|BA!;:?JAzZ׽RA|Yb@%!yٓH?&?$[?`\?<] YV~?yPA%!E{7j7J@9)B=E[[nw@[AzW~?[8[[[[BZYY i=) 9;Iisi@sh= Kп))Kпٔ@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034672.583165 s, next control iter: 1743034672.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8171, header.stamp.nsec: 00 temperature: 13.387856* salinity: 33.391663, density: 1025.000000* values[0]: 0.694234F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034672.983165 s.I~,>L&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034672.983289F (some fields omitted in printout)AQ@A{7@AªX~? A*A; &"AAIDlNA"AZAbAjArAzAAAJ%G3@A.Yr{rA/l@AI;AcAAĤAֿÅ<*A8:?2A׽:AVBA8:?JA׽RAV򼙘٘i)I9/l@YG J<C=JJJJE&K YV~?yD;QAE777KN@9)߯B[[x@[~iW~?[=[[[[BZYY i) + elevatorAngleAction: 0.079884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743034674.243283F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A;bz@APgX~? AY6A&"AAkkNA"AZAbAjArAzAAAYY@A@rARpm@A'ȁ;A͈AAA ٿA<*AS:?2A2׽:A)BAS:?JA2׽RA)٘i)I9pm@YG J<B=JJJJE&K YRV~?yCRAE777 Y@9)ԯB[[4{@[H9W~?[$L[[[[BZYY i) bC4 Y=V~?y RAE77\@9?B)ЯB4E[[}@[)W~?[,Q[[[[BZYY i) Cÿ))>ÿ%@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034675.123165 s, next control iter: 1743034675.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034675.503165 s.7I~,U4L&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743034675.503286F (some fields omitted in printout)Ap= @Al@Am&X~? ACA&"AA[zkNA"AZAbAjArAzAAA<=N@AfN7rAn@A KA]A&AA@mۿAM<*Ai:?2Aֽ:A/BAi:?JAֽRA/٘i)I9n@Y]G J^<JJJJ'E&K YgV~?y<^SAEc@9)ȯB[[\@[ W~?[q[[[[[BZYY i) bI~,L&AA(\B@Av(@AhX~? AHA`&"AA@ZkNA"AZAbAjArAzAAA/oX?A Ym"rAWo@AYʻA ArARA@L3ܿA<*A:?2A ׽:A6BA:?JA ׽RA6٘i)I9Wo@YG J<JJJJ*E&K YFU~?ySAEj7Z7ag@9>B)ïB.E[[>@[&V~?[`[[[[BZYY i)  r elevatorAngleAction: 0.079884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034676.763293F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A@AZW~? ARA &"AAkNA"AZAbAjArAzAAAsݐ?A}%6rAl_p@A$3<AӜA AT6AݿA~<*A9?2Ab׽:ABA9?JAb׽RAYp@yKќ3<ٓH^?N]?h~l~Q?`B?{d?`?)p@ I٘i)I9_p@YLG J<JJJJ/E&Kx> Y U~?yh)TAƏE777n@9)B[[]@[V~?[Vk[[[[BZYY i) < elevatorAngleAction: 0.079884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200752 time: 1743034678.023335F (some fields omitted in printout)A(\@APjB@AUW~? AbAn&"AA4jNA"AZAbAjArAzAAA&?AerAjr@A鑺AMդA0A[DA@-߿A0<*A!9?2Aֽ:AXBA!9?JAֽRAX٘i)I9r@YNG JG<JJJJ7E&K YU~?y<UAΏE)7ŧ7Ly@9)B[[, @[UV~?[{[[[[BZYY i) ڽM&AA33333@Aӂ@AŇW~? AmA&"AAjNA"AZAbAjArAzAAAı?ALrASDs@ApVA"A AYA A>v<*A9?2Axֽ:ABA9?JAxֽRAYIv@K ysu(WٓH{{?l? W+`v?@r?͊?)Iv@ I٘i)I9Ds@YG JM<JMJJJ=E&KQx> YxU~?yaJVA ӏEb77v@9)B[[&@[V~?[&[[[[BZYY i)  elevatorAngleAction: 0.079884< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743034679.283278F (some fields omitted in printout)AQ@Ae@AuW~? A|sA1'&"AAkjNA"AZAbAjArAzAAAvX?A >:DrAs@AײA?:A(R A@]CA@YAn<*A9?2Aֽ:AlqBA9?JAֽRAlq٘i)I9s@YrG JD<JJJJ?E&K YgU~?ynQ WA֏E{7Z7 @9.B)B!E[[?@[V~?[猨[[[[BZYY i=) ; elevatorAngleAction: 0.088895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743034680.543297F (some fields omitted in printout)A{G@A0@A9AW~? AyAh&"AA}jNA"AZAbAjArAzAAA̫T4Aj8\@rAu@AGUR<A"AIA\޿A Av<*A9?2Ae׽:ABA9?JAe׽RA٘i)I9u@YG J,<JJJJGE&K Y85U~?yf[XAޏE̎@9)B[[]@[rV~?[o[[[[BZYY i)  Y&U~?y nXAE77b@9-B)zBE[[@[^hV~?[h[[[[BZYY i) K elevatorAngleAction: 0.088895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034681.803303F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@AӢ> @AW~? AkA\&"AAiNA"AZAbAjArAzAAA6QAоrAw@Az5ƻADA|A%ܿAAf<*A9?2Amֽ:ABA9?JAmֽRA8I٘i)I9w@YG J<B=JJJJOE&K Y U~?y9}YAEb7b7@9-B)pBE[[@[BTV~?[{[[[[BZYY i) BZYY i¸>ը) _A mڿAWA{<*A9?2A[ֽ:A BA9?JA[ֽRA ٘i)I9y@YG J#<JJJJUE&K YT~?yQZAE77@9)dBE[[@[AV~?[[[[[ZZZZBZYY i) `??`zv@?)ǁ@ I٘i)I9y@YG J#<J+&JJJWE&K6x> YT~?yH[AEb7b7L@9.B)_BE[[嬉@[8V~?[¨[[[[ZZZZBZYY i) P6A ,A`N׿AZA2<*AA9?2Aֽ:A>BAA9?JAֽRA>٘i)I9S|@YG J<JJJJ`E&K YT~?y.y\AE77 @9)KB[[R@[\ V~?[ը[[[[ZZZZBZYY i) 5vJA@A8e@AV~? AϩA#:&"AA1&iNA"AZAbAjArAzAAAS2f#A)$rA{w}@AkAA3AZAݡտAAۆ<*A9?2Aֽ:AR6 <BA9?JAֽRAR6 JJJeE&Kx> YT~?y|\AEZ7SI77@9)BBE[[k@[V~?[p[[[[ZZZZBZYY iN) =5vJAp= W@A\<@AV~? A|ݩA!&"AA|iNA"AZAbAjArAzAAAۯ*jRAWrA ~@AEOA_<AA`ӿA?A;*AZ9?2Afֽ:A^<BAZ9?JAfֽRA^<٘i)I9 ~@YG J <JJJJjE&K YT~?y'ͨ]AE7b@9)=B[[%@[V~?[Y[[[[ZZZZBZYY i) ^5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075199< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743034686.843308F (some fields omitted in printout)AHz.@A7@AuV~? A=Aw&"AAhNA"AZAbAjArAzAAA2}SA{rA=~@AAr2=AA@/ҿAݢAF*A^9?2Awpֽ:A&<BA^9?JAwpֽRA&<٘i)I9=~@YG JJJJJpE&K Y]T~?yݨ:]AE@9)=B[[ם@[U~?[Z[[[[BZYY i) 17JJJrE&Kv> Y{T~?ye\A  Eŧ7b7"@9)>B[[*@[U~?[[[[[BZYY if) *&5vJAQ@A^ @AbV~? A?A&"AAhNA"AZAbAjArAzAAA>$ AN5#rA}@AX<Aլy=AɌA}mпA A-7*Ak9?2Aֽ:A =BAk9?JAֽRA =٘i)I9}@YG JJJJJuE&K YWP&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065796< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034689.363282F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@AՑ#@A#BV~? AA&"AAhNA"AZAbAjArAzAAA]T67 A sA|@A3JAfי=AٿA`ڊɿAA 0*A9?2A ׽:Al =BA9?JA ׽RAl =Y@ڿy^ԙ=%KٓH@@?c? Unv 5_E?)@ I٘i)I9|@YqG JC=JV=JJJE&KFx> Y]T~?yle[AڿEb77 @91B)PBE[[i@[U~?[#[[[[BZYY i) H;Ii@Q== ;p));pd@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034689.383165 s, next control iter: 1743034689.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8188&, header.stamp.nsec: 0&0 temperature: 13.384830&* salinity: 33.391384&, density: 1025.000000&* values[0]: 0.709299&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034689.783165 s._I~,rP&AAQ@A]@AN;V~? A!AB &"AA%hNA"AZAbAjArAzAAA,Vb AwsA{@A3EA=AK׿A@ǿA`A=D*A9?2A!ֽ:A =BA9?JA!ֽRA =٘i)I9{@YG J JJJJE&K YZT~?y%ZAE)7ŧ7@9)TB[[Br@[U~?[*[[[[BZYY i)  ;IiƓ@'== k))k=@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034689.803165 s, next control iter: 1743034690.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034690.203165 s.#I~,P&AJ"J*J2J:Jw5?BJw5?nJG>5vJAףp=@A&p@A4V~? A)AY &"AA$|hNA"AZAbAjArAzAAA ҷv A!fsAy{@AMðAd=AԿA`ſA`LA6*A9?2Aֽ:Ai =BA9?JAֽRAi =٘i)I9{@YG JJJJJE&K YZVT~?y"ZAE7778@9)YB[[%@[U~?[D1[[[[BZYY i) Ma;Iiԓ@X9== }g))}g @ تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034690.223165 s, next control iter: 1743034690.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034690.623165 s.[)I~,mP&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065796< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034690.623299F (some fields omitted in printout)A)\@Aѯ@A+/V~? Aj1Av &"AArhNA"AZAbAjArAzAAAXMA%4sAArz@Ac;A=A2?ҿAĿAeA*A9?2A\ֽ:As =BA9?JA\ֽRAs =٘i)I9rz@YnG JoJJJJE&K YRT~?y+0ZAEb7b7@9)]B[[@[U~?[7[[[[BZYY i) %;Ii@!== c))c@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034690.643165 s, next control iter: 1743034691.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8189 , header.stamp.nsec: 0 0 temperature: 13.385063 * salinity: 33.391388 , density: 1025.000000 * values[0]: 0.708379 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034691.043165 s.0I~,P&AJ"J*J2J:JBJnJvJA{Ga@A52G@A)V~? AR9Av& &"AArjhNA"AZAbAjArAzAAAS'CAZ<!sAy@A&;<AL=AGϿA)¿ADAԶ*A9?2A32ֽ:A =BA9?JA32ֽRA =٘i)I9y@YG JJJJJE&K YNT~?yR4YA!E{7{7c@92B)cB E[[@[U~?[>[[[[BZYY i) :Ii}@>= ^))^7@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034691.063165 s, next control iter: 1743034691.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034691.463165 s.W7I~,P&AA@A_@A%V~? ABAA̋ &"AAbhNA"AZAbAjArAzAAA qZAU%sA4@y@AP<AU=AͿA ;KAA *A9?2A$Gֽ:A  =BA9?JA$GֽRA  =Y+͎@x̿y#=]Q<ٓH,]9?`AᎿF6`u@d?v?)+͎@ I٘i)I9@y@YG JǶJiJJJE&Kx> YNT~?y=bYA̿$E77@9)hB[[\@[U~?[WE[[[[BZYY i) 3:Ii@q== dZ))dZWí@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034691.483165 s, next control iter: 1743034691.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8190, header.stamp.nsec: 00 temperature: 13.385304* salinity: 33.391373, density: 1025.000000* values[0]: 0.707361F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034691.883165 s.y=I~,DP&AJ"J*J2J:J5?BJ5?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065796< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743034691.883321F (some fields omitted in printout)AQ8@Az):@A V~? A:IA &"AA[hNA"AZAbAjArAzAAA_AV]5*sA`x@A(;A4Z=AtʿAͼA`2A*An9?2Aʐֽ:Ay=BAn9?JAʐֽRAy=٘i)I9x@YXG JJJJJE&K Y)MT~?yEXA'E7@9)mB[[/-@[U~?[L[[[[BZYY i) xIi@ == V))V*O@(ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034691.903165 s, next control iter: 1743034692.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034692.303165 s.ZDI~,gQ&AAq= ף@A,D@AV~? A8QAT &"AAUhNA"AZAbAjArAzAAAO~A b*/sA%x@A&A=AǿAA`DA'[*A9?2Aֽ:A==BA9?JAֽRA==٘i)I9x@YG J䬼JJJJE&K YKLT~?yNXA)Eŧ7b7#@9)qB[[!@[U~?[R[[[[BZYY i) 5䗺Ii@0<= Q))Qۮ@I˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034692.323165 s, next control iter: 1743034692.703181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8191., header.stamp.nsec: 0.0 temperature: 13.568633.* salinity: 33.374992., density: 1025.000000.* values[0]: 0.578314.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034692.723165 s.KI~,H.Q&AJ"J*J2J:J ?BJ ?nJ=5vJA(\@AXC@AV~? A`[[[[BZYY i) DIi@eI== ;H));H;HwĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034693.183165 s, next control iter: 1743034693.543179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034693.563165 s.J "J *J 2J :J ?BJ ?nJ %5vJ XI~,k dQ&AAffff@A6W@A V~? AQiA~&"AAJHhNA"AZAbAjArAzAAAX >Aci+T>sAv@AySAX=A῿A: AqkA@Ù*A9?2Aֽ:A<BA9?JAֽRA YLT~?yihWA1EZ7@9)wB[[Uƿ[.U~?[f[[[[BZYY i&) DCIi7@o<= ψD))ψDψDYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034693.603165 s, next control iter: 1743034693.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8192, header.stamp.nsec: 00 temperature: 13.568929* salinity: 33.374985, density: 1025.000000* values[0]: 0.577662F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034693.983165 s._I~,~Q&AA\(@A^9@AiV~? AaqAZ&"AAeEhNA"AZAbAjArAzAAAPƊ\RA@CsAv@A_AA=AZA xA@!sA*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9v@YG JC=JJJJE&K  A9YNT~? A9yq WA4Eŧ7b7xA9){BE[[gĿ[U~?[m[[[[BZYY i) "Ii@*;= (@))(@(@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034694.023165 s, next control iter: 1743034694.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034694.403165 s.&fI~,͙Q&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074781< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.420005"J*J2J2 time: 1743034694.403285F (some fields omitted in printout):JBJnJvJAQ^@ASͬQ@APV~? AtyAC&"AAKChNA"AZAbAjArAzAAAg_A:-HsAu@A <AS=AuӺA`ԗAxAl*A9?2Adֽ:A.<BA9?JAdֽRA.<٘i)I9u@YnG JkJJJJE&K YPT~?yzVA7E77A9,B)BE[[k¿[U~?[pt[[[[BZYY i) Iio@p;= ;));;-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034694.443165 s, next control iter: 1743034694.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8193", header.stamp.nsec: 0"0 temperature: 13.569170"* salinity: 33.375015", density: 1025.000000"* values[0]: 0.577064"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034694.823165 s.lI~,:Q&AAGz@A.o@AV~? AA-&"AAAhNA"AZAbAjArAzAAA6D[fA;k:MsA3u@AU<Aň=AAA)MAzA*A9?2AXֽ:A?=BA9?JAXֽRA?=٘i)I9u@Y!G JgJJJJE&K YRT~?yuMVA9Eŧ7b7A9)B[[:[U~?[,{[[[[BZYY i) ݻIiR@4K;= Oe7))Oe7Oe7yEbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034694.863165 s, next control iter: 1743034695.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034695.243165 s.sI~J,Q&A"J*J2J:J?BJ?nJ5vJAףp=@A_D1@AV~? AAr&"AAyAhNA"AZAbAjArAzAAA?gA RsAt@A.<A͈=AAz?AzA*Ae9?2ACֽ:A8=BAe9?JACֽRA8=٘i)I9t@YG JJJJJE&K YTT~?y>UA YsYT~?y딩UA?ES7b7A9)BE[[wٻ[U~?[[[[[BZYY i)  Ii@$O:= .))..:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034695.683165 s, next control iter: 1743034696.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034696.083165 s.DI~,RR&AJ"J*J2J:JBJnJvJA)\5@A܂(@A0V~? AA &"AABhNA"AZAbAjArAzAAA,UA#\[sAs@AaݻAP=A!CAz?A`XsAܫ*A9?2A׽:A)=BA9?JA׽RA)=٘i)I9s@YDG JGJJJJE&K YP^T~?y6UAAEj7SI7cA9)B[[A[ U~?[P[[[[BZYY i) lIi@Xx9= @*))@*@*⾪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034696.103165 s, next control iter: 1743034696.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034696.503165 s.I~,L4 R&AARk@A!y^@AV~? AѡA}/&"AADhNA"AZAbAjArAzAAAz{1BA C`sA's@AMA&t=AAt?AkA-*A9?2A*5׽:A}=BA9?JA*5׽RA}=٘i)I9's@YG J&JJJJE&K Y,cT~?yETADE77A9)B[[1v[U~?[[[[[BZYY i) I,Iim@8= %))%%IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034696.523165 s, next control iter: 1743034696.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8195, header.stamp.nsec: 00 temperature: 13.569619* salinity: 33.374989, density: 1025.000000* values[0]: 0.575887F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034696.923165 s.9I~,;R&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034696.923289F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@ARy;@AV~? AީA$&"AAGhNA"AZAbAjArAzAAA(A]esA r@A)2@AՕ=AGAn ?A`aAW*A9?2AZ׽:AB[=BA9?JAZ׽RAB[=٘i)I9r@YG J5JJJJE&K YhT~?y~TAGEj7Z7A9)B[[KC[U~?[[[[[BZYY i) v A6jsAD:r@AA2ː=AwA?Ҵ?A@UAw}*A9?2Acֽ:A#=BA9?JAcֽRA#=٘i)I9:r@YmG JǏJJJJE&K YlT~?y!TAIEŧ77#A9)BE[[ [U~?[f[[[[BZYY i) lKIi @]8= ?))??:ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034697.363165 s, next control iter: 1743034697.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8196&, header.stamp.nsec: 0&0 temperature: 13.569854&* salinity: 33.374981&, density: 1025.000000&* values[0]: 0.575353&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034697.763165 s. YtT~?ySA西LE{7j7!A9-B)BE[[ް[}U~?[ [[[[BZYY i) A[Ii@7= ))ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034697.783165 s, next control iter: 1743034698.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034698.183165 s.ˢI~,gR&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743034698.183268F (some fields omitted in printout)A(\B@AD5@A7 V~? AA&"AAsThNA"AZAbAjArAzAAAO"mA8%itsA7q@APA<Az=AXiAP?A4Ac*AT9?2AVBֽ:A~ =BAT9?JAVBֽRA~ =٘i)I97q@YG JNJJJJE&K Y7|T~?yȩ\SAOE7777N%A9)B[[[U~?[[[[[BZYY iqU) jIi3@N6= /H))/H/HN̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034698.203165 s, next control iter: 1743034698.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034698.603165 s.74I~,R&AJ"J*J2J:JBJnJvJAQx@AAFk@Ab$V~? AɪA&"AAVZhNA"AZAbAjArAzAAA?dAFysAp@AN<Ax=AϠAp ?A*!A**A!9?2AYUֽ:ACH =BA!9?JAYUֽRACH =٘i)I9p@Y|G JJJJJE&K Y߃T~?y ѩRARE77(A9.B)BE[[ x[cU~?[M[[[[BZYY i)  yIi@25= ?))?? ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034698.623165 s, next control iter: 1743034699.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8197 , header.stamp.nsec: 0 0 temperature: 13.570066 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.574782 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034699.023165 s.ZI~,{R&AAHz@A/R( @A)V~? AѪA&"AAahNA"AZAbAjArAzAAAAAD ~sA`'p@A-;A'=Ac&A`?A AӠ*A9?2ABֽ:A=BA9?JABֽRA=٘i)I9'p@Y)G J(JJJJE&K YT~?y٩RATEb7y,A9)B[[B[fU~?[뽩[[[[BZYY i) Ii@G4= u ))u u ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034699.063165 s, next control iter: 1743034699.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034699.443165 s.2öI~,)]R&AJ"J*J2J:J?BJ?nJ25vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083659< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034699.443269F (some fields omitted in printout)Aq= @A;@AJ.V~? A٪A%"AA~hhNA"AZAbAjArAzAAArPAYlCsAo@A&('AJ=AtA ?A@VA5*A9?2A4ֽ:A =BA9?JA4ֽRA =٘i)I9o@YG JJJJJE&K Y0T~?y4RAWE{7{70A9/B)BE[[K [U~?[ĩ[[[[BZYY i) *IiԌ@C4=  ))  y{;ҪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034699.463165 s, next control iter: 1743034699.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8198, header.stamp.nsec: 00 temperature: 13.570312* salinity: 33.374989, density: 1025.000000* values[0]: 0.574142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034699.863165 s.+I~,>R&AA@A @A4V~? AAO%"AAphNA"AZAbAjArAzAAAU:pW A ‡sA_o@A,A=AĘA?A@A"*A9?2A+׽:AA*=BA9?JA+׽RAA*=Yԛ@Zߘy=6-ٓHv?k?`Z?/|?`Hz@?)ԛ@ I٘i)I9o@YG JB=JJ.<JJJÐE&K&x> YT~?y0QAߘZE)7ŧ73A9)B[[٥[U~?[ ˩[[[[BZYY i) Ii@=2= #))##q֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034699.903165 s, next control iter: 1743034700.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034700.283165 s.4RĔI~,S&AJ"J*J2J:JBJnJvJA(\O@AdTB@AI:V~? AuA!%"AAyhNA"AZAbAjArAzAAAݴ Ax~sAHn@AAWTA=A$AǏ?A OA<*A֧9?2A)"׽:A<=BA֧9?JA)"׽RA<=٘i)I9n@Y4G JܠC=JJJJƐE&K YT~?y_cQA\E{7{797A9)BE[[7[V~?[ѩ[[[[BZYY i) F1Ii@{1= &u))&u&uڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034700.303165 s, next control iter: 1743034700.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8199., header.stamp.nsec: 0.0 temperature: 13.570538.* salinity: 33.375011., density: 1025.000000.* values[0]: 0.573522.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034700.703165 s.ӺʔI~,-S&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083659< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743034700.703282F (some fields omitted in printout)AQ@A]Px@AAV~? AAAz%"AAhNA"AZAbAjArAzAAA?RQ AwҀMsAn@AH A'C=AA{e?AA3i*AN9?2A7ֽ:AA=BAN9?JA7ֽRAA=٘i)I9n@YG J JJJJȐE&K YTT~?yPA_Eb77:A90B)B E[[n[ V~?[ة[[[[BZYY i) sIiى@r0= ))ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034700.723165 s, next control iter: 1743034701.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034701.123165 s.6єI~,XGS&AJ"J*J2J:JBJnJvJAG@A*٭@ATHV~? AA%"AADhNA"AZAbAjArAzAAAҋl٠ A"ۺsAKvm@A|9AK=ABA4?A utA*A.9?2A:zֽ:AVW=BA.9?JA:zֽRAVW=٘i)I9vm@YG JRJJJJːE&K YT~?yPAbE77j7d>A9)įB[[6[V~?[ީ[[[[BZYY i) 7Ii9@e/= ֺ))ֺ꾩ֺ2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034701.143165 s, next control iter: 1743034701.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034701.543165 s.IؔI~,bS&AA= ף@A @APV~? AA%"AAhNA"AZAbAjArAzAAA7d[C A. sA&l@A<Af=A*A@?A`OA<*A9?2A-ֽ:A=BA9?JA-ֽRA=٘i)I9l@Y(G JJJJJΐE&K YT~?y )PAdE77AA9)ɯB[[[*V~?[[[[[BZYY i) OIiɈ@/= ))ᾩYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034701.563165 s, next control iter: 1743034701.943178 s, wait time: 0.380013 sT~?) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8200, header.stamp.nsec: 00 temperature: 13.570775* salinity: 33.375015, density: 1025.000000* values[0]: 0.572885F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034701.963165 s.uޔI~,}S&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083659< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034701.963296F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff&@A2SZ@A`XV~? A[AX%"AAhNA"AZAbAjArAzAAA@& AڨgsAx;l@AV<A`=AA ?A(Ah¼*AQ9?2Aֽ:AT<=BAQ9?JAֽRAT<=Y@5ۋy ==W<ٓH2Y? l??P`b?f4;ۊ?@?)@ I٘i)I9;l@YG JJJ <JJJАE&Kw> YT~?yOAۋgEj7Z7EA92B)ЯB$E[[Ț[!V~?[g[[[[BZYY i)  Iis@W`-= Nپ))NپNپYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034702.003165 s, next control iter: 1743034702.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034702.383165 s.I~,#S&AA(\@A)O@A$aV~? AA%"AAhNA"AZAbAjArAzAAAF Ak sAΖk@A >'<A=A[A`K?AA{2ż*A}9?2AUֽ:AV=BA}9?JAUֽRAV=٘i)I9k@YbG JļJJJJӐE&K YT~?yEOAjEb77$IA9)կB[[ϐ[)V~?[[[[[BZYY i) e_IiK@+= #о))#о#оYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034702.403165 s, next control iter: 1743034702.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8201", header.stamp.nsec: 0"0 temperature: 13.571037"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.572194"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034702.803165 s.wAI~,{gS&AJ"J*J2J:JBJnJvJA@AH߄@AijV~? A~A0%"AADhNA"AZAbAjArAzAAA"q+fA8RsAj@A{<;A"=AaA`&2?AAjż*A9?2Aֽ:A@d=BA9?JAֽRA@d=٘i)I9j@YG JżJJJJ֐E&K Y T~?y\"NAlE7777LA9)گB[[W[1V~?[[[[[BZYY i) ٱǼIiS@W*= <Ǿ))<Ǿ<ǾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034702.823165 s, next control iter: 1743034703.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034703.223165 s.gI~,HS&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083659< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199402 time: 1743034703.223269F (some fields omitted in printout)Az@A&@A,tV~? AAY%"AAhNA"AZAbAjArAzAAALɫSyA:5sAKj@AJALv=A_A@_?AAż*A9?2A4׽:A{=BA9?JA4׽RA{=٘i)I9Kj@YG J`żJJJJؐE&K YT~?y,*`NAoE7{7NPA9)B'E[[[:V~?[m[[[[BZYY i) ϼIi@)= ~O))~O~OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034703.243165 s, next control iter: 1743034703.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034703.643165 s.wI~, *S&AJ"J*J2J:JBJnJvJA ףp@A8d@An~V~? Ac&A %"AAhNA"AZAbAjArAzAAA?A%sAi@AR7PA˯=AlJA?ArAqFƼ*Ab9?2A ׽:Ax=BAb9?JA ׽RAx=٘i)I9i@Y3G JżJJJJېE&K YU~?y1MArE7SA93B)B(E[[Eߑ[CV~?[[[[[BZYY i˽) ,WּIi@(= ^]))^]^]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034703.663165 s, next control iter: 1743034704.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8202, header.stamp.nsec: 00 temperature: 13.571318* salinity: 33.375004, density: 1025.000000* values[0]: 0.571424F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034704.063165 s.I~,R T&AA33333@Aq0'&@A-V~? A-A{%"AAhNA"AZAbAjArAzAAA/±{Ap8sA YwU~?yW9wMA}tEj7j7yWA94B)B+E[[[MV~?[ [[[[BZYY i) ݼIis@&= nz))nznz`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034704.083165 s, next control iter: 1743034704.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034704.483165 s._I~,T&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743034704.483273F (some fields omitted in printout)J"J*J2J:JBJnJvJA\h@Ai5$[@AeV~? A5A%"AALhNA"AZAbAjArAzAAAokA'sAZRh@AnWA=A\xA߱?A A3ͼ*A9?2Aeֽ:Ao=BA9?JAeֽRAo=٘i)I9Rh@Ye G Ja˼B=JJJJE&K Y&U~?y@MAwEŧ7b7[A9)B[[k[VV~?[[[[[BZYY i) 2Ii#@L%= ))gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034704.523165 s, next control iter: 1743034704.883189 s, wait time: 0.360024 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8203, header.stamp.nsec: 00 temperature: 13.571565* salinity: 33.375019, density: 1025.000000* values[0]: 0.570691F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034704.903165 s. I~,9T&AAQ@AZ$@AV~? A7<Am_%"AAiNA"AZAbAjArAzAAAK4PA+sA9g@AF;A=A^sA`C?AA^AԼ*A9?2A/ֽ:A"8=BA9?JA/ֽRA"8=٘i)I9g@Y G JxмC=JJJJE&K Yb6U~?yHLAzE7777^A95B)B.E[[{-[`V~?[2[[[[ZZ¸BZYY i¸Ȩ=) ؼIi@O#= 6))66yS*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034704.923165 s, next control iter: 1743034705.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034705.323165 s.sI~,TT&AJ"J*J2J:JBJnJvJAGz@A-\o@A elevatorAngleAction: 0.082414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034705.743299F (some fields omitted in printout)Aףp= @A0@A׸V~? AdJAH%"AA_4iNA"AZAbAjArAzAAAPKAmysA#f@A*K<Aql=AiA.?A`\A*A/9?2Amֽ:A=BA/9?JAmֽRA=٘i)I9#f@Y G JJJJJE&K YKUU~?yVKAE77{7eA97B)B2E[[[5vV~?[Z#[[[[ZZBZYY i) Ii|@!= ))yT=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034705.763165 s, next control iter: 1743034706.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034706.163165 s.u}"I~,qT&AJ"J*J2J:JBJnJvJA@@Aѭ2@AV~? A\QA%"AAGiNA"AZAbAjArAzAAA` uAsACe@A ;A=AzcAO?AA|*A 9?2AWֽ:A<BA 9?JAWֽRA YgU~?y]4KAcE777diA9) B[[o[WV~?[P)[[[[ZZBZYY i) ]'Ii[y@= =))==y<,=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034706.183165 s, next control iter: 1743034706.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034706.583165 s.(I~, ST&AA)\u@A$'h@AkV~? A=XA8%"AA[iNA"AZAbAjArAzAAAhkA1PE*sAld@A5oAuz=A!j^A@?AUA9*A9?2A ֽ:Amp<BA9?JA ֽRAmp<٘i)I9ld@Y G JJJJJE&K YxU~?ypdJAElA9)B5E[[e/[܌V~?[=/[[[[ZZBZYY i) uIipv@X= ;m));m;mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034706.623165 s, next control iter: 1743034706.983180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8205, header.stamp.nsec: 00 temperature: 13.572186* salinity: 33.375027, density: 1025.000000* values[0]: 0.568967F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034707.003165 s.{ 0I~,Y4T&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743034707.003313F (some fields omitted in printout)AR@Ax N}@AcV~? A _A%"AApiNA"AZAbAjArAzAAAf@Aֳ#PsAOc@AMAAG7=At!YA-?AzA{0μ*A]9?2A)ֽ:Az;BA]9?JA)ֽRAz;٘i)I9c@Y G JB=JJJJE&K YU~?yGkdJAEŧ77pA9)B[[[ƘV~?[!5[[[[ZZBZYY i) ŝIis@J= 0#[))0#[0#[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034707.023165 s, next control iter: 1743034707.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034707.423165 s.u6I~,T&AA{G@A;@AV~? AeA1/%"AA/iNA"AZAbAjArAzAAAX"!Ai4hsAx c@AnfAd<ASA@n?A@[Aئ*A'9?2Asֽ:A2KBA'9?JAsֽRA2K٘i)I9 c@Y/ G JC=JJJJE&K YpU~?yrIAE7$tA99B)!B9E[[N{[V~?[:[[[[ZZBZYY i) Iiq@G= @H))@H@H4"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034707.443165 s, next control iter: 1743034707.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8206, header.stamp.nsec: 00 temperature: 13.572501* salinity: 33.375019, density: 1025.000000* values[0]: 0.568080F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034707.843165 s. elevatorAngleAction: 0.082414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034708.263330F (some fields omitted in printout)AL@A?@A W~? ArA,%"AA'iNA"AZAbAjArAzAAA |6XAąmsAl)b@A#8A`AfIA`4?AA>*A9?2A ֽ:AۻsBA9?JA ֽRAۻsY٨@oIy`8ٓH?@?*j@ ?.:i? Lr?? ?)٨@ I٘i)I9)b@Y G JRiJSCJJJE&K;x> Y4U~?y3IAIE77O{A9:B))B elevatorAngleAction: 0.072060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743034709.523319F (some fields omitted in printout)AHz@A$@A[>W~? AمA%"AA}iNA"AZAbAjArAzAAA@UNDA?ZsAa@AAd!<AF/A9A@PA?A]Akg;*AW9?2Aֽ:ABAW9?JAֽRAἙ٘i)I9a@Y JC=JJJJE&K Y$U~?yIAEb7A9%"AAjNA"AZAbAjArAzAAA(~տAsl˼sAa@A':AOUA[4A?AAJ;*A؎9?2A4Hֽ:AUBA؎9?JA4HֽRAU٘i)I9a@Yy G J;JJJJE&K YV~?y9IAE7A9=B)FE[[_[9V~?[\[[[[BZYY i) -Iia@\= v))vvԏ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034709.963165 s, next control iter: 1743034710.343184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034710.363165 s.eI~,}>U&AJ"J*J2J:JBJnJvJAY@AhL@A`W~? AA%"AA.jNA"AZAbAjArAzAAAXDAɑgsAEb@AAtA/AC?A@9MA0<*A-9?2Aս:ABA-9?JAսRAY@/yt CٓH?3I?} = :?k? 阮??)@ I٘i)I9b@Y G J <JJJJE&Kv> Y'V~?yΝJA/E7:A9),B[[cM[[W~?[b[[[[BZYY ibe=) Ii]@= @쑽))@쑽@쑽*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034710.383165 s, next control iter: 1743034710.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8209&, header.stamp.nsec: 0&0 temperature: 13.572575&* salinity: 33.375057&, density: 1025.000000&* values[0]: 0.567505&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034710.783165 s.WkI~,U&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034710.783293F (some fields omitted in printout)A(\@AP@AcrW~? AAS%"AA^IjNA"AZAbAjArAzAAA` J_?A»sA(rb@A9[A'A*A.?AA}tf<*A9?2A"ս:A0BA9?JA"սRA0٘i)I9rb@Y G JJ<JJJJ E&K Y=V~?ycWJAE{7j7ϐA9>B)*BIE[[V[W~?[mg[[[[BZYY i) KIiZ@/ = QZ))QZQZ3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034710.803165 s, next control iter: 1743034711.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034711.203165 s.sI~,U&AJ"J*J2J:JBJnJvJAQ@A@AW~? AAX%"AAdjNA"AZAbAjArAzAAA٢NAo?A/sAb@AZ?AAAq%A*?A A<*AD9?2Aֽ:A7BAD9?JAֽRA7٘i)I9b@Y G J'~<JJJJ E&K YSV~?yJA DE77{7dA9)(BLE[[R[B#W~?[l[[[[BZYY i) QTIisW@? = c))cc*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034711.223165 s, next control iter: 1743034711.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034711.623165 s.XyI~,aU&AAG@A@@AW~? AVA[q%"AA8jNA"AZAbAjArAzAAA~IS?A9QOsAWc@AAA A?ACNAژ<*A^9?2Anֽ:AoaBA^9?JAnֽRAoa٘i)I9Wc@Y] G J{<JJJJE&K YiV~?yJAE{7j7A9)$B[[CqM[ 3W~?[q[[[[BZYY iS=) zܻIiT@P+= -))--y f=m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034711.643165 s, next control iter: 1743034712.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8210 , header.stamp.nsec: 0 0 temperature: 13.572315 * salinity: 33.375069 , density: 1025.000000 * values[0]: 0.567998 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034712.043165 s.I~,V&AJ"J*J2J:Jh?BJh?nJx5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034712.043300F (some fields omitted in printout)A= ף0 @AŪA# @AܩW~? A㨫A%"AAjNA"AZAbAjArAzAAAKy?A(W.dtA c@A;A CApA2?A߿A<*A9?2AHֽ:A ( BA9?JAHֽRA ( ٘i)I9c@Y G J]<JJJJE&K YtV~?y#NKAEA9@B)!BPE[[H[1CW~?[v[[[[BZYY i) IiwR@= :))::y'f=9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034712.063165 s, next control iter: 1743034712.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034712.463165 s.mI~,HV&AAfffff @A_Y @AW~? ARAP%"AA[jNA"AZAbAjArAzAAA.8^?A ǴtAEdd@AQM<AJA\A@?A3߿Aע<*Ar9?2ABֽ:A`BAr9?JABֽRA`YY@yGM<ٓHw? ?2@`M?C?]$?@?l?)Y@ I٘i)I9dd@Y G J<B=JJJJE&Kx> YV~?yKAEb7b7%A9AB)BSE[[*D[wSW~?[{[[[[BZYY i) lIieN@= <)).5<<y9=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034712.503165 s, next control iter: 1743034712.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8211, header.stamp.nsec: 00 temperature: 13.571993* salinity: 33.375061, density: 1025.000000* values[0]: 0.568658F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034712.883165 s.yI~,88V&AJ"J*J2J:J?BJ?nJ5vJA( @A @AW~? AAX/%"AAjNA"AZAbAjArAzAAARzS?AF@GtA}d@AO<A犙A&Ap?AS{޿AP<*A9?2Arֽ:AjDBA9?JArֽRAjD٘i)I9d@YT G J<C=JJJJE&K YV~?yڽLAEŧ77A9)B[[?[ dW~?[ۀ[[[[BZYY i) =IiJ@= =)) ==#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034712.903165 s, next control iter: 1743034713.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034713.303165 s.QI~,bgSV&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034713.303285F (some fields omitted in printout)A @A$a @AW~? AиA%"AAjNA"AZAbAjArAzAAA^?A50 tA{e@Axa;AA! A&?AyݿA5<*Aö9?2A/ս:A:BAö9?JA/սRA:6I٘i)I9{e@Y G J\<JJJJE&K YV~?yªLAE77OA9BB)BVE[[:[+uW~?[[[[[BZYY i) DIihG@=< _c=))_c=_c=S*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743034713.323165 s, next control iter: 1743034713.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8212., header.stamp.nsec: 0.0 temperature: 13.571640.* salinity: 33.375080., density: 1025.000000.* values[0]: 0.569342.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034713.723165 s.I~,HnV&AJ"J*J2J:JBJnJvJAz @A @AW~? A߽Ad%"AA kNA"AZAbAjArAzAAAX;?Aq#2tA f@A lAA_0Alq?AݿAI/<*A9?2Apս:A7BA9?JApսRA7٘i)I9 f@Y G J_<JJJJE&K YV~?yǪLAE)7b7A9)BZE[[g'6[W~?[y[[[[BZYY i) zIi~D@< C=))C=C=*Y$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034713.743165 s, next control iter: 1743034714.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034714.143165 s.V/I~,*V&AA ףp= @A؜g0 @Ay X~? A«A%"AA2kNA"AZAbAjArAzAAA:?AC s5tAf@AU;AlAZ*A`?AJܿA~c<*A9?2Azս:ABA9?JAzսRA٘i)I9f@Y\ G J<JJJJE&K Y4V~?yk̪PMAEZ7Z7zA9CB)B]E[[o1[bW~?[*[[[[BZYY i) IiA@G< =))==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034714.163165 s, next control iter: 1743034714.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034714.563165 s.I~,k V&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034714.563308F (some fields omitted in printout)A3333s @AoG8-f @A`"X~? AǫA%"AA{QkNA"AZAbAjArAzAAA I@AM7=$tAl2g@AXA4AA@?A@ۿA,լ<*A59?2Aս:A(BA59?JAսRA(Y@yZ1 YٓHB??eݿP?`?`b?@"?)@ I٘i)I92g@Y G J<B=J;JJJ!E&Kv> Y8W~?yЪMAEb77A9DB) B^E[[,[EW~?[[[[[BZYY i) =dIi=@< h=))ݤ~h=h=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034714.583165 s, next control iter: 1743034714.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8213, header.stamp.nsec: 00 temperature: 13.571275* salinity: 33.375095, density: 1025.000000* values[0]: 0.570114F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034714.983165 s.I~,V&AA\ @A, @A7X~? AH̫AG%"AAaqkNA"AZAbAjArAzAAAɄn'2L@AjwtAg@AAxA dAI?AڿAࡦ<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9g@Y G J~<C=JJJJ$E&K Y7'W~?yԪNAEA9)BaE[[([W~?[/[[[[BZYY i) ::Ii9@< `>)) `>`>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034715.003165 s, next control iter: 1743034715.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034715.403165 s.&I~,V&AJ"J*J2J:J ?BJ ?nJ#5vJAQ @Am @AMX~? AЫA %"AA‘kNA"AZAbAjArAzAAATYV@A[tAJh@A$z:A ԍAA@t?AٿA<*Aw9?2A%[ս:AVBAw9?JA%[սRAV٘i)I9Jh@Y` G JG<JJJJ&E&K Y6@W~?yتyNAE7777:A9EB)BdE[[R#[.W~?[[[[[BZYY i) l:IiO6@[< >))>>**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034715.423165 s, next control iter: 1743034715.803178 s, wait time: 0.380013 s6@W~?)تtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8214, header.stamp.nsec: 00 temperature: 13.570921* salinity: 33.375118, density: 1025.000000* values[0]: 0.570855F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034715.823165 s.I~,%V&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034715.823291F (some fields omitted in printout)AGz @Ao @AbX~? A8իA%"AAkNA"AZAbAjArAzAAA]Tg@AyrtA h@A~&<A򊋽AHؾA?A)ٿA<*A9?2Aս:ABA9?JAսRA٘i)I9h@Y G J$<JJJJ)E&K Y8YW~?yܪNAE7)7лA9)BgE[[g[4W~?[䠪[[[[BZYY i) (;Ii43@))*>*>.*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034715.843165 s, next control iter: 1743034716.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034716.243165 s.ÕI~,W&AJ"J*J2J:JBJnJvJAףp=J @A+C3= @AyX~? A{٫A@%"AAkNA"AZAbAjArAzAAA^GL @Aí tAIi@A]<AA;A`?A`\ؿA<*Aq9?2Aս:AwBAq9?JAսRAw򼙘٘i)I9Ii@Y G J<JJJJ,E&K Y;rW~?y?OAE77eA9FB)BjE[[[W~?[[[[[BZYY i) %e;Ii0@< p(=>))p(=>p(=>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034716.263165 s, next control iter: 1743034716.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034716.663165 s.ʕI~,q*W&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8215, header.stamp.nsec: 00 temperature: 13.570539* salinity: 33.375126, density: 1025.000000* values[0]: 0.571541F (some fields omitted in printout)A @A+r @ApX~? AݫA%"AAkNA"AZAbAjArAzAAA @A~!tAi@A]&!<A6AþA@R?AH׿A\<*A$9?2Aս:ABA$9?JAսRAYK͵@þy5Ɓ!<ٓHo??Ws׿߰? ?`k?`$?~?)K͵@ I٘i)I9i@YFG J<JAQ<JJEJ.E&Kzu> YoW~?y,OAþŐEb7A9)B[[[X~?[-[[[[BZYY i=)  ;Ii ,@):< P>))/m{P>P>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034716.683165 s, next control iter: 1743034717.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034717.083165 s.DѕI~,SEW&AJ"J*J2J:JP?BJP?nJk5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245534> elevatorAngleAction: 0.075735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743034717.083349F (some fields omitted in printout)A)\µ @A# @AX~? AA%"AAlNA"AZAbAjArAzAAAD;, @AoC5$tA=j@A3|:A(A!A?AֿA2<*AV9?2A ս:A0$BAV9?JA սRA0$٘i)I9=j@YG J<JJJJ1E&K YW~?yvOAǐE777A9)BmE[[;C[X~?[)[[[[BZYY i) L%;Ii'@ < 2c>)) 2c>2c>ҷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034717.103165 s, next control iter: 1743034717.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034717.503165 s.וI~,L4`W&AAR @Ahx @AX~? AoAS%"AA+:lNA"AZAbAjArAzAAAwi@A fX&tANj@AN A-3AA@g?AտAЏ<*A9?2A_Խ:ABA9?JA_ԽRA٘i)I9j@YG JG<JJJJ4E&K YW~?yQPAʐE7%A9)BpE[[t [0X~?[ [[[[BZYY i) A;IiV$@Z< kv>))kv>kv>*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034717.523165 s, next control iter: 1743034717.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8216, header.stamp.nsec: 00 temperature: 13.570227* salinity: 33.375134, density: 1025.000000* values[0]: 0.572181F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034717.923165 s.6ޕI~,{W&AJ"J*J2J:JBJnJvJA{G! @Aٗl< @A$X~? A"A? %"AA]lNA"AZAbAjArAzAAAwJ@A h(tA.k@AYA`AA ?AտA<*A@9?2AӓԽ:A΀BA@9?JAӓԽRA΀٘i)I9.k@Y#G J;<JJJJ7E&K YW~?y PA͐EA9GB)BsE[[˞[EX~?[ڴ[[[[BZYY i) _;Ii!@-<  >)) > >yS=*Y .YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034717.963165 s, next control iter: 1743034718.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034718.343165 s. elevatorAngleAction: 0.075735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034718.343301F (some fields omitted in printout)Ap= W @AZI @AX~? AA:%"AAKlNA"AZAbAjArAzAAA/a6,@A.*2*tAk@AQ8A&AZCA4?A;ԿA7ތ<*A{9?2A0ս:ABA{9?JA0սRA٘i)I9k@YkG J<JJJJ9E&K YBW~?yUQAАEb7b7PA9IB)BwE[[7[dZX~?[[[[[BZYY i) =))H>H>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034718.363165 s, next control iter: 1743034718.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8217*, header.stamp.nsec: 0*0 temperature: 13.569887** salinity: 33.375149*, density: 1025.000000** values[0]: 0.572841*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034718.763165 s.6I~,ذW&AJ"J*J2J:J?BJ?nJ5vJǍ @AeT @A!Y~? AA ~%"AAlNA"AZAbAjArAzAAAYNJ@A!i!,tA l@AtXAl~AAg?A l_ӿA<*Al9?2AVս:ABAl9?JAVսRAY@y;~:XٓH`t?`1? r#`ѿ@`?J?? ?k?)@ I٘i)I9l@YG Ji<B=J&JJJ YgX~?ydQAҐEŧ7A9)BzE[[=[DoX~?[[[[[BZYY i) b))xy:>y:>̹*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034718.783165 s, next control iter: 1743034719.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034719.183165 s.I~,W&AA(\ @AMg' @AY~? A\A<%"AAlNA"AZAbAjArAzAAAmk@A/֮.tAl@A8;A6hA=ۅA?A~ҿA<*AS9?2AF;ֽ:A͖BAS9?JAF;ֽRA͖٘i)I9l@YG Jˈ<C=JJJJ?E&K Y+X~?y=QAՐE77{A9)B[[4[X~?[[[[[BZYY i) U&)) >>^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034719.203165 s, next control iter: 1743034719.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034719.603165 s.84I~,W&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034719.603275F (some fields omitted in printout)AQ @AjI @A2Y~? AxA%"AAlNA"AZAbAjArAzAAAӹb@Ar| 0tAl@AYO<AΌAvA?A ѿAh<*A9?2AԽ:AL$BA9?JAԽRAL$٘i)I9l@Y>G J<B=JJJJAE&K YFX~?yRAؐE77{7A9SB)B}E[[p[X~?[ª[[[[BZYY i) w5))>>_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034719.623165 s, next control iter: 1743034720.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8218 , header.stamp.nsec: 0 0 temperature: 13.569547 * salinity: 33.375156 , density: 1025.000000 * values[0]: 0.573447 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034720.023165 s.ZI~,{X&AAHz. @AV ! @A=KY~? AlA.%"AAmNA"AZAbAjArAzAAAlU@AƋ2tAsm@AI<A(AbA?A@ȹпAzp<*AY9?2A#ս:A.BAY9?JA#սRA.٘i)I9sm@YG Jى<C=JJJJDE&K YaX~?y%vRAڐE77A9)BE[[=ܾ[ X~?[ƪ[[[[BZYY i) pE))y>y>J*YsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034720.063165 s, next control iter: 1743034720.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034720.443165 s.9I~,F]X&AJ"J*J2J:JBJnJvJAq= c @AytV @AcY~? A;A%"AA5mNA"AZAbAjArAzAAAr]:@Aɗ=B4tAm@A;A6AoNAa?A@ϿAI<*A9?2AOս:ABA9?JAOսRA٘i)I9m@YG JO<JJJJGE&K Y|X~?yRAݐE777;A9)BE[[Ҿ[QX~?[/ɪ[[[[BZYY i) T))d>d>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034720.463165 s, next control iter: 1743034720.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8219, header.stamp.nsec: 00 temperature: 13.569231* salinity: 33.375175, density: 1025.000000* values[0]: 0.574083F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034720.863165 s.+ I~,>7X&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034720.863313F (some fields omitted in printout)A @A - @AB|Y~? AA YX~?y16SA\:Eŧ77A9)߯BE[[Ⱦ[X~?[!̪[[[[BZYY i) v3d))w)>)>i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034720.883165 s, next control iter: 1743034721.263182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034721.283165 s.5RI~,RX&AJ"J*J2J:JBJnJvJA(\ @AB]P @AY~? AdA"%"AAmNA"AZAbAjArAzAAAKS3@A& h7tA~n@A-BAAn&Aj?A-̿Ac<*A9?2AG;ս:AMBA9?JAG;սRAM٘i)I9n@YlG J<JJJJLE&K YyX~?ySAE77eA9)ۯBE[[5[X~?[Ϊ[[[[BZYY i) js))>>1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034721.303165 s, next control iter: 1743034721.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8220., header.stamp.nsec: 0.0 temperature: 13.568864.* salinity: 33.375206., density: 1025.000000.* values[0]: 0.574766.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034721.703165 s.ֺI~,mX&AAQ@A @AY~? AA/%"AAmNA"AZAbAjArAzAAAjb@A^68tAzo@AVAtAA,A@@?AOʿAk<*A :?2Aӽ:ABA :?JAӽRA٘i)I9zo@YG Jp<B=JJJJOE&K YFX~?yaSAEb7A9)ׯBE[[A.[ Y~?[Ѫ[[[[BZYY i,=) PS)) u>u>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034721.723165 s, next control iter: 1743034722.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034722.123165 s.9!I~,eX&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743034722.123283F (some fields omitted in printout)J"J*J2J:JBJnJvJAG:@A-@AY~? AA%"AAmNA"AZAbAjArAzAAAF1@A-:tAp@AxAtAWA*?AȿA<*A:?2ANgԽ:ABA:?JANgԽRA٘i)I9p@YG J<C=JJJJQE&K YX~?yaTAE77A9)үB[[2[-!Y~?[EԪ[[[[BZYY i) ))>>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034722.163165 s, next control iter: 1743034722.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034722.543165 s.I(I~,âX&AA= ףp@A3c@A;Y~? AAB%"AAmNA"AZAbAjArAzAAAo@A8k;tAڑp@A;D;ApAVoнA ?A ƿAd<*A9?2Ap)ս:ABA9?JAp)սRA٘i)I9p@YjG JI<JJJJTE&K YY~?yTAE77&A9)ίBE[[%[8Y~?[֪[[[[BZYY i) ))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034722.583165 s, next control iter: 1743034722.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8221, header.stamp.nsec: 00 temperature: 13.568502* salinity: 33.375198, density: 1025.000000* values[0]: 0.575494F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034722.963165 s.J "J *J 2J :J S?BJ S?nJ {5vJ ~.I~, X&AAffff@A[@AY~? A Av%"AAnNA"AZAbAjArAzAAAo۳-@A D Y#Y~?yH/UALEb77A9RB)ʯBE[[6[PY~?[٪[[[[BZYY i) d))u > >y8̭=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034723.003165 s, next control iter: 1743034723.363183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743034723.383165 s.5I~,@X&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239992> elevatorAngleAction: 0.084904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743034723.383292F (some fields omitted in printout)A(@A~@AZ~? A AS%"AAj>nNA"AZAbAjArAzAAA=@ @A@xƝ=tAq@APZ<A/AwA?AÿA <*A9?2Aֽ:ASgBA9?JAֽRASg٘i)I9q@YG J<JJJJYE&K Y@Y~?yUAEŧ7b7PA9)ůBE[[12[gY~?[5۪[[[[BZYY i) tAb1r@A<AiSA='A?AA<*A:?2A1Խ:AhBA:?JA1ԽRAh٘i)I91r@YgG JT<JJJJ\E&K Y4\Y~?yVAE)7ŧ7A9)BE[[u[Y~?[?ݪ[[[[BZYY i)   elevatorAngleAction: 0.084904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034724.643288F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp}@ArMdp@A_Z~? AA%"AAвnNA"AZAbAjArAzAAA!@AU @,@tAAas@AA8A3A`B?AAW<*A9?2A%!Խ:AμBA9?JA%!ԽRAμ٘i)I9as@Y G J~<JJJJbE&K YyY~?y( VAE77B9)BE[[g][ҰY~?[[[[[BZYY i)  YY~?yHWA$<E B9QB)BE[[[.I[BY~?[[[[[BZYY i) O<*A9?2Aս:A7BA9?JAսRA7٘i)I9t@YG J<JJJJgE&K YY~?yWAE)7)7;B9)B[[4[Y~?[[[[[BZYY i)  elevatorAngleAction: 0.084904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034725.903302F (some fields omitted in printout)AQ@Aū@AZ~? AAL%"AAG(oNA"AZAbAjArAzAAA>O1#@A< ДAtASu@A.A@A_n=Al?A0AW<*A::?2Aӽ:AXBA::?JAӽRAX٘i)I9Su@YPG J<JJJJjE&K YY~?y/XAEŧ7b7B9)BE[[k; [Y~?[H[[[[BZYY i) / elevatorAngleAction: 0.084904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034727.163289F (some fields omitted in printout)A@AH5@AZ~? AA%"AAqoNA"AZAbAjArAzAAAМ\M%@AhBtAQw@A%E<A᳽AL=A~?A AA<*AE9?2A ]ս:ABAE9?JA ]սRAYL@B!=y}޳E<ٓHu?v`S?`2?Vjt?`??)L@ I٘i)I9Qw@YG J<<C=JyJJJrE&Ks> Y=Z~?yQYA!=E{7j7B9)BE[[,Ľ[GZ~?[J[[[[BZYY i) 6AM>A`?AZeA<*AU9?2Aolս:ABAU9?JAolսRA٘i)I9x@YG J<JJJJtE&K YYZ~?yHZA E77& B9OB)BE[[[`Z~?[[[[[ZZZZ¸>BZYY i¸>@D) A฀?A@?AA/<*A :?2Acuӽ:A*BA :?JAcuӽRA*٘i)I9x@Y`G JZ<JJJJwE&K YuZ~?y>ZA Ej7Z7#B9)BE[[Lya[tzZ~?[[[[[ZZZZBZYY i) A`z?A TM?A=*A:?2AҒӽ:A{BA:?JAҒӽRA{٘i)I9y@YG J<JJJJzE&K YZ~?y5ZAE77Q'B9NB)BE[[l [yZ~?[[[[[ZZZZBZYY i) Ѣ@?))>@?>@?/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034728.443165 s, next control iter: 1743034728.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8227, header.stamp.nsec: 00 temperature: 13.565956* salinity: 33.375298, density: 1025.000000* values[0]: 0.580552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034728.843165 s.J "J *J 2J :J ?BJ ?݌I~nJ5vJ,5Z&AAp= @A@Ac[~? APA%"AADAct?A5?Am=*A#:?2At(Խ:ABA#:?JAt(ԽRA٘i)I9fz@YgG J=JJJJ|E&K YZ~?y+q[AE77{7*B9){B[[`[Z~?[[[[[ZZZZBZYY i) ~A`l?A`u?A<*A):?2AԽ:A}iBA):?JAԽRA}iY0@-_>y rӻٓH+0?`ؠ˿`-Rʠ?>?ŠzR?gzs?)0@ I5I٘i)I9?{@YG J/=JG=JJJE&Ks> Y*Z~?yC[A-_>E77|.B9)tBE[[};[Z~?[[[[[ZZZZBZYY i) ^A@\c?A?AHL<*A+:?2A[ս:A"BA+:?JA[սRA"٘i)I9{@Y`G J<JJJJE&K YZ~?y[\AEŧ7ŧ72B9MB)mBE[[<[Z~?[[[[[ZZZZBZYY i) !A%"AANpNA"AZAbAjArAzAAA$U)@AAtAS|@AC<AbμAF>ApY?A?Af<*AyE:?2Aӽ:Aݳ=;BAyE:?JAӽRAݳ=;٘i)I9|@YG J <JJJJE&K Y[[~?yte\AEb7b75B9)hBE[[ԢF=[FZ~?[[[[[ZZZZBZYY i) A K?Ay?Av<*A@:?2A#$Խ:A(<BA@:?JA#$ԽRA(<٘i)I9}@Y G Jl<JJJJE&K Y[~?y\AEj7j7<9B9LB)cB¹E[[p=[[~?[%[[[[ZZZZBZYY i) A;?A ;?A~*<*A6:?2AgԽ:A3<BA6:?JAgԽRA3<٘i)I9t}@YCG JW<JJJJE&K Y7[~?y]A E777Z&AJ"J*J2J:JBJnJvJA@A'@A[~? A A%"AA'qNA"AZAbAjArAzAAA@dֆ+@A(&>tA}@A7A䥮<Ad>A`>'?A K{?A9;*A):?2A?Gս:A ݰ<BA):?JA?GսRA ݰy䥮<l7ٓHb?nԿܽ?F?d?@8{? Pԕ@>`#?)= I٘i)I9}@YgG J <JqD>JJJE&Kt> YoR[~?y\A>#Eb77g@B9)]BȹE[[=[L[~?[[[[[ZZZZBZYY i p) `tA}@AbA =A>A?AZ?A.:*A3:?2Aս:A<BA3:?JAսRA<٘i)I9}@YxG J;JJJJE&K YRm[~?y\A%E7CB9)\B[[5>[g[~?[[[[[BZYY i) NA?A }J?AS*As,:?2ApԽ:A<BAs,:?JApԽRA<٘i)I9}@YwG JJJJJE&K Y3[~?y[\A(E)7ŧ7GB9JB)˹E[[>[?[~?[j[[[[BZYY i) <; p?))p?p?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034732.223165 s, next control iter: 1743034732.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034732.623165 s.SɖI~,L'[&AAGz@Am@AnK\~? AApd%"AAqNA"AZAbAjArAzAAA~-@AP;tA}@A^*A"^=A~>A9?A`q?AԷ*A+%:?2AԽ:A\<BA+%:?JAԽRA\<٘i)I9}@YaG J8JJJJE&K Y[~?y\A+E777'KB9GB)ZB͹E[[ 4>[[~?[[[[[BZYY i) *; v?))v?v?yYY.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034732.663165 s, next control iter: 1743034733.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8231 , header.stamp.nsec: 0 0 temperature: 13.564498 * salinity: 33.375366 , density: 1025.000000 * values[0]: 0.583355 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034733.043165 s.ЖI~,B[&AJ"J*J2J:JBJnJvJA= ף@ADkE@Ad\~? AA>%"AA[qNA"AZAbAjArAzAAA+sy%.@A.*:tAh}@AUٺA}=Al>A -?Ad?A9*A:?2AԽ:A =BA:?JAԽRA =٘i)I9h}@Y;G JJJJJE&K Y[~?yu\A-E77NB9AB)UBйE[[.J>[[~?[q[[[[BZYY i) n; {?)){?{?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034733.063165 s, next control iter: 1743034733.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034733.463165 s.QזI~,Ӥ][&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743034733.463258F (some fields omitted in printout)Affff@A5_@A}\~? AA%"AAqNA"AZAbAjArAzAAAl.@Ahd9tAJ}@Au<Ah=A>A?Aا?Aq*A:?2Aս:Ayu=BA:?JAսRAyu=Y+0L>RI>yf=:<ٓH+?Oٿ`6??`>?J? ~I਎?@?)+0L> I٘i)I9}@YG J`SJ=JJJE&KWt> Y[~?y@\AI>0Ej7Z7RRB9@B)WBӹE[[`>[h[~?[[[[[BZYY iig) r @; ?))1{??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034733.503165 s, next control iter: 1743034733.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8232, header.stamp.nsec: 00 temperature: 13.564454* salinity: 33.375385, density: 1025.000000* values[0]: 0.583192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034733.883165 s.yݖI~,Mx[&AJ"J*J2J:JL?BJL?nJ5vJA(@AWC@A\~? A_A%"AArNA"AZAbAjArAzAAAb,V/@A '8tAР|@A`<AX=A8>AL?ATt?A*A:?2A =ս:A=BA:?JA =սRA=٘i)I9|@YG JJJJJE&K Y[~?y[A3E)7b7UB9?B)ZBֹE[[,v>[[~?[ު[[[[BZYY i) X<;Iim>; M?)) M?M?dʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034733.903165 s, next control iter: 1743034734.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034734.303165 s.XI~,g[&AAQ@AD@A\~? AA %"AAk4rNA"AZAbAjArAzAAACv/@AO6tA |@A|F<A=Aυ>A@/[?A`oT?A>*A-/:?2AEԽ:AXc=BA-/:?JAEԽRAXc=٘i)I9 |@YtG JoJJJJE&K Yg \~?y_[A5E77{7|YB9)^B[[S7>[\~?[ܪ[[[[BZYY i) EB;Ii3>U: ?))??ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034734.323165 s, next control iter: 1743034734.703177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 82332, header.stamp.nsec: 020 temperature: 13.5645232* salinity: 33.3753892, density: 1025.0000002* values[0]: 0.5827822F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034734.723165 s.I~,H[&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056497< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743034734.723271F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A0z@Ap\~? AWA:%"AAYrNA"AZAbAjArAzAAAO*JA0@Afj4tA{@Ad;A=Ax>A@25?A?A*A-4:?2AԽ:A]=BA-4:?JAԽRA]=٘i)I9{@YG JbJJJJE&K Y7%\~?yݪ[A8Ej7]B9)bBٹE[[l>[7"\~?[Nڪ[[[[BZYY i) C;Ii1>֥: %?))%?%?y`g֪YxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034734.743165 s, next control iter: 1743034735.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034735.143165 s.U/I~,*[&AA ףp@A{A; ?A~q?A*An8:?2Aս:A =BAn8:?JAսRA =٘i)I9{@YG JFJJJJE&K Y?\~?y٪ZA;Ej7`B9>B)fBܹE[[C>[<\~?[ת[[[[BZYY i) 'F;Iiү=N a: ?))??֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034735.163165 s, next control iter: 1743034735.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034735.563165 s.I~,g [&AJ"J*J2J:JBJnJvJA3333@A(@AP\~? AA%"AA[rNA"AZAbAjArAzAAAǐw0@A6Q{1tAtrz@AZRAeg=A_5?A?A U?A`**A!<:?2AAֽ:AM=BA!<:?JAAֽRAM=Yb>?y!d=RٓH? ߿@3? ?`.?Rܨ?G'K@?)b> I٘i)I9rz@YnG JJ><JJJE&Ku> YW\~?yժ=ZA?=E[ W\~?[ժ[[[[BZYY i) Ep;IiX<A9 j?)) j?j?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034735.603165 s, next control iter: 1743034735.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8234, header.stamp.nsec: 00 temperature: 13.564672* salinity: 33.375389, density: 1025.000000* values[0]: 0.582214F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034735.983165 s.I~,[&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249073@ elevatorAngleAction: -0.065786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743034735.983327F (some fields omitted in printout)A\(@A @Aw]~? AA%"AArNA"AZAbAjArAzAAAľ61@A: /tAy@AVA8=An ?A?A7?Aa*Ai;:?2A|ֽ:A=BAi;:?JA|ֽRA=٘i)I9y@YG J0JJJJE&K Y p\~?y2ѪYA@E77{7gB9)mBE[[>[Aq\~?[9Ҫ[[[[BZYY i) 4;IHI?i*}ڹ A?)) A?A?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034736.003165 s, next control iter: 1743034736.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034736.403165 s.&I~,\&AJ"J*J2J:J?BJ?nJ35vJAQ^@A߅Q@Ai)]~? AnA%"AArNA"AZAbAjArAzAAAyBiKg1@AyȨ-tApRy@AIջA=As?A?A?A?ت*A8L:?2A%Tս:A0=BA8L:?JA%TսRA0=٘i)I9Ry@YG JJJJJE&K Y\~?y̪nYACE)77gkB9:B)oBE[[_x>[u\~?[$Ϫ[[[[BZYY i) D}:I I?i2w ?))??ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034736.443165 s, next control iter: 1743034736.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8235", header.stamp.nsec: 0"0 temperature: 13.564828"* salinity: 33.375404", density: 1025.000000"* values[0]: 0.581597"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034736.823165 s. I~,>4\&AAGz@Abm@A&A]~? AA\%"AAsNA"AZAbAjArAzAAA}C1@AI+tAx@Asc;As=ACd?A@Q?A?A3-*AML:?2A[Kս:A=BAML:?JA[KսRA=٘i)I9x@YgG JJJJJE&K Y\~?yuȪYAFE77{7nB99B)sBE[[s>[\~?[˪[[[[BZYY i) "n:I I?if і?))і?і?y ˪Y\ YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743034736.843165 s, next control iter: 1743034737.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034737.243165 s.I~,dO\&AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743034737.243282F (some fields omitted in printout)Aףp=@Ae1@AX]~? AA%"AA5sNA"AZAbAjArAzAAA9,1@ACU9y)tAN3x@AS@><An=ALl?A ?A?A *AK:?2Awfս:A-=BAK:?JAwfսRA-=٘i)I93x@YG JҪJJJJE&K Y\~?yĪXAHE777rB98B)wBE[[_>[\~?[^Ȫ[[[[BZYY i)  EI I?ib6s [?))[?[?pǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034737.263165 s, next control iter: 1743034737.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034737.663165 s.I~,qj\&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8236, header.stamp.nsec: 00 temperature: 13.564970* salinity: 33.375420, density: 1025.000000* values[0]: 0.581031F (some fields omitted in printout)A@Aѭ@Ao]~? AAC%"AAYsNA"AZAbAjArAzAAA0=2@Ap;?'tAΥw@AB_<A=A ?A?A?A/᥼*AJ:?2Aս:A=BAJ:?JAսRA=Y|>?yv=_<ٓH?@7 s?? ?֝?L??)|> I٘i)I9w@YG JmJmJJJE&Kpv> Y\~?y?XA?KEb7b7'vB97B)zBE[[>[>\~?[Ī[[[[BZYY i) PyIDI?ix d?))d?d?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034737.683165 s, next control iter: 1743034738.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034738.083165 s.D!I~,R\&AJ"J*J2J:J?BJ?nJ5vJA)\5@Ag(@A]~? A#A-%"AA2|sNA"AZAbAjArAzAAAȄ{2@A%7$tAw@A{ <A&=AJ#?AV?Az?A,*A[\~?[[[[[BZYY i) PI&I?i D .?)) .?.?ǿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034738.103165 s, next control iter: 1743034738.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034738.503165 s.'I~,H4\&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034738.503292F (some fields omitted in printout)ARk@A=y^@Aϝ]~? A3߫Ay%"AAsNA"AZAbAjArAzAAAp02@A0j"tA՚v@AΝA =A?)?A?r?A8W?A*AT:?2Aս:A3<BAT:?JAսRA3<٘i)I9v@YG JJJJJE&K Y\~?yWAPE{7j7R}B96B)BE[[>[/ ]~?[Լ[[[[BZYY i) 9IZH?idBWd z?))z?z?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034738.543165 s, next control iter: 1743034738.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8237, header.stamp.nsec: 00 temperature: 13.565123* salinity: 33.375439, density: 1025.000000* values[0]: 0.580442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034738.923165 s.6.I~,\&AJ"J*J2J:J?BJ?nJ5vJA{G@A ;@AX]~? A۫AG%"AASsNA"AZAbAjArAzAAA#nև 3@ASU tAv@A'A)Ն=A+.?A4?A-)?Ae*AS:?2A(^ֽ:Aq<BAS:?JA(^ֽRAq<٘i)I9v@YG JJJJJE&K Y]~?y!WASE77B92B)E[[?[w%]~?[[[[[BZYY i) J1wIH?iǾs ؤ?))ؤ?ؤ?˹Y3'YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034738.943165 s, next control iter: 1743034739.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034739.343165 s.<5I~,\&AAp= @A@A]~? A֫A<%"AAJsNA"AZAbAjArAzAAA%K+P3@A$vtA+u@A}cA*=A3?A%?A?AƉ*A_P:?2AWֽ:AG/<BA_P:?JAWֽRAG/<٘i)I9u@YG JJJJJE&K Y|,]~?y|VAVE{7j7}B9)B[[a?[>]~?[[[[[BZYY iQ嘽) fI#H?iUپN ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034739.363165 s, next control iter: 1743034739.743183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8238&, header.stamp.nsec: 0&0 temperature: 13.565244&* salinity: 33.375431&, density: 1025.000000&* values[0]: 0.579972&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034739.763165 s.:;I~J"J*J2J,,\&A:Jy?BJy?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034739.763293F (some fields omitted in printout)A @AB@A]~? AҫAk%"AAtNA"AZAbAjArAzAAA.3@AztA7u@A'AB=A8?A d?A?Aֈ*AcM:?2Aֽ:A<BAcM:?JAֽRAG JJ0JJJ‘E&Kw> YA]~?yiVA8?XEb77B91B)BE[[ua ?[!W]~?[[[[[BZYY i) QIwH?i7۞ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034739.783165 s, next control iter: 1743034740.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034740.183165 s.BI~, ]&AA(\B@Awӂ5@AI]~? A ΫAH%"AA%tNA"AZAbAjArAzAAAݍm3@Ao=A>?Ao?AN?A`*AzF:?2Aֽ:AJ<BAzF:?JAֽRAJ<٘i)I9t@YG J!JJJJőE&K YV]~?y؞VA[E)7ŧ7B90B)BE[[;?[o]~?[[[[[BZYY i) KٻIH?i ' d_?))d_?d_?`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034740.203165 s, next control iter: 1743034740.583189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743034740.603165 s.54II~,&]&AJ"J*J2J:JBJnJvJAQx@A{Ek@A ^~? AgɫAG%"AAFtNA"AZAbAjArAzAAA@[L4@A/:tAQt@As <A=AC?A`)?A T?A.*A?:?2Ahֽ:A'=BA?:?JAhֽRA'=٘i)I9Qt@YG JJJJJȑE&K Yl]~?yUA^E7777=B9)B[[?[ć]~?[[[[[BZYY i) OI H?i0 >?))>?>?yBИ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034740.623165 s, next control iter: 1743034741.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8239 , header.stamp.nsec: 0 0 temperature: 13.565337 * salinity: 33.375450 , density: 1025.000000 * values[0]: 0.579494 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034741.023165 s.ZPI~,|A]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034741.023308F (some fields omitted in printout)AHz@Ad9 @A ^~? AīAv%"AAftNA"AZAbAjArAzAAAg=U4@A:QtAs@A5V`<A/=A:H?A?A`?A*A9:?2ACoֽ:At2=BA9:?JACoֽRAt2=٘i)I9s@YlG JJJJJʑE&K YR]~?y4^UA`E7ҒB9/B)BE[[ ?[]~?[t[[[[BZYY i)  IH?ieA˻ g$?))g$?g$?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034741.043165 s, next control iter: 1743034741.423184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034741.443165 s.J "J *J 2J :J I?BJ I?nJ }5vJ 4VI~,1]\]&AAq= @A+4@A5^~? AA%"AAtNA"AZAbAjArAzAAAu294@A 9TtALgs@A*@<AE=A~M?AC?A?Abɋ*AU3:?2Aέֽ:A=BAU3:?JAέֽRA=٘i)I9gs@Y$G JJJJJ͑E&K Y]~?ybUAcEZ7SI7gB9+B)E[[B$?[q]~?[ [[[[BZYY i) rtIH?ii&9ջ ?))??YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743034741.463165 s, next control iter: 1743034741.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8240, header.stamp.nsec: 00 temperature: 13.565454* salinity: 33.375465, density: 1025.000000* values[0]: 0.579017F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034741.863165 s.+]I~,>w]&AA@ATގ @AI^~? AA5%"AA٥tNA"AZAbAjArAzAAA%54@AOC tAr@A_l;AmE=A\R?AJ?A`?An*A<-:?2A_׽:AF[=BA<-:?JA_׽RAF[=Y?BR?y2E=Vm;ٓH`?z@? m?@?@?\%Ǚm?@?)? I٘i)I9r@YG JJܰ;JJJБE&Kx> Y]~?y놪TAR?fE)77B9)B[[*?[]~?[}[[[[BZYY i) *IH?i4i^ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034741.883165 s, next control iter: 1743034742.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034742.283165 s.3RdI~,]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743034742.283265F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\O@A{2QB@A^^~? AA%"AAtNA"AZAbAjArAzAAAt*5@A  tA>r@AлAP=ADX?A?A@rZ?A*AL':?2Al׽:AV=BAL':?JAl׽RAV=٘i)I9r@YG JBJJJJґE&K Y]~?yuLTAhEŧ7b7B9*B)BE[[o0?[l]~?[[[[[BZYY i) :IuH?i!AL5 ѻ?))ѻ?ѻ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034742.303165 s, next control iter: 1743034742.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8241., header.stamp.nsec: 0.0 temperature: 13.565561.* salinity: 33.375484., density: 1025.000000.* values[0]: 0.578548.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034742.703165 s.պjI~, ]&AAQ@A<x@Aq^~? AIA%"AAtNA"AZAbAjArAzAAAQK5@AtA| r@ATA=AP]?A`?Av?AP*A!:?2A׽:Ay=BA!:?JA׽RAy=٘i)I9 r@YQG JB=JJJJՑE&K Y]~?yySAkE77{7(B9)B)BE[[6?[]~?[Ɖ[[[[BZYY i) / JIH?iKA ?))??ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034742.723165 s, next control iter: 1743034743.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034743.123165 s.8qI~,a]&AJ"J*J2J:J ?BJ ?nJ=5vJAG@Aխ@AC^~? A᪫A"g%"AAuNA"AZAbAjArAzAAA5@A{*tAԗq@APA7=A!b?A@_V?A?A҇*A3:?2A{׽:A͕=BA3:?JA{׽RA͕=٘i)I9q@Y G J芼C=JJJJؑE&K YL]~?ysSAnE77B9)B[[?Ac*A4:?2A,׽:Az=BA4:?JA,׽RAz=٘i)I9q@YG JhB=JJJJۑE&K Y~]~?ym8SApE{7{7SB9$B)BE[[B?[(^~?[H}[[[[BZYY i) iIcH?iKZ ?))??ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034743.563165 s, next control iter: 1743034743.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8242, header.stamp.nsec: 00 temperature: 13.565681* salinity: 33.375492, density: 1025.000000* values[0]: 0.578080F (some fields omitted in printout)~]~?)m rAdjusting time to match Gazebo time: 1743034743.963165 s.v~I~,]&AJ"J*J2J:J?BJ?nJ-5vJAffff&@AO\@A^~? AA>%"AAF:uNA"AZAbAjArAzAAA $>5@A4sAƟp@A_N;AL=A%l?A@?Au?Aw*A :?2Aֽ:A; =BA :?JAֽRA; =Y4?~m?y*L=X;ٓH0/?3(?f?A>?@j}?@Jiq?+?)4? I٘i)I9p@YsG JC=Je<JJJݑE&Kx> Yw^~?yfRAm?sEb77B9)B[[`H?[I=^~?[v[[[[BZYY i)  KxIH?iZg ?))??HͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034743.983165 s, next control iter: 1743034744.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034744.383165 s.؅I~,n^&AA(\@A)O@AH^~? AA%"AASVuNA"AZAbAjArAzAAA{}/6@AZ'BsAp@AQE<A A=Ar?A=V?A?A7*A:?2Aֽ:Au=BA:?JAֽRAu=٘i)I9p@Y"G JZJJJJE&K Yq^~?y^oRAvE7)7}B9#B)BE[[N?['R^~?[,p[[[[BZYY i) IzH?ijrT% ,?)),?,?y2QѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034744.403165 s, next control iter: 1743034744.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8243", header.stamp.nsec: 0"0 temperature: 13.565804"* salinity: 33.375496", density: 1025.000000"* values[0]: 0.577546"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034744.803165 s.zAI~,g3^&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083789< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743034744.803291F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Aˠ@A5^~? AAX%"AAquNA"AZAbAjArAzAAA: f6@A(eousANo@A.^<A2=A8w?A?ADEa?[2^~?[[[[[[BZYY i) ӍIXQH?i ( z?))z?z?VݪYFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8244, header.stamp.nsec: 00 temperature: 13.565965* salinity: 33.375515Waiting for Gazebo time sync: latest Gz time: 1743034745.663165 s, next control iter: 1743034746.043177 s, wait time: 0.380012 s, density: 1025.000000* values[0]: 0.576973F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034746.063165 s.I~,R ^&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083789< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034746.063287F (some fields omitted in printout)A33333@AS'&@A_~? AρA%"AAuNA"AZAbAjArAzAAA]iCX7@Ad܅sAm@A-AN=Ar?A?A`.?A~*A59?2A{׽:A+0=BA59?JA{׽RA+0=YO??y =-ٓHBz? i?O?? ?{颅`F?)O? I٘i)I9m@YG JTC=J~<JJJE&Kx> YY^~?yZBPA?E{7j7ӽB9B)B E[[\g?[^~?[S[[[[BZYY i) IBH?i 0  u?))u?u? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034747.363165 s, next control iter: 1743034747.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8246*, header.stamp.nsec: 0*0 temperature: 13.566362** salinity: 33.375542*, density: 1025.000000** values[0]: 0.575723*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034747.743165 s.WI~,u^&AAףp= @Ax1@AAA_~? AgA}t%"AA!vNA"AZAbAjArAzAAAQԿ7@A sAb}k@A`<A=A?A?A`,Q?AFɼ*A9?2Asֽ:A+=BA9?JAsֽRA+=٘i)I9}k@YSG JżJJJJE&K YB^~?y6$OAEb77(B9B)BE[[?[^~?[4[[[[BZYY i) IYH?i&@ :?)):?:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034747.783165 s, next control iter: 1743034748.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034748.163165 s.w}—I~,q _&AJ"J*J2J:JK?BJK?nJs5vJA@@AM2@AO_~? AOaA%"AA}7vNA"AZAbAjArAzAAAE7@A(MsAj@A_`<A=AAu?A"?A@?A`ϼ*AI9?2A[ֽ:A-=BAI9?JA[ֽRA-=Y`i??yx=a<ٓH$8? E@!??b?+[?BR?`?)`i? I٘i)I9j@YG J̼Jb<JJJE&K1x> YM^~?yBNA?E{7j7B9)B[[Z?[^~?[,[[[[BZYY i) GƼIG?i,G O?))O?O?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034748.183165 s, next control iter: 1743034748.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034748.583165 s.ȗI~, S%_&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083789< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034748.583293F (some fields omitted in printout)A)\u@A]0h@A^_~? AZAy%"AAOMvNA"AZAbAjArAzAAAA8@AEsAB"j@A^39<Aڰ=AJ?A?A@?A\Ѽ*AS9?2Aֽ:A! =BAS9?JAֽRA! =٘i)I9"j@YG JмJJJEJE&K YX^~?yN0NAEb77SB9)ǯB[[0?[g_~?[$[[[[BZYY i) μItG?iKL ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034748.623165 s, next control iter: 1743034748.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8247, header.stamp.nsec: 00 temperature: 13.566589* salinity: 33.375538, density: 1025.000000* values[0]: 0.574988F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034749.003165 s.z ЗI~,U4@_&AJ"J*J2J:JBJnJvJAR@AXy@Ak_~? ASA%"AAsbvNA"AZAbAjArAzAAA2k@8@AZsAxri@A`A;Av=AA̕?A1M?Ay?A{_м*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9ri@YG JJѼJJJJE&K Yc^~?yZ MAEŧ77B9B)ȯBE[[L?[h_~?[K[[[[BZYY i) -MռIG?i}P ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034749.023165 s, next control iter: 1743034749.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034749.423165 s.u֗I~,[_&AA{G@A<@Ax_~? ALA%"AAvvNA"AZAbAjArAzAAA;Lh8@AUjsAh@AchA=A`?A v?A ?V?Aμ*A9?2AD׽:A\=BA9?JAD׽RA\=٘i)I9h@Y G JϼJJJJE&K Ym^~?yfDMAE7777}B9)ͯB[[kk?[$_~?[[[[[BZYY i&߽) ܼIJG?i~R t?))t?t?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034749.443165 s, next control iter: 1743034749.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8248", header.stamp.nsec: 0"0 temperature: 13.566848"* salinity: 33.375553", density: 1025.000000"* values[0]: 0.574233"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034749.843165 s.ܗI~,u_&AJ"J*J2J:J?BJ?nJ$5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743034749.843302F (some fields omitted in printout)Ap= @Ar6 @A_~? AEA%"AAvNA"AZAbAjArAzAAAq(x8@AC-sAh@AjWAޮ=A1?A?A@?A.μ*A9?2Ab׽:A=BA9?JAb׽RA=٘i)I9h@Y@ G J@μB=JJJJE&K Yy^~?yqLAEŧ7ŧ7B9B)ѯBE[[?[2_~?[0 [[[[BZYY i) IG?i`=S m?))m?m?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034749.863165 s, next control iter: 1743034750.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034750.263165 s.I~,ؐ_&AAL@A*?@A_~? A>A*%"AAvNA"AZAbAjArAzAAAv*ʴ8@A`mysAig@A~LAѳ=Aʝ?A ?A?ASμ*A9?2A6׽:Av=BA9?JA6׽RAv=YP??yͳ=&IMٓH5?/@đ?`?@M9?;?Lr૏?)P? I٘i)I9ig@Y G JͼC=J;JJJE&K|x> Y^~?y'ULA?E777B9)ׯB[[?[?_~?[[[[[ZZ¸BZYY i¸0=) ׼IGG?i Y ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034750.283165 s, next control iter: 1743034750.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 82492, header.stamp.nsec: 020 temperature: 13.5671162* salinity: 33.3755612, density: 1025.0000002* values[0]: 0.5734502F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034750.683165 s.lI~,s_&AJ"J*J2J:J?BJ?nJ5vJA(\@AZ u@A_~? A_7A#%"AAvNA"AZAbAjArAzAAA8@AysAf@A0 A=AMP?A@?A@?AjӼ*A59?2AGֽ:Ah=BA59?JAGֽRAh=٘i)I9f@Ym G JUмJJJJE&K Y<^~?yKA DE{7j7>B9B)ٯBE[[!ɕ?[K_~?[[[[[ZZBZYY i) 6˼IG?is] ?))??y нYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034750.683165 s, next control iter: 1743034751.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034751.103165 s.I~,_&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083101< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743034751.103338F (some fields omitted in printout)AQ@A"^F@AD_~? A0A%"AAvNA"AZAbAjArAzAAA R(8@A< sAe@AU;AK=Ab΢?A?A t3?AV5*A9?2Asֽ:A;<BA9?JAsֽRA;<٘i)I9e@Y G JJJJJ E&K Y^~?ydKAE777B9)߯B[[&?[W_~?[[[[[ZZBZYY i) ䷿ItG?iԮ_  ?)) ? ?yi=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034751.123165 s, next control iter: 1743034751.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034751.523165 s.I~,{_&AJ"J*J2J:J?BJ?nJ5vJAHz@A\W@A)_~? A(A ?%"AAvNA"AZAbAjArAzAAA-9@A .sAe@A|F<Aŭ=AV?A?4?A`&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083101< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743034752.363278F (some fields omitted in printout)J"J*J2J:JBJnJvJAY@A72L@A_~? AA_%"AA+vNA"AZAbAjArAzAAAi7­Y9@A]sAQvc@A;A2=A?A~t?A`~?AҼ*A 9?2Aֽ:A;BA 9?JAֽRA;Y?Q?y2=;ٓH?` ?`?(0?D?O,z?` ?)? I٘i)I9vc@Yo G J)B=Ju׽JJJE&Kv> Y _~?yhʩ6JA?Eŧ7b7B9 B)BE[[t[?[v_~?[\թ[[[[ZZBZYY i =) DۜI;G?i0e]e P@))P@P@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034752.403165 s, next control iter: 1743034752.763187 s, wait time: 0.360022 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8251&, header.stamp.nsec: 0&0 temperature: 13.567739&* salinity: 33.375565&, density: 1025.000000&* values[0]: 0.571625&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034752.783165 s.^ I~,2`&AA(\@Ag\S@A_~? AkA%"AAwNA"AZAbAjArAzAAA *uv9@AUsA6b@A9mAX<A)9?A+?A ?AZ*A9?2A}ֽ:AYBA9?JA}ֽRAY򺙘٘i)I9b@Y G J1¼C=JJJJE&K Y _~?yIAE7{7)B9)B[[?[_~?[ ̩[[[[ZZBZYY i)  IN(G?io elevatorAngleAction: 0.073757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743034753.623316F (some fields omitted in printout)AG@AϤM@AW_~? A4A%"AAwNA"AZAbAjArAzAAAA79@Ax>sAa@AVoA ASj?AN?A@&G?A"*AC9?2A^ֽ:A|BAC9?JA^ֽRA|٘i)I9a@Y G J RJJJJE&K Y _~?yIAE77SB9)B[[׫?[:_~?[/[[[[ZZBZYY i=) xIG?iUi &@))&@&@yN=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034753.643165 s, next control iter: 1743034754.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8252 , header.stamp.nsec: 0 0 temperature: 13.567987 * salinity: 33.375576 , density: 1025.000000 * values[0]: 0.570920 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034754.043165 s. I~,Â`&AJ"J*J2J:JBJnJvJA= ף0@A8c#@AK_~? AAS%"AA(wNA"AZAbAjArAzAAA*{R9@AkJA~sAa@AA蔜An?A@?A am?A*Aw9?2Anyֽ:ABAw9?JAnyֽRA٘i)I9a@Yh G JJJJJE&K  C9Y _~? C9y FIAE77C9B)E[[?[_~?[[[[[ZZBZYY i) 0BcI{F?i̵#h }S@))}S@}S@yݖ=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034754.063165 s, next control iter: 1743034754.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034754.463165 s.U'I~,㤝`&AAfffff@A6^Y@A_~? AAE%"AA<4wNA"AZAbAjArAzAAAR79@Ad?ӒsAa@Ar9A`A?A@?A|?A*A9?2Aֽ:AxɼBA9?JAֽRAxɼY?Ѧ?y_ 9ٓHY?WpO? '[? ]?`ξ#??)? I٘i)I9a@YX G J9}B=J7JJJ E&Kx> Y$_~?yarIA?Eŧ77~C9)[[+?[ܛ_~?[[[[[BZYY i&l=) @QIF?i+]k  @)) @ @y=+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034754.483165 s, next control iter: 1743034754.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8253, header.stamp.nsec: 00 temperature: 13.568063* salinity: 33.375584, density: 1025.000000* values[0]: 0.570624F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034754.883165 s.J "J *J 2J :J ?BJ ?nJ -5vJ y-I~,8`&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057653< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743034754.883321F (some fields omitted in printout)A(@Aq6@A_~? AAt%"AA(?wNA"AZAbAjArAzAAA99@A䃎sAa@A|<A8i/AqN?A ?A?A"j;*A9?2Aֽ:ABA9?JAֽRA漙٘i)I9a@Y JC=JJJJ#E&K Ya(_~?yIAE77 C9)B[[V?[ _~?[|[[[[BZYY iM=) FK@IF?iz jm io @))io @io @yé=Xk*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034754.903165 s, next control iter: 1743034755.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034755.303165 s.Z4I~,g`&AA@Ac@A`~? A*Au%"AAMIwNA"AZAbAjArAzAAAY:@A KsAa@A1b<A̙VA?AL-?AK?A;*AӴ9?2AY׽:ASBAӴ9?JAY׽RAS٘i)I9a@Yi G J;JJJJ&E&K Y8,_~?y捩IAEŧ7ŧ7 C9B)BE[[ꂸ?[w_~?[В[[[[BZYY i) w.IñF?im , @)), @, @y7e=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034755.323165 s, next control iter: 1743034755.703181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8254., header.stamp.nsec: 0.0 temperature: 13.568016.* salinity: 33.375565., density: 1025.000000.* values[0]: 0.570649.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034755.723165 s.;I~,H`&AJ"J*J2J:JBJnJvJAz@A7@A`~? ALܪA%"AARwNA"AZAbAjArAzAAAh@;:@Au~sAa@Ax,<AʅuAL?AZR?A?A'<*Ai9?2A`ֽ:AuBAi9?JA`ֽRAu٘i)I9a@Y G J<JJJJ(E&K Y0_~?y(IAE77{7>C9B)BE[[﮻?[_~?[[[[[BZYY i) vRIF?i渿ɬl C@))C@C@y;=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034755.763165 s, next control iter: 1743034756.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743034756.143165 s.[/BI~,* a&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034756.143305F (some fields omitted in printout)A ףp=@A0e0@A_ `~? AfԪA%"AAB[wNA"AZAbAjArAzAAAl$:@AнJsA=Qb@A:AD9A ?Ay?A@?AԦa<*Að9?2A{ֽ:A8 BAð9?JA{ֽRA8 ٘i)I9Qb@Y G JeB<JJJJ+E&K Y3_~?yj|JAE{7j7C9)B[[jپ?[_~?[i[[[[BZYY i) 8 I5F?i0Cj $@))$@$@S*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743034756.163165 s, next control iter: 1743034756.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034756.563165 s.HI~,V $a&AJ"J*J2J:J?BJ?nJ85vJA3333s@An8)f@A?`~? Aw̪A}C&"AAcwNA"AZAbAjArAzAAAV3:@AcjzsA̹b@AD<AAÑ?A`?A?A<*A9?2A\*ֽ:ABA9?JA\*ֽRAY??yկؒٓH`?@셿?D? ?|瀿I?)? I٘i)I9b@Y G Jx<J⾽JJJ.E&Kmw> Y4_~?ysJA?đEiC9)B[[?[_~?[u[[[[BZYY ij=)  I`vF?inl @))@@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034756.583165 s, next control iter: 1743034756.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8255, header.stamp.nsec: 00 temperature: 13.567863* salinity: 33.375572, density: 1025.000000* values[0]: 0.570994F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034756.983165 s.OI~,>a&AA\@A6v@A`~? AĪA&"AAjwNA"AZAbAjArAzAAAz0@:@A-usA5c@AA(cAnA?Ap?A:.?A<*A39?2Aֽ:A BA39?JAֽRA ٘i)I95c@YH G J<JJJJ1E&K Y5_~?yjJAƑE77{7C9B)BE[[,?[o_~?[k[[[[BZYY i) 6bڻIbF?iȸ|l xB@))xB@xB@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034757.003165 s, next control iter: 1743034757.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034757.403165 s.&VI~,Ya&AJ"J*J2J:J=?BJ=?nJW5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057344< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743034757.403250F (some fields omitted in printout)AQ@A_ѭ@Ar`~? AAVz&"AA\pwNA"AZAbAjArAzAAAb)2L:@AgЮqsAfc@AiHAPA׽?A@H?A@?A'<*A9?2AvAֽ:A̸BA9?JAvAֽRA̸٘i)I9c@Y G J<JJJJ3E&K Y6_~?ybCKAɑESI7SI7C9)B[[V?[_~?[:b[[[[BZYY i) DINF?iwk d@))d@d@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034757.423165 s, next control iter: 1743034757.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8256", header.stamp.nsec: 0"0 temperature: 13.567621"* salinity: 33.375580", density: 1025.000000"* values[0]: 0.571578"F (some fields omitted in printout)*6_~?)*b rAdjusting time to match Gazebo time: 1743034757.823165 s.\I~,)ta&AAGz @A~p @A`~? AA&"AAuwNA"AZAbAjArAzAAA"V\=V:@AD64lsAOPd@Ar׉AnA}m?A ?A`P?A!<*A9?2Aֽ:A= BA9?JAֽRA= ٘i)I9Pd@Y G J<JJJJ6E&K Y7_~?y6YKȂE7)7)"C9)߯B[[?[ʯ_~?[X[[[[BZYY i) I;F?iN elevatorAngleAction: 0.057344< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743034758.663324F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8257, header.stamp.nsec: 00 temperature: 13.567354* salinity: 33.375591, density: 1025.000000* values[0]: 0.572267F (some fields omitted in printout)A @AYr @A `~? AnAP&"AAN~wNA"AZAbAjArAzAAAE|V~e:@ACXdbsAxe@AV<AA Y6_~?yGlLA?ёE77T)C9B)ԯBE[[|?[_~?[E[[[[BZYY i) {@IxF?i]f @))@@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034758.683165 s, next control iter: 1743034759.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034759.083165 s.DqI~,Sa&AJ"J*J2J:JBJnJvJA)\µ @AE( @A"`~? A_Ad&"AAXwNA"AZAbAjArAzAAAs/j:@A!]y]sA f@A$Z<A,wAj?A`XŤ?A9r?AN<*A9?2A׽:A.hBA9?JA׽RA.h٘i)I9 f@Y G J}<JJJJ>E&K Y4_~?y>LAԑE{7j7,C9)ϯB[[?[_~?[n;[[[[BZYY ii7=)  I/F?igۢe @))@@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034759.103165 s, next control iter: 1743034759.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034759.503165 s.wI~,L4a&AAR @A>x @A#`~? ALA&"AAwNA"AZAbAjArAzAAAсKn:@AXsA2f@A;AlAA?ACV?A8x?ATI<*Ac9?2Aֽ:AmBAc9?JAֽRAm٘i)I9f@YY G J<JJJJAE&K Y3_~?y6:MA֑E777~0C9)˯B[[U?[L_~?[1[[[[BZYY i)  IE?iDZc @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034759.523165 s, next control iter: 1743034759.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8258, header.stamp.nsec: 00 temperature: 13.567063* salinity: 33.375610, density: 1025.000000* values[0]: 0.572976F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034759.923165 s.;~I~,a&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034759.923287F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G!!@A@>!@A\$`~? A9A(&"AAwNA"AZAbAjArAzAAAזMp:@AWڝSsA(g@AlA㎽Ax?A `h?A{?A<*A9?2A?ֽ:ABA9?JA?ֽRA٘i)I9(g@Y G J<B=JJJJCE&K Y*1_~?yG-MAّE77{74C9B)ůBE[[@?[G_~?[0([[[[BZYY i) 36I=E?i!` 6@))6@6@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034759.963165 s, next control iter: 1743034760.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034760.343165 s. Y*_~?ydNA?ޑE{7j7?;C9)B[[?[_~?[%[[[[BZYY i) 6`:ImE?iZ U!@))U!@U!@ݹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034760.803165 s, next control iter: 1743034761.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034761.183165 s.˒I~,gKb&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743034761.183270F (some fields omitted in printout)A(\!@A!@A3#`~? AsA&"AAwNA"AZAbAjArAzAAAtal:@A%UDsA|h@Ak& AڧAA?A AAv?A͕<*AE9?2Abֽ:ABAE9?JAbֽRA3I٘i)I9h@Y G J<JJJJKE&K Y%_~?y"NAE7777>C9)B[[u?[_~?[ [[[[BZYY i) I^-;I5E?iX S"@))S"@S"@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034761.223165 s, next control iter: 1743034761.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034761.603165 s.<4I~,Úfb&AJ"J*J2J:JBJnJvJAQ!@AoD!@A!`~? AkAz&"AAςwNA"AZAbAjArAzAAA쎴`h:@Au?sA7i@A}Q:AA1?ABA`p?Ax<*A 9?2A1׽:A}BA 9?JA1׽RA}𼙘٘i)I97i@Y G J<JJJJNE&K Y _~?ys OAE77iBC9B)BE[[?[Ƌ_~?[M[[[[BZYY i) Ĕk;I@E?iU s$@))s$@s$@A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034761.643165 s, next control iter: 1743034762.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8260 , header.stamp.nsec: 0 0 temperature: 13.566508 * salinity: 33.375603 , density: 1025.000000 * values[0]: 0.574291 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034762.023165 s.ZI~,{b&AAHz."@A2: !"@A`~? AcA<&"AA=wNA"AZAbAjArAzAAAӶ\b:@A%:sAi@At+<Az5A?AWAf?A<<*Ar9?2A0=׽:A.BAr9?JA0=׽RA.켙٘i)I9i@Y7G J#<JJJJQE&K Y<_~?yvOAE)7b7EC9)B[[?[_~?[[[[[BZYY i) ;IE?ild.Q >&@))>&@>&@W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034762.063165 s, next control iter: 1743034762.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034762.443165 s.6æI~,:]b&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743034762.443268F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= c"@A V"@A@`~? A[A-&"AA|wNA"AZAbAjArAzAAAqmZ:@AZ 6sA+j@Af<AA*C?Ap-A Z?A<<*A9?2Ac@׽:AmBA9?JAc@׽RAm뼙٘i)I9j@YzG J<JJJJSE&K Yz_~?yOAE777IC9)B[[u?[{_~?[[[[[BZYY i=) ;IoE?iҞiKK V'@))V'@V'@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034762.463165 s, next control iter: 1743034762.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8261, header.stamp.nsec: 00 temperature: 13.566328* salinity: 33.375591, density: 1025.000000* values[0]: 0.574820F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034762.863165 s.+I~,>b&AA"@Ay"@A5`~? ASAw &"AAxwNA"AZAbAjArAzAAAkg~Q:@A^+1sA[j@A )<A gA?A@A@L?A:<*A9?2A^ ׽:ABA9?JA^ ׽RAYa??yFeC`)<ٓHѿ@?:?R,ѿ)? !?7?)a? I٘i)I9j@YG Jˀ<JD<JJJVE&KDx> Y_~?y)PA?Eb77*MC9B)BE[[j!?[r_~?[[[[[BZYY i) x;I^E?iʧI )@)))@)@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034762.883165 s, next control iter: 1743034763.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034763.283165 s.6RI~,b&AJ"J*J2J:JBJnJvJA(\"@AIQ"@A`~? AKA &"AAswNA"AZAbAjArAzAAAedF:@AuH,sAj@Ax:AtA]?A蹻As;?A <*A 9?2Aֽ:ABA 9?JAֽRA٘i)I9j@YG J<JJJJYE&K YY_~?yPAE)7ŧ7PC9B)BE[[=?[h_~?[ݨ[[[[BZYY i) ;IME?i8F ū*@))ū*@ū*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034763.303165 s, next control iter: 1743034763.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 82622, header.stamp.nsec: 020 temperature: 13.5661512* salinity: 33.3755802, density: 1025.0000002* values[0]: 0.5753152F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034763.703165 s.ٺI~,b&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076116< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743034763.703329F (some fields omitted in printout)AQ#@A+ø"@A`~? ACA &"AAmwNA"AZAbAjArAzAAA_G::@A鎜i'sA_k@A A񀃽A.?A>uA(?Ad<*A9?2AIsֽ:A@BA9?JAIsֽRA@٘i)I9_k@Y@G J<B=JJJJ\E&K Y_~?yߨPAEŧ7b7UTC9)B[[ X?[I^_~?[Ԩ[[[[BZYY i) 8 elevatorAngleAction: 0.076116< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034764.963286F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff#@A|\#@A0`~? A ,AĀ &"AAWwNA"AZAbAjArAzAAA4 :@AJsAl@APkA$Ad?AYſA@?Avi<*AU9?2Amֽ:ABAU9?JAmֽRAY ?Y?y2lٓHC׿ ͱ?? L׿e$??%umU?) ? I٘i)I9l@YG J<C=Ja%JJJdE&KXx> Y\^~?ypƨQA?E77{7_C9B)B E[[J@[:_~?[][[[[BZYY i)  18RAE{7bC9)B[[G@[-_~?[ұ[[[[BZYY i) {G_9@A" ZsAm@A(X<A6A&?A`vɿA`?AZ<*A9?2AoL׽:ABA9?JAoL׽RA٘i)I9m@YG Jψ<JJJJiE&K Y^~?yRAE?fC9)B[[&\@[. _~?[k[[[[BZYY i) 2W elevatorAngleAction: 0.076116< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743034766.223294F (some fields omitted in printout)AzG$@A(:$@A&_~? AAnK&"AA:wNA"AZAbAjArAzAAA&9@Anp sAn@A%R<AɒA\@A |ʿA`~?A`m<*A9?2A)׽:ABA9?JA)׽RA٘i)I9n@YG J/<JJJJlE&K Y}^~?yԭRAE77iC9B)BE[[@[_~?[([[[[BZYY i) f YK^~?y̝SA@Eŧ7b7pC9)B[[@[^~?[[[[[BZYY i)  elevatorAngleAction: 0.085439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743034767.483282F (some fields omitted in printout)A\$@A$@A_~? AA&"AAwNA"AZAbAjArAzAAAu(X9@AbߓrA9o@AHAwA<&@A@'пA@ ?Ar<*A%9?2A<ֽ:A>BA%9?JA<ֽRA>٘i)I9o@YG J<JJJJtE&K Yd^~?y TA Ej7j7tC9B)BE[[&o @[^~?[$[[[[BZYY i) ;d<*AF9?2AIֽ:AKLBAF9?JAIֽRAKL٘i)I9#p@Y'G JI<JJJJvE&K Y|^~?y#TA Eŧ77*xC9B)BE[[Y @[^~?[j[[[[BZYY i) ˑ elevatorAngleAction: 0.085439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200652 time: 1743034768.743324F (some fields omitted in printout)Aףp=%@AR1}%@A_~? A%A&"AAvNA"AZAbAjArAzAAA|O,9@A޶rABq@A*:AA!@AZҿA`?Aʫ<*A9?2Aֽ:AwBA9?JAֽRAw٘i)I9Bq@YG Jm<JJJJ|E&K Y}^~?yz~SUAEb77UC9)~B[[n @[^~?[yr[[[[BZYY i) @))>@>@~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034768.783165 s, next control iter: 1743034769.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034769.163165 s.}I~,qJd&AJ"J*J2J:JBJnJvJA%@AL%@Aۮ_~? AߩAW&"AACvNA"AZAbAjArAzAAA'} 9@A!\rAq@A|P0<AA-{ @AӿA@sL?A<*A9?2A7׽:A%BA9?JA7׽RA%Yv?l @y30<ٓH b1?@? v}ܱ? ??)v? I٘i)I9q@Y.G J|<B=JȁJJJ~E&KMx> YKn^~?ywUAl @E{7{7C9 B){BE[[(n@[^~?[-k[[[[BZYY i) N elevatorAngleAction: 0.085439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743034770.003328F (some fields omitted in printout)AR+&@A,{&@A_~? ADѩAnt&"AAvNA"AZAbAjArAzAAA~8@ACrAr@A<AA\ @A@kտA`?A-<*Aƚ9?2AFֽ:Ax`BAƚ9?JAFֽRAx`٘i)I9r@YG J<JJJJE&K YO^~?yXhVAEb77C9 B)tBE[[g@[x^~?[][[[[BZYY i) w elevatorAngleAction: 0.085439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743034771.263273F (some fields omitted in printout)A&@AƣT¿&@Atr_~? AA&"AAvNA"AZAbAjArAzAAAT8@A2rA:t@Aq&dAA@A׿AI/?A<*AH9?2A ֽ:ABAH9?JA ֽRAY@@y.MeٓH@@0g?? `L??)@ I٘i)I9t@YG J<B=J?uJJJE&Kw> Y^~?yRWA@!Ej7Z7ՔC9B)fBE[[@[=^~?[>I[[[[BZYY i) lAAO@A eٿA^?A<*A.9?2Aֽ:ABA.9?JAֽRA٘i)I9\v@YG J{<JJJJE&K Y]~?y EXA'E{7j7C9)^B[[F@[^~?[<[[[[BZYY i) r elevatorAngleAction: 0.085439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034772.523294F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzn'@Ad9 a'@AH_~? AA&"AADvNA"AZAbAjArAzAAA5a:`d7@A+rATw@A;AcAu@ARڿAh?A&[<*A9?2A0׽:A sBA9?JA0׽RA s٘i)I9w@Y]G JC<JJJJE&K Y]~?y2>^YA)E7{7C9B)ZBE[[/@[n]~?[6[[[[BZYY i) AA8@APۿA !?Ap<*A9?2A!׽:ABA9?JA!׽RA٘i)I9w@YG JY<JJJJE&K YJ]~?yY7YA,Eŧ7b7*C9)TB[[F@[]~?['1[[[[ZZZZ¸>BZYY i¸>) ȦWe&AJ"J*J2J:Jk4?BJk4?nJ.=5vJA'@AB'@A*_~? AsA&"AAvNA"AZAbAjArAzAAAqe\{7@A:nl rAfrx@ApN<AA@AۿA?AT<*A9?2A6ֽ:ABA9?JA6ֽRAYXl@}r@yv[O<ٓH@i*L`??@ `r۶? Љ??)Xl@ I٘i)I9rx@Y6G J<JŪJJJE&Kx> Yt]~?y1QZAr@/Eb77C9B)RBE[[@[]~?[+[[[[ZZZZBZYY i) L7@A^o>rA(z@A?+AlA@AH\ݿA'C?AO=*An9?2AXֽ:AႺBAn9?JAXֽRAႺ٘i)I9z@Y7G J=JJJJE&K Y˜]~?y$G[A4Eb77C9B)HBE[[ @[]~?[ [[[[ZZZZBZYY i) #q))z>;[S@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034774.643165 s, next control iter: 1743034775.023183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8273 , header.stamp.nsec: 0 0 temperature: 13.384344 * salinity: 33.391685 , density: 1025.000000 * values[0]: 0.706818 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034775.043165 s.pI~,e&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082868< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743034775.043289F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף(@A ܺ(@A^~? APAL&"AAuNA"AZAbAjArAzAAAb06@Ao߂rA{@ALRNA,1A@A޿A?A^<*A9?2AUUֽ:Ag׻BA9?JAUUֽRAg׻٘i)I9{@Y5G J4<C=JJJJE&K Y u]~?y=\A9E7777C9)=B[[#@[w]~?[[[[[ZZZZBZYY i) 9MJJJE&Kv> YI_]~?yz`\A@5vJ I~,H.f&AAz)@AEz)@AJ^~? AiAg&"AAKuNA"AZAbAjArAzAAA4y5@AdrAn}@ALj<A<Aw @A@A|]?A=;*AV9?2Aֽ:AW<BAV9?JAֽRAW<٘i)I9n}@Y?G J;JJJJE&K Y]~?y\ADE77kC9!B)ڹE[[Qk)@[]~?[[[[[BZYY i) b: ؈7))؈7ݖZ@y@oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034776.743165 s, next control iter: 1743034777.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034777.143165 s.U/I~,*If&AA ףp)@A&i)@A}^~? AMdA&"AAt/uNA"AZAbAjArAzAAAJ`?L5@AѨrA„}@A<A4=A"@A"A2?AH\:*A9?2AEֽ:A<BA9?JAEֽRA<2I٘i)I9}@YMG JP;B=JJJJE&K Y]~?y\AGE7777C9"B)6B׹E[[2*@[\~?[ [[[[BZYY i) qjMr ; 6))6\@5YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034777.163165 s, next control iter: 1743034777.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034777.563165 s.I~,N df&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034777.563293F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333)@Ap4()@AT|^~? A^AA&"AAuNA"AZAbAjArAzAAA漹j5@Ai-nrAC}@A=ٹA |1=Ap#@A7vA`T?A;*A9?2Aֽ:Ae<BA9?JAֽRAe?-';`O?)gj@ I٘i)I9}@YIG JkQC=J(>JJJE&Kx> Yg\~?y!\Ap#@JEj7j7C9)[[*4,@[\~?[J[[[[BZYY iT1h) Ŗ<*; .4)).4s]@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034777.583165 s, next control iter: 1743034777.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8276, header.stamp.nsec: 00 temperature: 13.383842* salinity: 33.391705, density: 1025.000000* values[0]: 0.709352F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034777.983165 s.I~,~f&AA\(*@Aw*@Ah^~? AYA&"AAktNA"AZAbAjArAzAAAYi/5@AmyhrAa}@A A`PX=A$@AAl?Aλ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9a}@Y7G JJJJJE&K Y\~?y=w\ALE77+C9$B)9BԹE[[-@[\~?[[[[[BZYY i) +K; '?3))'?3^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034778.003165 s, next control iter: 1743034778.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034778.403165 s.&I~,͙f&AJ"J*J2J:JBJnJvJAQ^*@AaQ*@AT^~? APTA&"AAtNA"AZAbAjArAzAAA--4@AӃ>;rA(}@A_Aw=AZ&@AA?A-^)*AK9?2Abֽ:A=BAK9?JAbֽRA=٘i)I9(}@YG JJJJJE&K YS\~?yY<\AOEŧ7b7C9'B)>BйE[[z.@[\~?[0[[[[BZYY i) `c0p; *1))*1L`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034778.423165 s, next control iter: 1743034778.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8277", header.stamp.nsec: 0"0 temperature: 13.383904"* salinity: 33.391705", density: 1025.000000"* values[0]: 0.709076"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034778.823165 s.I~,:f&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034778.823299F (some fields omitted in printout)AGz*@Ap*@A@^~? A@; h0))h04a@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034778.863165 s, next control iter: 1743034779.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034779.243165 s.I~,uf&AJ"J*J2J:JBJnJvJAףp=*@AXt5*@A4,^~? AHJAz&"AAgtNA"AZAbAjArAzAAA وw4@ArA q|@AW:A:=AO(@A^A`c?A-*A@9?2AZֽ:AHs=BA@9?JAZֽRAHs=٘i)I9q|@YG JsJJJJE&K Y>\~?y[ATE77j7C9)EB[[1@[-\~?[[[[[BZYY i) ;IhD?i>?k&; .)).4 c@gǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034779.263165 s, next control iter: 1743034779.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034779.663165 s.I~,qf&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8278, header.stamp.nsec: 00 temperature: 13.384076* salinity: 33.391724, density: 1025.000000* values[0]: 0.708397F (some fields omitted in printout)A+@AS*@A[^~? AvEA8&"AA{tNA"AZAbAjArAzAAA6 YGy\~?ysߧ_[A)@WEj7C9*B)JBʹE[[z3@[i\~?[[[[[BZYY i) \=;IfpD?i ?b; ԗ-))ԗ-d@bЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034779.683165 s, next control iter: 1743034780.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034780.083165 s.DI~,Rg&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743034780.083298F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\5+@An4(+@A3^~? A@A &"AAC[tNA"AZAbAjArAzAAA{P3@Aa/MrA:o{@A _<A֙=A?,+@A;A`R?Ao**A9?2Aս:A=BA9?JAսRA=٘i)I9o{@YG JFJJJJĒE&K YR`\~?yVۧZAZE77C9,B)PBǹE[[n4@[hP\~?[2[[[[BZYY i) F;IxD?i?@a; 1,))1,e@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034780.103165 s, next control iter: 1743034780.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034780.503165 s.ǙI~,34 g&AARk+@A $y^+@A]~? A6<Aw&"AA:tNA"AZAbAjArAzAAAA3@AprAz@AhC<A_=A{,@A`A?AE|*A-9?2A)ֽ:A:=BA-9?JA)ֽRA:=٘i)I9z@YG J\JJJEJǒE&K Y]G\~?y9קZA\Eŧ7ŧ7C9-B)VBĹE[[5@[7\~?[[[[[BZYY i) ;ID?i'?r; ?*))?*vTg@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034780.523165 s, next control iter: 1743034780.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8279, header.stamp.nsec: 00 temperature: 13.384337* salinity: 33.391720, density: 1025.000000* values[0]: 0.707356F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034780.923165 s.8ΙI~,;g&AJ"J*J2J:J5?BJ5?nJ=5vJA{G+@AdyW=+@A]~? A7A>G&"AADtNA"AZAbAjArAzAAA5LMu3@A%_҃rAHz@A_4;AA =A-@AA=F?A*A9?2A=ֽ:A =BA9?JA=ֽRA =٘i)I9Hz@YTG JJJJJʒE&K Ye.\~?yӧ-ZA_E7)7AC9.B)\BE[[9 7@[\~?[F[[[[BZYY i) r;ID?i78? ; f)))f)h@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034780.943165 s, next control iter: 1743034781.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034781.343165 s.<ՙI~,Ug&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743034781.343322F (some fields omitted in printout)Ap= +@A>w+@A]~? A3AP&"AAsNA"AZAbAjArAzAAA$nnw23@AM5rAy@Ai#ȻAz=A ./@A`At?A)}*A59?2Aֽ:An =BA59?JAֽRAn =٘i)I9y@YG JJJJJ̒E&K Yp\~?yΧYAbE{7{7C90B)bBE[[yt8@[R\~?[[[[[BZYY i) m<6;IhD?iJ?)< ())(j@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034781.363165 s, next control iter: 1743034781.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8280*, header.stamp.nsec: 0*0 temperature: 13.384618** salinity: 33.391739*, density: 1025.000000** values[0]: 0.706174*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034781.763165 s.8ۙI~,#pg&AJ"J*J2J:J4?BJ4?nJ=5vJA ,@A{ +@A]~? A_/A&"AA|sNA"AZAbAjArAzAAAYZ2@Axd~rAy@A2TA&G=A 0@A*FA@?Ah*A9?2A׽:A=BA9?JA׽RA=Ym"@s0@yC=\TٓH\׿U@ ?3?` *y?)m"@ I٘i)I9y@YG JïJɲ;JJJϒE&K1x> YC[~?y˧_YAs0@dE77kC91B)hBE[[p9@[[~?[[[[[BZYY i) !R:ID?i:V?O < &))&~k@+תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034781.803165 s, next control iter: 1743034782.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034782.183165 s.I~,og&AA(\B,@A^5,@A]~? A`+A1> &"AAvsNA"AZAbAjArAzAAA Y|F2@Azp>|rAŒx@A_TA=AV1@AA%?A*A߱9?2ALֽ:AR =BA߱9?JALֽRAR =٘i)I9x@YFG J'JJJJҒE&K Y[~?ydȧXAgE{7j7C92B)nBE[[0";@[[~?[2ߧ[[[[BZYY i) ix:I)D?ic?< R@%))R@%cl@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034782.203165 s, next control iter: 1743034782.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034782.603165 s.94I~,g&AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034782.603284F (some fields omitted in printout)AQx,@AlFk,@A,}]~? A'A &"AA sNA"AZAbAjArAzAAA2˃d2@AQyrAw@A5̻A=A63@A`NA?A*A9?2Aѯֽ:A=BA9?JAѯֽRA=٘i)I9w@YG JJJJJԒE&K Y[~?yŧXAjEj7SI7C94B)tBE[[u<@[K[~?[ݧ[[[[BZYY i) `8I7D?ir?V< #))#?n@;ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034782.643165 s, next control iter: 1743034783.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8281 , header.stamp.nsec: 0 0 temperature: 13.384880 * salinity: 33.391731 , density: 1025.000000 * values[0]: 0.705028 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034783.023165 s.ZI~, |g&AAHz,@AzS ,@Af]~? A#A &"AA;psNA"AZAbAjArAzAAA(2@A_wrArgw@AEYx;AO@=AkW4@A A. ?A*A׹9?2A^ֽ:A=BA׹9?JA^ֽRA=٘i)I9gw@YG JJJJJגE&K Y[~?y$XAlE777,C95B)zBE[[q=@[Ý[~?[ܧ[[[[BZYY i) BhI*D?iʁ?!&< ؀"))؀"ݞo@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034783.043165 s, next control iter: 1743034783.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034783.443165 s.8I~,B]g&AJ"J*J2J:JV4?BJV4?nJ=5vJAq= ,@A5,@AN]~? A? A!!&"AAMsNA"AZAbAjArAzAAA)D\21@AS=esurAv@A 4A<A =A5@A*AdG?A*A9?2A$1ֽ:A=BA9?JA$1ֽRA=٘i)I9v@Y:G JuJJJJڒE&K Y[~?y|WAoE7C9)B[[G?@[\[~?[ڧ[[[[BZYY i) P-ID?i?2< a#!))a#!Tp@L˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034783.463165 s, next control iter: 1743034783.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8282, header.stamp.nsec: 00 temperature: 13.385169* salinity: 33.391739, density: 1025.000000* values[0]: 0.703900F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034783.863165 s.+I~,>g&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034783.863301F (some fields omitted in printout)A-@A -@A+7]~? AAt`!&"AA)sNA"AZAbAjArAzAAA]̿1@A }]srABv@AG^<Ar=AE6@A`^A8k?AX*A9?2ABֽ:AB{=BA9?JABֽRAB{=Y(@6@y=^<ٓH@ ѿ ]?@.à?ȋ??)(@ I٘i)I9Bv@YG J2J^JJJݒE&K x>  D9Yuw[~? D9yZWA6@rE77VD96B)BE[[f@@[j[~?[٧[[[[BZYY i) bk3ID?i?T9< ;));zYr@GǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034783.883165 s, next control iter: 1743034784.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034784.283165 s.6RI~,h&AJ"J*J2J:JBJnJvJA(\O-@ARDUB-@Ab]~? AA!&"AAsNA"AZAbAjArAzAAA zԡH1@AT<^qrAȵu@A<A=AS;8@AA@$?A;A*A,9?2A ֽ:A3<BA,9?JA ֽRA3<٘i)I9u@YG JJJJJߒE&K YU\[~?yVAuE7D98B)BE[[A@[P[~?[ا[[[[BZYY i) VpID?i?&B< i))i޵s@BêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034784.303165 s, next control iter: 1743034784.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 82832, header.stamp.nsec: 020 temperature: 13.3854552* salinity: 33.3917352, density: 1025.0000002* values[0]: 0.7027432F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034784.703165 s.ֺ I~,-h&AAQ-@AGx-@Ab]~? AqA]!&"AAwrNA"AZAbAjArAzAAAh0@ABaworA/u@AȺA=A9@A A?A]*A9?2Aֽ:As<BA9?JAֽRAs<٘i)I9/u@Y:G J[JJJJE&K Y4A[~?yVAwED99B)BE[[C@[N7[~?[ק[[[[BZYY i) - I% E?iH?K< q))qDu@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034784.723165 s, next control iter: 1743034785.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034785.123165 s.5I~,TGh&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034785.123285F (some fields omitted in printout)J"J*J2J:JBJnJvJAG-@Ak^խ-@A.\~? AzA"&"AArNA"AZAbAjArAzAAA߸}0@Ax|mrAOt@AT+AQ߈=AH:@AuA ?As*A.9?2A׽:A!<BA.9?JA׽RA!<٘i)I9t@YG JɖJJJJE&K Y&[~?y7VAzE{7Z7 D9:B)BE[[MD@[[~?[֧[[[[BZYY i) I+E?i?ƱV< ))kv@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034785.143165 s, next control iter: 1743034785.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034785.543165 s.II~,bh&AA= ף-@AqR-@A\~? AAVT"&"AA"rNA"AZAbAjArAzAAAeÇl0@Ap krAd8t@AcAJ=AN<<@AtA ?A򑍼*A9?2A׽:A?q<BA9?JA׽RA?q<٘i)I98t@YG JJJJJE&K Y [~?y3UA}E{7D9;B)BE[[E@[[~?[{֧[[[[BZYY i) WԻI4.E?i?2b< [))[w@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034785.563165 s, next control iter: 1743034785.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8284, header.stamp.nsec: 00 temperature: 13.385701* salinity: 33.391754, density: 1025.000000* values[0]: 0.701720F (some fields omitted in printout)B [~?)B3 rAdjusting time to match Gazebo time: 1743034785.963165 s.xI~,}h&AJ"J*J2J:JBJnJvJAffff&.@A8>[.@A6\~? AA͉"&"AA srNA"AZAbAjArAzAAA "0@ARjrAFs@ARp$A=AU=@A@cAA ?A"*A9?2Aֽ:Am3<BA9?JAֽRAm3JJJE&Kx> Y.Z~?y{UAz=@Eb77AD9=B)BE[[[F@[Z~?[!֧[[[[BZYY i) IAE?i? j< ))y@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034786.003165 s, next control iter: 1743034786.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034786.383165 s.%I~,/h&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075162< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034786.383287F (some fields omitted in printout)A(\.@AO.@Ax\~? A A?"&"AAMrNA"AZAbAjArAzAAAE/@A.hrA2Os@AkA=A>@AfA?A*AE9?2Aֽ:A<BAE9?JAֽRA<٘i)I9Os@YG J2JJJJE&K YdZ~?y!UAEb7D9)BE[[ +H@[Z~?[է[[[[BZYY i) ^ IAVE?i?Cr< ))oz@y$ݙ繪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034786.403165 s, next control iter: 1743034786.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8285&, header.stamp.nsec: 0&0 temperature: 13.385942&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.700805&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034786.803165 s.zA,I~,gh&AJ"J*J2J:Jg3?BJg3?nJ<5vJA.@A[߄.@A\~? A, A"&"AA(rNA"AZAbAjArAzAAAK /@ḀMr^grA'r@Ag<Aw=A @@A uAK?AH~*A9?2A%Tֽ:As=BA9?JA%TֽRAs=٘i)I9r@YG JJJJJE&K YZ~?yqTAE77lD9)BE[[rI@[bZ~?[է[[[[BZYY i) rIskE?i%?X|< 3i))3i{@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034786.823165 s, next control iter: 1743034787.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034787.223165 s.g3I~,Hh&AAz.@Ad?.@As\~? AA#&"AA>rNA"AZAbAjArAzAAAD..@A?frA`r@AbMa<A@=ASA@A@A Xx?A*A39?2AAֽ:A=BA39?JAAֽRA=٘i)I9`r@YG J]JJJJE&K YΛZ~?y۫lTAE)7ŧ7D9>B)BE[[J@[NZ~?[֧[[[[BZYY i) ~(IE?i?}< $))$|@YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743034787.263165 s, next control iter: 1743034787.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034787.643165 s.v9I~,*h&AJ"J*J2J:J,3?BJ,3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075162< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743034787.643285F (some fields omitted in printout)A ףp.@A/d.@AYZ\~? AA`A#&"AA1qNA"AZAbAjArAzAAA}-@A+ƞdrAq@A=<A=AΣB@A`A@?Ae*Aؾ9?2Aunֽ:A=BAؾ9?JAunֽRA=٘i)I9q@Y:G J͐JJJJE&K YZ~?yETAE77 D9?B)BE[[K@[tZ~?[O֧[[[[BZYY i) *8IE?i?t< ))=~@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8286, header.stamp.nsec: 00 temperature: 13.386180* salinity: 33.391750, density: 1025.000000* values[0]: 0.699895F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034787.663165 s, next control iter: 1743034788.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034788.063165 s.@I~,g i&AA33333/@Am(&/@A A\~? AAg#&"AAqNA"AZAbAjArAzAAA㓙M-@AxcrA nq@AY;Ac=AC@AAѾ?A:-*A9?2Aֽ:A6=BA9?JAֽRA6=Yi5@C@yb=@Z;ٓH'N }i@3?#`?׈7k?@?)i5@ I٘i)I9nq@YG JJ;JJJE&K4x> YcZ~?ySAC@E7,$D9@B)BE[[?M@[ZmZ~?[֧[[[[BZYY i) !GI\E?i?$< ڛ))ڛۃ@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034788.083165 s, next control iter: 1743034788.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034788.483165 s.z_GI~,i&AJ"J*J2J:JBJnJvJA\h/@A\=[/@A'\~? AaA#&"AAqNA"AZAbAjArAzAAAdֲ,@A/R}ԜbrA[p@AٻA?X=ASE@AA?AQō*Ar9?2A׽:AH=BAr9?JA׽RAH=٘i)I9p@YG JxJJJJE&K YGZ~?yਧUSAEb7b7'D9)BE[[N@[iTZ~?[Tק[[[[BZYY i) WIE?i#?^< W))Wd@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034788.523165 s, next control iter: 1743034788.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8287, header.stamp.nsec: 00 temperature: 13.386408* salinity: 33.391766, density: 1025.000000* values[0]: 0.698964F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034788.903165 s.MI~,9i&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075162< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200652 time: 1743034788.903331F (some fields omitted in printout)AQ/@A뉮/@A\~? AAy#&"AAhqNA"AZAbAjArAzAAA]q,@A=arA)p@AVA*=AF@A@oAb?Aϖ*Ai9?2A 2׽:A=BAi9?JA 2׽RA=٘i)I9p@Y_G J捼JJJJE&K Y+Z~?y.RAE77W+D9AB)BE[[O@[;Z~?[ا[[[[BZYY io) ~fIE?i?z < ))@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034788.943165 s, next control iter: 1743034789.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034789.323165 s.vTI~,%Ti&AJ"J*J2J:JBJnJvJAGz/@ALn/@Ar[~? AtA*#&"AA BqNA"AZAbAjArAzAAA8K|+@AQ`rAp@AOA=AyG@A+A`H$?A*A9?2A ׽:Aщ=BA9?JA ׽RAщ=٘i)I9p@YG J(JJJJE&K YbZ~?y|RAEj7Z7.D9BB)BE[[NQ@[7#Z~?[ا[[[[BZYY i) uIE?i?%j< q))q@ ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034789.343165 s, next control iter: 1743034789.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8288., header.stamp.nsec: 0.0 temperature: 13.386629.* salinity: 33.391739., density: 1025.000000.* values[0]: 0.698044.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034789.743165 s.W[I~,oi&AAףp= 0@A=`2/@A[~? A<A#&"AA9qNA"AZAbAjArAzAAA *@AY9`rApo@AfrA=AHA<A[c?A*A9?2A»ֽ:A =BA9?JA»ֽRA =٘i)I9o@YG JdJJJJE&K Y:Y~?yʦ:RAE{7{72D9AB)ůB[[OBR@[ Z~?[٧[[[[BZYY i) PI3F?i?9< o ))o #C@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034789.763165 s, next control iter: 1743034790.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034790.163165 s.u}bI~,qi&AJ"J*J2J:J2?BJ2?nJ@;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084198< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743034790.163283F (some fields omitted in printout)A@0@A320@A[~? A-A#&"AA5pNA"AZAbAjArAzAAAOSD*@A;do_rA}o@AҔ;AϘ=AGAKA?A>g*A9?2A/]ֽ:AW=BA9?JA/]ֽRAW=Yz<@Gy|Ϙ=<;ٓH # ?@@g?@fNr?@?)z<@ I٘i)I9o@YzG JB=Jl<JJJE&Kw> YY~?yQAG DEb776D9BB)ɯBE[[‚S@[Y~?[$ۧ[[[[BZYY i) >I2F?i@Ϥ< X ))X \@yYҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034790.183165 s, next control iter: 1743034790.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034790.583165 s.hI~,Si&AA)\u0@A6h0@A[~? AGAY $&"AApNA"AZAbAjArAzAAAD!c)@Aka^rA~n@A]H<Ax=A`FAXA?A^*AΥ9?2A%ֽ:AR@=BAΥ9?JA%ֽRAR@=٘i)I9~n@Y'G JC=JJJJE&K YºY~?y/mQAE79D9)ίBE[[]T@[UY~?[vܧ[[[[BZYY i) s̑IFOF?i@;< a ))a @y֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034790.603165 s, next control iter: 1743034790.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8289, header.stamp.nsec: 00 temperature: 13.386888* salinity: 33.391735, density: 1025.000000* values[0]: 0.697093F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034791.003165 s.w pI~,H4i&AJ"J*J2J:Jt2?BJt2?nJ;5vJAR0@AEJy0@A5[~? AAr$&"AApNA"AZAbAjArAzAAAcP )@A:p^rAsm@Ay]<A> =AEA`2cA@6?A<*A9?2AD4ֽ:A=BA9?JAD4ֽRA=٘i)I9m@YG JJJJJ E&K YY~?ybQAE77j7B=D9CB)ӯBE[[U@[]Y~?[ݧ[[[[BZYY i) YIllF?i@א<  ))  @ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034791.023165 s, next control iter: 1743034791.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034791.423165 s.uvI~,i&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084198< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034791.423291F (some fields omitted in printout)A{G0@AB:<0@AEs[~? AAX'$&"AA~pNA"AZAbAjArAzAAAPm(@Aڌ^rA^m@AZ;A=ACAikAnj?Aޮ*A9?2Aֽ:Ac=BA9?JAֽRAc=٘i)I9^m@YwG JJJJJ E&K YPY~?yPAEj7@D9)دBE[[C8W@[Y~?[ߧ[[[[BZYY i) 砼IsF?i @Ĺ< {)){@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034791.443165 s, next control iter: 1743034791.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8290, header.stamp.nsec: 00 temperature: 13.387163* salinity: 33.391739, density: 1025.000000* values[0]: 0.696021F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034791.843165 s.|I~,i&AJ"J*J2J:J.2?BJ.2?nJ:5vJAp= 1@A 1@ANY[~? AA1$&"AAIWpNA"AZAbAjArAzAAA\gb'@A8J]rAl@A`Au=A&eBA*qA8?A)*An9?2Aֽ:A=BAn9?JAֽRA=٘i)I9l@YG JJJJJE&K YfY~?yǧ9PAEb77lDD9)ݯB|E[[GpX@[8Y~?[8[[[[BZYY i) uIoF?i@f< wk))wkZ@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034791.863165 s, next control iter: 1743034792.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034792.263165 s.I~,Aj&AAL1@AG?1@AQ?[~? ASAq7$&"AA/pNA"AZAbAjArAzAAAa㰻H2'@A5]rAp6l@Av0A刧=A AAStAY?A"*A9?2A/"׽:Ak=BA9?JA/"׽RAk=YB@{Ayg=S1ٓH`s?@SiT`_x[괿`!?)B@ I٘i)I96l@YG JJ<JJJE&KCx> YJY~?yߨOAAEŧ7HD9DB)ByE[[{Y@[{Y~?[[[[[BZYY i) TѯIF?i@ ֻ< C0))C0@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034792.283165 s, next control iter: 1743034792.663182 s, wait time: 0.380017 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8291., header.stamp.nsec: 0.0 temperature: 13.387420.* salinity: 33.391720., density: 1025.000000.* values[0]: 0.694898.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034792.683165 s.lI~,N+j&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084198< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199262 time: 1743034792.683254F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\1@A9 Qu1@AR%[~? A@A:$&"AApNA"AZAbAjArAzAAAi'&@AO/]rA@k@AhaA>W=A?AtA 9BSA*A"9?2A׽:A=BA"9?JA׽RA=٘i)I9k@YgG JJJJJE&K Y.Y~?yYOAE7777KD9)BvE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #45q/-^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) &,)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034792.683165 s, next control iter: 1743034793.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743034793.103165 s.I~,Fj&AAQ1@A4F1@AT [~? AWA:$&"AA#oNA"AZAbAjArAzAAAHF %@A tkk]rA9k@AA9=A\s>ArAHlA~*A9?2APֽ:A4=BA9?JAPֽRA4=٘i)I9k@YG J¹JJJJE&K YY~?y NAE{7,OD9)B[[\@[JMY~?[;[[[[BZYY i) 9IF?iT@C< %)) %H0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034793.123165 s, next control iter: 1743034793.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034793.523165 s.I~,{aj&AJ"J*J2J:JBJnJvJAHz1@AI 1@ATZ~? AA6$&"AAoNA"AZAbAjArAzAAA֚bY%@AIu]rA_j@A* 2A9.=Aw=AyAAyȼ*A%U:?2Ac½:A=BA%U:?JAc½RA=1I٘i)I9_j@YG J¼B=JJJJE&K YX~?y%xNAE777RD9)BsE[[bR]@[6Y~?[{[[[[BZYY i) żI G?i:@@< Y))],ˇ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034793.543165 s, next control iter: 1743034793.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8292, header.stamp.nsec: 00 temperature: 13.387698* salinity: 33.391731, density: 1025.000000* values[0]: 0.693752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034793.943165 s.bdI~,l]|j&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084198< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743034793.943295F (some fields omitted in printout)Aq= #2@A1y2@AOZ~? AA/$&"AAEoNA"AZAbAjArAzAAATQ$@A_)^rAi@AY<A=Ah<AxA64Aм*AFf:?2A½:AN;=BAFf:?JA½RAN;=٘i)I9i@Y<G J̼C=JJJJE&K YX~?y<NAE{7j7WVD9)BpE[[^@[ Y~?[[[[[BZYY i) >ͼI.G?i!@< %V))%Vd@ YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034793.963165 s, next control iter: 1743034794.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034794.363165 s.I~,}>j&AJ"J*J2J:Jr1?BJr1?nJ:5vJAY2@A-L2@ANZ~? AA&$&"AAjoNA"AZAbAjArAzAAAru$@A YvX~?y MA;E8787YD9EB)BmE[[Z_@[ Y~?[^[[[[BZYY i) tԼIQG?ir$@}< e ))e @Y TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034794.383165 s, next control iter: 1743034794.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8293&, header.stamp.nsec: 0&0 temperature: 13.388025&* salinity: 33.391712&, density: 1025.000000&* values[0]: 0.692491&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034794.783165 s.YI~,j&AA(\2@A&P2@ASZ~? APA$&"AAmCoNA"AZAbAjArAzAAAf#@A3L^rANh@A:<A/=Ac:A@smANA׼*Ai:?2Aǽ:A=BAi:?JAǽRA=٘i)I9Nh@Yb G JּC=JJJJ"E&K YߢX~?yݰMAE)7ŧ7]D9DB)BkE[[!`@[_X~?[[[[[ZZ¸BZYY i¸/=) :tȼIuG?i'@< ;));@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034794.823165 s, next control iter: 1743034795.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034795.203165 s.I~,j&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034795.203298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ2@AA2@AaZ~? AA $&"AAoNA"AZAbAjArAzAAA"@Ag_rAsg@Ap;A³=Ac9AycA`A ּ*Afc:?2A,˽:A[ =BAfc:?JA,˽RA[ =٘i)I9g@Y G J׼JJJJ%E&K YFX~?yLAE777aD9)BhE[[!b@[yX~?[[[[[ZZBZYY i) sIӚG?i}+@ف< Gu))Gu2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034795.223165 s, next control iter: 1743034795.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034795.623165 s.[I~,mj&AAG2@A2@A~oZ~? AA#&"AAnNA"AZAbAjArAzAAAxF"@ANp_rABf@AA=A 8ASAA*AGg:?2Aqͽ:A4<BAGg:?JAqͽRA4<٘i)I9f@Y{ G JJJJJ(E&K YkX~?y~(LAEb77dD9)BeE[[Pc@[X~?[[[[[ZZBZYY i) rIG?i/@p< ))xʊ@^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034795.643165 s, next control iter: 1743034796.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8294 , header.stamp.nsec: 0 0 temperature: 13.388366 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.691165 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034796.043165 s.I~,k&AJ"J*J2J:JBJnJvJA= ף03@A g#3@AUZ~? A/A3#&"AAnNA"AZAbAjArAzAAAg!@A`rAe@AG0MA۩=A|6A\CA@A*Avl:?2AM=н:ARu<BAvl:?JAM=нRARu<٘i)I9e@Y G J,JJJJ+E&K YPX~?yNKAE77BhD9)B[[~d@[X~?[[[[[ZZBZYY i) pISG?i4@< s))s>a@yc=aϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034796.083165 s, next control iter: 1743034796.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034796.463165 s.TǚI~,ߤk&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200842 time: 1743034796.463380F (some fields omitted in printout)Afffff3@A![Y3@A;Z~? AsAC#&"AAnNA"AZAbAjArAzAAAr !@A>parAL-e@AQA^o=A`5A1A`LA*Al:?2Aѽ:AS<BAl:?JAѽRAS Y!5X~?y`KAl5’E77kD9)BbE[[e@[KX~?[[[[[ZZBZYY i) 9IH?i6@ < _W))_W@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034796.483165 s, next control iter: 1743034796.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8295, header.stamp.nsec: 00 temperature: 13.388710* salinity: 33.391727, density: 1025.000000* values[0]: 0.689635F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034796.883165 s.z͚I~,Y8k&AJ"J*J2J:J0?BJ0?nJ95vJA(3@A3@AE"Z~? AA>#&"AAnNA"AZAbAjArAzAAA}Eq @A< NbrArd@ALٻA+=A4AA}AS5˼*A:j:?2A,8ӽ:A ң;BA:j:?JA,8ӽRA ң;٘i)I9rd@Y G JݼJJJJ0E&K Y.X~?yKAŒE77moD9)!B_E[[f@[@X~?[[[[[ZZBZYY i) I6H?i:@9< ))@pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034796.903165 s, next control iter: 1743034797.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034797.303165 s.XԚI~,gSk&AA3@A>3@AZ~? AsA#&"AAXnNA"AZAbAjArAzAAAGQ @ApMDcrA"c@A/;A<A2A`A xXÿA*A>c:?2ADԽ:AiBA>c:?JADԽRAi٘i)I9c@Y G J)JJJJ3E&K Y elevatorAngleAction: 0.084564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743034797.723338F (some fields omitted in printout)Az4@A`W3@A>Y~? A0Ay#&"AA 2nNA"AZAbAjArAzAAAex@AsTdrAQc@A'<A><Ap1A`A4ſA%E*AxX:?2Aս:ABAxX:?JAսRA٘i)I9Qc@YY G JB=JJJJ5E&K YHW~?yoJAʒE777vD9)*BYE[[;:i@[!_X~?[[[[[ZZBZYY i) '$oI%H?iA@< C))C@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034797.743165 s, next control iter: 1743034798.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034798.143165 s.T/I~,)k&AA ףp=4@AGve04@AY~? AAvV#&"AA nNA"AZAbAjArAzAAAGަE@A}erAb@A E<A8A0A@rA`ǿAt4*AJ:?2Aս:ASBAJ:?JAսRAS٘i)I9b@Y G JeC=JJJJ8E&K YXW~?yçJA͒Eb77-zD9),BVE[[ dj@[KX~?[$ [[[[ZZBZYY i) XIH?iF@< g))g꿩T@O!)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034798.163165 s, next control iter: 1743034798.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034798.563165 s.I~,[ k&AJ"J*J2J:JBJnJvJA3333s4@Aa'f4@AY~? A%A/#&"AA7mNA"AZAbAjArAzAAA ;e@ATfrAb@A;AռAq.AxAȿAH*A^;:?2ABֽ:AJBA^;:?JABֽRAJYhIU@,.yԼ ;ٓHV4?@?"ٿW"3? ? ͚}? ?)hIU@ I٘i)I9b@Y G J>JFJJJ;E&K{> YcW~?y"ǧ?JA.ВEj7SI7}D9).BSE[[k@[7X~?[ [[[[ZZBZYY iit=) FIH?iH@f= '))'迩@~)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034798.583165 s, next control iter: 1743034798.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8297, header.stamp.nsec: 00 temperature: 13.389265* salinity: 33.391727, density: 1025.000000* values[0]: 0.687419F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034798.983165 s.I~,k&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.059671< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743034798.983292F (some fields omitted in printout)A\4@A4@AY~? A] Aa#&"AAmNA"AZAbAjArAzAAA@A hrAb@AݺAA -A@A_ʿAZ*AM+:?2Aiֽ:A޼BAM+:?JAiֽRA޼٘i)I9b@Y G JIdJJJJ=E&K YnW~?yʧ^JAҒE77XD9)/B[[߽l@[A#X~?[[[[[BZYY i"Q=) 4I I?iK@L= ;));濩뀏@F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034799.003165 s, next control iter: 1743034799.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034799.403165 s.&I~,k&AJ"J*J2J:JBJnJvJAQ4@Aū4@AY~? A A"&"AA1mNA"AZAbAjArAzAAA6\L@ACirAVb@AI#A"BA9,A@kA̿A;*A!:?2A0ֽ:ABA!:?JA0ֽRA٘i)I9b@Y G J};JJJJ@E&K Yx{W~?y,Χ~JAՒE77{7D9CB).BPE[[vm@[X~?[n[[[[BZYY i) C"II?iN@q= ))㿩6@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034799.423165 s, next control iter: 1743034799.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8298, header.stamp.nsec: 00 temperature: 13.389353* salinity: 33.391693, density: 1025.000000* values[0]: 0.687203F (some fields omitted in printout)Nx{W~?)N,Χ rAdjusting time to match Gazebo time: 1743034799.823165 s.I~,-k&AAGz5@A 4s5@AqY~? ACA "&"AAsmNA"AZAbAjArAzAAAE@A#K9krAb@AfWAteAA*A }DAUοA<*A:?2A5ֽ:A%2BA:?JA5ֽRA%2٘i)I9b@Y G J#;B=JJJJCE&K YaW~?yѧJAؒE777D9),BNE[[Uo@[W~?[_[[[[BZYY i) vIiR@F= Ӕ))ӔῩ@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034799.843165 s, next control iter: 1743034800.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034800.243165 s.I~,il&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034800.243282F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=J5@Aa1=5@AQYY~? AAPw"&"AANmNA"AZAbAjArAzAAAhN$^@A|lrA7%c@AOA%A)A;A{пAJ<*A :?2AЇֽ:AQ BA :?JAЇֽRAQ ٘i)I9%c@Y> G J&/<C=JJJJEE&K YGW~?y5էJAڒEb7b7D91B)BKE[[8p@[W~?[d[[[[BZYY i) IiV@w = wG߿))wG߿=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034800.263165 s, next control iter: 1743034800.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034800.663165 s. I~,q*l&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8299, header.stamp.nsec: 00 temperature: 13.389309* salinity: 33.391682, density: 1025.000000* values[0]: 0.687587F (some fields omitted in printout)A5@A4fr5@A@Y~? AAA"&"AA(mNA"AZAbAjArAzAAAҺ(6@A64vnrAc@A0AAB(A@@AпA~r<*A :?2A[ֽ:A'BA :?JA[ֽRA'Y [@A(y郌ٓHU` Y.W~?y٧KAA(ݒE77D9)BHE[[9aq@[XW~?[![[[[BZYY im=) :߻IiY@ =  ܿ)) ܿґ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034800.683165 s, next control iter: 1743034801.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034801.083165 s.DI~,SEl&AJ"J*J2J:JBJnJvJA)\µ5@Aj5@A(Y~? AA"&"AAmNA"AZAbAjArAzAAAnm @ADZIprA5c@A<ArAN&AA`[ѿA‰<*A:?2A6R׽:A"BA:?JA6R׽RA"٘i)I9c@Y G J]<JJJJKE&K YQW~?yݧzKAE77j7CD9)B[[r@[W~?[%[[[[BZYY i) }3Ii[@ = Kڿ))Kڿf@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034801.103165 s, next control iter: 1743034801.483182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034801.503165 s.I~,j4`l&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743034801.503320F (some fields omitted in printout)AR5@A|5@AY~? AA!&"AAlNA"AZAbAjArAzAAA1@A5rrA)jd@AiN<ANA%A@UA ҿAV<*A> :?2Ar׽:A`BA> :?JAr׽RA`٘i)I9jd@Y G J[<JJJJME&K YV~?y+KAE77ؖD9) BEE[[s@[W~?[*[[[[BZYY i) QIi^@= SXؿ))SXؿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034801.523165 s, next control iter: 1743034801.903183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8300, header.stamp.nsec: 00 temperature: 13.389154* salinity: 33.391689, density: 1025.000000* values[0]: 0.688350F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034801.923165 s.DI~,{l&AJ"J*J2J:JBJnJvJA{G!6@Aj=6@AX~? A9A!&"AARlNA"AZAbAjArAzAAAֶGK@A?9trAzd@AC5/<AAH$A^AӿA3<*A:?2A N׽:ABA:?JA N׽RA٘i)I9d@YW G JM<JJJJPE&K YV~?y|7LAEmD90B) BBE[[Yt@[eW~?[.[[[[BZYY i) rIi_b@= ֿ))ֿ(@yYum=\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034801.943165 s, next control iter: 1743034802.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034802.343165 s.<%I~,l&AAp= W6@AI6@APX~? A!A elevatorAngleAction: 0.067075< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034802.763297F (some fields omitted in printout)Ǎ6@A46@AX~? AE%A!&"AAslNA"AZAbAjArAzAAA~GeL@AzTvxrA: f@AfZƻA兞A!A"AYտA˅<*A:?2Aֽ:A+~ BA:?JAֽRA+~ Y_b@޹!y&ƻٓHp??e &/J?˳?BxR?)_b@ I٘i)I9 f@Y G J7<B=JaJJJVE&Kx> YdV~?yMA!E777D9)B[[w@[~W~?[7[[[[BZYY i) G IiEh@\= s}ѿ))s}ѿ~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034802.803165 s, next control iter: 1743034803.163182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034803.183165 s.2I~,Il&AA(\6@A4Y6@AܲX~? A)A &"AAPlNA"AZAbAjArAzAAA"#(@Aл"zrAf@AgEA7Az AƻA1ֿA<*A:?2Aֽ:A> BA:?JAֽRA> ٘i)I9f@Yo G J<C=JJJJXE&K YWV~?yjMAE{7{7-D9)B=E[[JAx@[nW~?[G<[[[[BZYY i) TIij@96= 4Ͽ))4ϿB@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034803.203165 s, next control iter: 1743034803.583174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034803.603165 s.949I~,l&AJ"J*J2J:J0?BJ0?nJa95vJAQ6@AzF6@AX~? A,Au &"AA-lNA"AZAbAjArAzAAA{ @Ac.}rA(Zg@A.s?Ax*A+AA׿Aed<*A:?2AEֽ:A-BA:?JAEֽRA-٘i)I9Zg@Y G J<JJJJ[E&K YGV~?yMAE7777èD9)B:E[[hdy@[]W~?[A[[[[BZYY i) \}Iim@W= ̿))̿/ԕ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034803.623165 s, next control iter: 1743034804.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8302 , header.stamp.nsec: 0 0 temperature: 13.388690 * salinity: 33.391655 , density: 1025.000000 * values[0]: 0.690601 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034804.023165 s.Z@I~,{m&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067075< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743034804.023295F (some fields omitted in printout)AHz.7@A8 !7@AhX~? A0A( &"AAP lNA"AZAbAjArAzAAAjT @A(rAg@A2ȨAAA CA`׿A2<*Aj:?2A׽:A|BAj:?JA׽RA|٘i)I9g@Y* G Ju<B=JJJJ^E&K Y5pV~?y?NAEŧ7b7YD9)B[[4z@[}MW~?[E[[[[BZYY i) W :Iip@]= ʿ))ʿe@ygN=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034804.043165 s, next control iter: 1743034804.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034804.443165 s.;FI~,O]m&AJ"J*J2J:JBJnJvJAq= c7@A:V7@AoX~? A5A&"AAAkNA"AZAbAjArAzAAA~'@A8X0rAh@A;A,A{AA@ؿA<*A:?2A_׽:A{BA:?JA_׽RA{٘i)I9h@Y G J<C=JJJJ`E&K Y'YV~?y/NAE77{7D9/B)B7E[[${@[=W~?[J[[[[BZYY i) :IiFt@V= 7kȿ))7kȿ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034804.463165 s, next control iter: 1743034804.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8303, header.stamp.nsec: 00 temperature: 13.388473* salinity: 33.391621, density: 1025.000000* values[0]: 0.691788F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034804.863165 s.+MI~,>7m&AA7@A͎7@A YX~? Aj9Aȅ&"AAkNA"AZAbAjArAzAAAMyu@A҄rA i@A28<AaA_%A`[A`AٿAn<*A]:?2Aև׽:ArBA]:?JAև׽RArY-h@g2y 8<ٓH` ? [s?`:?`?:??)-h@ I٘i)I9 i@Y G JY<J,<JJJcE&Kx> YCV~?y  OA2ED9)B4E[[|@[.W~?[O[[[[BZYY i) uE!;Ii v@Gx= %ƿ))%ƿb@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034804.883165 s, next control iter: 1743034805.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034805.283165 s.:RTI~,Rm&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067075< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743034805.283282F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\7@AOV7@AHCX~? A=A@0&"AAhkNA"AZAbAjArAzAAAeNe@Aˠ튇rAi@AlL<AُAAW}AQڿA<*A:?2ASw׽:AS BA:?JASw׽RAS ٘i)I9i@Y'G J <B=JJJJfE&K Y.V~?ylOAEb77D9)B0E[[}@[W~?[T[[[[BZYY i) ^;Ii2x@= Oÿ))OÿG@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034805.303165 s, next control iter: 1743034805.683183 s, wait time: 0.380018 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8304., header.stamp.nsec: 0.0 temperature: 13.388267.* salinity: 33.391621., density: 1025.000000.* values[0]: 0.692854.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034805.703165 s.غZI~,mm&AAQ8@A ~7@A-X~? AvBA&"AAkNA"AZAbAjArAzAAA%n]@AfpPXrAj@A;AьA]A7AۿAݘ<*A:?2A:8׽:ABA:?JA:8׽RA٘i)I9j@YvG J <C=JJJJhE&K Y@V~?yOAEŧ7b7D9)߯B1E[[1 @[W~?[Y[[[[BZYY i) ;Iiz@uv = ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034805.723165 s, next control iter: 1743034806.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034806.123165 s.:aI~,im&AJ"J*J2J:JBJnJvJAG:8@A-8@AX~? A0GA+}&"AAVekNA"AZAbAjArAzAAAZ g\@AD:rAj@A ACAJAA`ۿA<*A-:?2Aֽ:AwBA-:?JAֽRAw٘i)I9j@YG J<JJJJkE&K YV~?yR.PAEZ7SI7CD9)گB.E[[,@[AW~?[,_[[[[BZYY i) ;Ii}@WQ"= b))b'7@ǽ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034806.143165 s, next control iter: 1743034806.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034806.543165 s.IhI~,âm&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067075< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743034806.543286F (some fields omitted in printout)A= ףp8@A噗c8@AX~? A LA&"AA~EkNA"AZAbAjArAzAAAg1c?AoR2rAk@A"AĉAAtA@-ܿAŚ<*A5:?2ASֽ:AEBA5:?JASֽRAE٘i)I9k@YG Jݚ<JJJJnE&K YU~?y!PAEŧ7ŧ7D9.B)֯B+E[[ @[ V~?[ld[[[[BZYY iC=) VB;Iir@i$= O'))O'ƙ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034806.563165 s, next control iter: 1743034806.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8305, header.stamp.nsec: 00 temperature: 13.388038* salinity: 33.391609, density: 1025.000000* values[0]: 0.693875F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034806.963165 s.ynI~,m&AJ"J*J2J:J1?BJ1?nJB:5vJAffff8@Ac%Y8@APW~? AQA&"AA!&kNA"AZAbAjArAzAAAB!?A\JN=rAk@AbPA+KAWA"\A9bݿA<*A3:?2A'ֽ:A7BA3:?JA'ֽRA7Y)mo@kyTHOQٓHLX?`B ?NPFc??3?))mo@ I٘i)I9k@YcG J<J4<JJJpE&Kx> Y^U~?y'PAE{7{7nD9)үB[[4@[V~?[i[[[[BZYY i) ];Ii.@DZ%= ;线));线 V@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743034806.983165 s, next control iter: 1743034807.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034807.383165 s.uI~,4m&AA(8@Aq8@A W~? A&VA4]&"AACkNA"AZAbAjArAzAAAJB?AC)\rAl@AAQ]AgA&A( ޿A<*A*:?2AQֽ:AcBA*:?JAQֽRAc٘i)I9l@YG Jh<JJJJsE&K YU~?y-FQAEb77D9)ͯB(E[[Á@[OV~?[:o[[[[BZYY i) " elevatorAngleAction: 0.075813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034807.803332F (some fields omitted in printout)A9@A[9@AGW~? Ad[A-&"AAjNA"AZAbAjArAzAAAajΜL?AQӏrAl@AAA:A@A޿A騋<*A< :?2A8׽:A BA< :?JA8׽RA ٘i)I9l@YG JŽ<JJJJvE&K YôU~?yf4QA Ej7Z7D9/B)ʯB)E[[R@[V~?[t[[[[BZYY i) J elevatorAngleAction: 0.075813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743034809.063317F (some fields omitted in printout)A33339@A&9@AW~? AkAv&"AAjNA"AZAbAjArAzAAAI*ճ?AtPrAm@A'<AVՌA'A`9A`|A&ʊ<*A9?2AI׽:ABA9?JAI׽RAYu@&yrӌ(<ٓH`T{?c?h Z@-?`ᖱ??6?)u@ I٘i)I9m@YG JS<C=JJJJ~E&K}x> Y }U~?yEHRA&EYD9)B[[7@[V~?[[[[[BZYY i) B elevatorAngleAction: 0.075813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743034810.323271F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzT:@A ˟oG:@AWW~? A`}Ah&"AA:>jNA"AZAbAjArAzAAAcdοA NrA[o@AIAvړA.L Aq߿A`AwAY<*A%9?2A܆ֽ:A BA%9?JA܆ֽRA ٘i)I9[o@YG J[<JJJJE&K YIU~?yL]SAE{7{7D9-B)BE[[@[V~?[ᖨ[[[[BZYY i=) q?A-ʾŵrAhp@AʓA҆AA`ݿAAr#<*A9?2A=ֽ:ABA9?JA=ֽRAYhx|@,yiٓH` M?@o?;`?a?ur`?)hx|@ I٘i)I9hp@YQG JJ<C=JKJJJE&Kx> Y)U~?ykTA E7{7DD9)BE[[nÆ@[XkV~?[[[[[BZYY i) ؇ elevatorAngleAction: 0.084792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034811.583294F (some fields omitted in printout)A)\:@A:@A_%W~? AᏩA$&"AAiNA"AZAbAjArAzAAAIQA rAp@A;A6A_MAQ;ݿA@dA{<*A9?2ADA׽:ABA9?JADA׽RA٘i)I9p@YG J<JJJJE&K Y5U~?yUsTA#ED9.B)BE[[P@[aV~?[[[[[BZYY i) j))s>>@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034812.043165 s, next control iter: 1743034812.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034812.423165 s.uƛI~,o&AA{Ga;@AnB elevatorAngleAction: 0.084792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034812.843286F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ;@A ;@AV~? AMA&"AAiNA"AZAbAjArAzAAANμ:APpurAljr@A);AAqbAڿA >A5<*Am9?2Aֽ:A@BAm9?JAֽRA@٘i)I9r@YG J<JJJEJE&K Y T~?y߉.VA+E77{7D9)BE[[@[3DV~?[[[[[BZYY i) ! YT~?yΑVA.EZ7Z7.D9.B)BE[[l@[C;V~?[[[[[BZYY i) | elevatorAngleAction: 0.084792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200622 time: 1743034814.103332F (some fields omitted in printout)AQ8<@A[$F+<@AV~? AAB&"AAfiNA"AZAbAjArAzAAA[NVAd{irAat@AVPA;A8'A/ؿA7AN<*A9?2AsVֽ:A}TBA9?JAsVֽRA}T٘i)I9at@YG J<B=JJJJE&K  E9YzT~? E9yWA3Eb7b7YE9)BE[[@[s*V~?[ͨ[[[[BZYY i) 1iNA"AZAbAjArAzAAA^u&AGUrASu@A9AWAA`ֿA`A<*A;9?2Aֽ:A BA;9?JAֽRA ٘i)I9u@YG J<JJJJE&K YT~?yaXA8Eŧ77 E9)B)|BE[[@[V~?[-ڨ[[[[BZYY i) =o&AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743034815.363310F (some fields omitted in printout)A<@AiSu<@A!V~? A̩ALi&"AA+iNA"AZAbAjArAzAAA}A6rA]v@Ac<AIӱA AsֿAA<*A9?2A6׽:AQBA9?JA6׽RAQY@]0y}ѱ<ٓH.տ@?@l?@տ? 3?k,?@?)@ I٘i)I9]v@YG J<JR>JJJE&Kbx> YT~?yӹXA0;EZ7Z7 E9)vBE[[A@[V~?[[[[[BZYY i) WE777E9)pB[[Ό@[ V~?[[[[[BZYY i)  U elevatorAngleAction: 0.084792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034816.623307F (some fields omitted in printout)AGz=@AoIm=@AV~? AOA&"AAhNA"AZAbAjArAzAAA @A_b0rAfx@A-Z:AAF[ACoӿAZArO<*Aâ9?2A/ֽ:A3UBAâ9?JA/ֽRA3U٘i)I9fx@Y/G J<JJJJE&K YT~?yҨ?ZACE77E9(B)eBE[[@[V~?[[[[[ZZZZ¸>BZYY i¸> )  KAA~NAGѿAAo=*A˪9?2A-ֽ:ABA˪9?JA-ֽRAY@+yD}{KٓH-ο ?@K?fοm`?ȵ?@a`?)@ I٘i)I9y@YG J<J};JJJE&Kw> Y{T~?yx+[A+HE{7j7E9)XB[[@[kU~?[[[[[ZZZZBZYY i) @A]>@AydV~? AA&"AAhNA"AZAbAjArAzAAA*"Ab<rAz@Af93AɗAsA-пA 2A"=*A$9?2ANRֽ:ABA$9?JANRֽRA٘i)I9z@YG J$=JJJJE&K YtT~?y[AKE777"E9)QB[[ሏ@[cU~?[U[[[[ZZZZBZYY i) 2@AOD>@Af[V~? A/A~&"AAhNA"AZAbAjArAzAAAu AdVs'rAN{@AqcArAcAϿA(A<*A_9?2Aֽ:A$fBA_9?JAֽRA$f٘i)I9{@Y(G J^=JJJJE&K YnT~?y\ANE77/&E9'B)JBE[[@[U~?[ [[[[ZZZZBZYY i) k5 +I~vJ,Hp&AAz>@A$_ z>@ARV~? AA&"AA.hNA"AZAbAjArAzAAA'B AtIsAb|@AS;A-A^AοA7A<*A$9?2ARֽ:AYBA$9?JARֽRAY٘i)I9b|@YG J<JJJJE&K YGgT~?y\APE77)E9)DB[[@[iU~?[x[[[[ZZZZBZYY i) >= Unz))Unz©@_q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034818.743165 s, next control iter: 1743034819.123186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743034819.143165 s.W/2I~, *p&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743034819.143283F (some fields omitted in printout)A ףp>@Ab+h>@AJV~? AwAU&"AAhNA"AZAbAjArAzAAA%Īg As{sA}@A®R<AϼAݿA5̿A^A[<*A39?2Aځֽ:A^>;BA39?JAځֽRA^>;٘i)I9}@YG Jݻ<JJJJE&K Y}`T~?y]ASE777Z-E9)?B[[e+@[yU~?[[[[[ZZZZBZYY i) ʌ5vJA3333>@AD(>@A*CV~? A/AK&"AAhNA"AZAbAjArAzAAA3% A1 sAd|}@AW<AYA@*ۿAbʿA$A6x<*A9?2Asֽ:A &<BA9?JAsֽRA &JJJE&Ktw> Y~\T~?y\ ]A.ۿVE77j70E9);B[[Z@[U~?[![[[[ZZZZBZYY i܃) *= -q))-qU٪@O)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034819.583165 s, next control iter: 1743034819.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8318, header.stamp.nsec: 00 temperature: 13.384721* salinity: 33.391403, density: 1025.000000* values[0]: 0.709830F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034819.983165 s.?I~,p&AA\(?@A/-?@A= Tm))TmZe@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034820.003165 s, next control iter: 1743034820.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034820.403165 s.&FI~,q&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743034820.403332F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^?@Aܞ Q?@A5V~? A&A &"AA#}hNA"AZAbAjArAzAAAz8i AfJ1sA~@A8Aȋ<AQտA@ݯƿA Aպ;*A{9?2Aֽ:AQ<BA{9?JAֽRAQ<٘i)I9~@YG J <JJJJƓE&K YTT~?y$]A[E778E9)6B[[qϒ@[U~?[ /[[[[ZZZZBZYY i) z^= uh))uhl@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034820.423165 s, next control iter: 1743034820.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8319", header.stamp.nsec: 0"0 temperature: 13.384530"* salinity: 33.391373", density: 1025.000000"* values[0]: 0.710680"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034820.823165 s.LI~,B4q&AAGz?@AKTo?@A/V~? A.A &"AAshNA"AZAbAjArAzAAAc A<sA,~@A/Aڑ=APӿARĿA Ah:*A 9?2Aֽ:A<BA 9?JAֽRA<٘i)I9,~@YG J;JJJJɓE&K YPT~?y(0]A^E;E9)[[\[@[FU~?[5[[[[BZYY i) JA &"AAbhNA"AZAbAjArAzAAAmֶA&$sA ~@AANY=AοAAQAUݻ*Aզ9?2AƤֽ:AOY<BAզ9?JAƤֽRAOYJJJΓE&Kw> YcKT~?y :\A-οcE77BE9)6B[[r@[bU~?[C[[[[BZYY iFg) &= ezW))ezW @.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034822.103165 s, next control iter: 1743034822.483184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034822.503165 s.gI~,D4q&AARk@@A;y^@@AV~? A\NA &"AAUhNA"AZAbAjArAzAAAX<-A|3w-sA{}@Ah"<A"=AɿAܸA:AD8r*A9?2ALֽ:A=BA9?JALֽRA=٘i)I9{}@YGG JOJJJJԓE&K Y!IT~?yKa\AiE{7{7JE9);B[[`@[U~?[P[[[[BZYY iȆ) ]2= S))S[@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034822.523165 s, next control iter: 1743034822.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8321, header.stamp.nsec: 00 temperature: 13.567532* salinity: 33.375008, density: 1025.000000* values[0]: 0.581054F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034822.923165 s.6nI~,q&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034822.923285F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@@Av1<@@AV~? A\VA &"AAgOhNA"AZAbAjArAzAAA{ A`)72sA }@A![<A=A~ƿA1A TJAjƏ*A9?2A ֽ:APj=BA9?JA ֽRAPj=٘i)I9 }@YG JJJJJדE&K YHT~?yT\AkEb7b7ME9'B)>BE[[7@[KU~?[BW[[[[BZYY i) ;Ii@r>= EN))EN28@yўgpǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034822.943165 s, next control iter: 1743034823.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034823.343165 s.=A*A`A cA*Ai9?2Aֽ:A+=BAi9?JAֽRA+=Y‘@'yK>=L:ٓH?j?k?`?@@6#@gS?`?)‘@ I٘i)I9|@YeG JJOT=JJJܓE&Kw> YHT~?y$fh[A'qE{7j7TE9)FB[[ωǿ[U~?[d[[[[BZYY i) ;Ii@I>= F))FFҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034823.783165 s, next control iter: 1743034824.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034824.183165 s.˂I~, r&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034824.183288F (some fields omitted in printout)A(\BA@AT5A@AV~? AynA3&"AA/ChNA"AZAbAjArAzAAA*NeADyAsAM~{@AA=AxA@XA lA/F*Aӯ9?2A^ֽ:A =BAӯ9?JA^ֽRA =٘i)I9~{@YG JJJJJߓE&K Y[JT~?yn[AsE77{7ZXE9)KB[[I[ſ[U~?[hk[[[[BZYY i) Ҏ;Ii8@Ƹ== A))AAOժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034824.203165 s, next control iter: 1743034824.583185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743034824.603165 s.;4I~,&r&AJ"J*J2J:JBJnJvJAQxA@A#FkA@AV~? AvA|&"AA@hNA"AZAbAjArAzAAA&H}uAOSeFsA2z@A-UA=AѻAxAHsA*Ao9?2Av׽:Ax=BAo9?JAv׽RAx=٘i)I9z@YG JͦJJJJE&K YLT~?ywZAvEb7b7[E9)OBE[[,ÿ[QU~?[ r[[[[BZYY i) Aa;Ii@rc== _H=))_H=_H=R֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034824.623165 s, next control iter: 1743034825.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8323 , header.stamp.nsec: 0 0 temperature: 13.568028 * salinity: 33.375011 , density: 1025.000000 * values[0]: 0.579913 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034825.023165 s.ZI~,{Ar&AAHzA@AR A@AV~? A~AO&"AA?hNA"AZAbAjArAzAAA9AFZSKsAcz@A{7A=A ;A``A`,wA#|*A&9?2Aֽ:AO=BA&9?JAֽRAO=٘i)I9cz@YeG JJJJJE&K YMT~?y4ZAyEŧ7ŧ7_E9)TB[[[U~?[x[[[[BZYY i) $;Ii@J== K8))K8K8#֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034825.043165 s, next control iter: 1743034825.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034825.443165 s.8ÖI~,B]\r&AJ"J*J2J:J`?BJ`?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743034825.443293F (some fields omitted in printout)Aq= A@AJA@AoV~? AAA&"AA8>hNA"AZAbAjArAzAAAhA@PsAy@AbA{=AA`}AxA)g*A9?2Aֽ:AK=BA9?JAֽRAK=/I٘i)I9y@Y G JWJJJJE&K YOT~?yJYA{Eb7cE9)XB[[̾[ U~?[[[[[BZYY i) F:Ii@l== 4))44ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034825.483165 s, next control iter: 1743034825.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8324, header.stamp.nsec: 00 temperature: 13.568287* salinity: 33.375011, density: 1025.000000* values[0]: 0.579249F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034825.863165 s.+I~,>wr&AAB@AP B@AV~? AŽA&"AA(>hNA"AZAbAjArAzAAAWdSA?.UsAk=y@Aq;A=A10A@-?AwA9*Aľ9?2AITֽ:A1=BAľ9?JAITֽRA1=Yx@G!yߘ=;ٓH?)?0y?3|?@Ht5x? ?)x@ I٘i)I9=y@YG JְB=JxJJJE&Kx> Y/TT~?yfYA!~E7fE9(B)^BE[[[U~?[?[[[[BZYY i) 0:Ii/@e<= 3-0))3-03-0ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034825.903165 s, next control iter: 1743034826.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034826.283165 s.6RI~,r&AJ"J*J2J:JBJnJvJA(\OB@AeOBB@AtV~? AԖAU&"AA>hNA"AZAbAjArAzAAAx/vAXZsAqx@ARK<Aۇ=AA:?A NtA4!*A9?2A7ֽ:A=BA9?JA7ֽRA=٘i)I9x@YVG JC=JJJJE&K YXT~?yYAE777EjE9)cB[[Uo[9U~?[[[[[BZYY i) Ii@;= +))++aϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034826.303165 s, next control iter: 1743034826.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8325., header.stamp.nsec: 0.0 temperature: 13.568565.* salinity: 33.375004., density: 1025.000000.* values[0]: 0.578545.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034826.703165 s.кI~,r&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743034826.703267F (some fields omitted in printout)AQB@A`xB@AV~? A垪Ah&"AAl@hNA"AZAbAjArAzAAAc rfAY5_sAx@AG<AH=AAu?AnA!**A&9?2AWYֽ:Ar=BA&9?JAWYֽRAr=٘i)I9x@YG JJJJJE&K Y`]T~?yXXAE7mE9)hB[[>[U~?[[[[[BZYY i) zIi!@ ;= m'))m'm'˪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034826.723165 s, next control iter: 1743034827.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034827.123165 s.:ᱜI~,ir&AJ"J*J2J:J?BJ?nJ65vJAGB@A٭B@AV~? AAQ&"AABhNA"AZAbAjArAzAAA2yIPA #csAw@A ;AyՐ=A^\Ag?A@cfA*Ao9?2Aֽ:AD=BAo9?JAֽRAD=٘i)I9w@YG J;JJJJE&K YaT~?y2XAE7pqE9,B)pB[[ [U~?[O[[[[BZYY i) #? Ii@7:= ; #)); #; #ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034827.143165 s, next control iter: 1743034827.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034827.543165 s.II~,r&AA= ףB@AAJB@AV~? AA.&"AAEhNA"AZAbAjArAzAAA@3AhsAv@A]A=A𪩿A ?A[Ay*AP9?2A ֽ:AA<BAP9?JA ֽRAA<٘i)I9v@YQG JOJJJJE&K YfT~?yWAE{7j7uE9)uBE[[Gܳ[HU~?[[[[[BZYY i) EIiΑ@:= ))êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034827.583165 s, next control iter: 1743034827.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8326, header.stamp.nsec: 00 temperature: 13.568837* salinity: 33.374992, density: 1025.000000* values[0]: 0.577873F (some fields omitted in printout)JfT~?)J rAdjusting time to match Gazebo time: 1743034827.963165 s.zI~,r&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743034827.963274F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff&C@AtZC@AV~? AA(&"AAIhNA"AZAbAjArAzAAAluA~msAwv@A<Aϋ=A&A`?A NAmB*A9?2A&׽:A<BA9?JA&׽RA YmT~?y7nWAEŧ77xE9)yB[[[U~?[[[[[BZYY i p) IiԐ@b9= 7I))7I7IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034828.003165 s, next control iter: 1743034828.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034828.383165 s.ŜI~,Us&AA(\C@ATOC@A@V~? AA&"AANhNA"AZAbAjArAzAAATb-A^ХrsAku@AGTA=AdaA ۲?A>A*A9?2AB׽:A(<BA9?JAB׽RA(<٘i)I9u@YG JJJJJE&K YbuT~?yũWAE770|E9-B)~BE[['{[$U~?[<[[[[BZYY i) tIi @i^8= s))ssYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034828.423165 s, next control iter: 1743034828.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8327", header.stamp.nsec: 0"0 temperature: 13.569068"* salinity: 33.374992", density: 1025.000000"* values[0]: 0.577266"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034828.803165 s.yA̜I~,g3s&AJ"J*J2J:JBJnJvJAC@AˠC@A2 V~? AǪAdX&"AA%ThNA"AZAbAjArAzAAAAmnA'=CwsAu@A`A8=AҡAv?Aj+A ԏ*A9?2AJֽ:AM<BA9?JAJֽRAM<٘i)I9u@YkG J JJJJE&K Y|T~?y6ΩVAEŧ7b7E9)B[[{H[U~?[۴[[[[BZYY i) ĕIim@s7= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034828.843165 s, next control iter: 1743034829.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034829.223165 s.gӜI~,HNs&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743034829.223321F (some fields omitted in printout)AzC@AeiC@A$V~? AΪA&"AA|ZhNA"AZAbAjArAzAAAhGA a|sAu@A:Ahш=ALA?A`cA|*Aa9?2A'ֽ:AG<BAa9?JA'ֽRAG<٘i)I9u@Y"G JB=JJJJE&K Y4T~?y֩TVAE77{7[E9.B)BE[[[U~?[w[[[[BZYY i) ޻Ii@ 7= K ))K K y^mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034829.263165 s, next control iter: 1743034829.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034829.643165 s.}ٜI~,$*is&AJ"J*J2J:JBJnJvJA ףpC@AdC@A)V~? A֪A!&"AAahNA"AZAbAjArAzAAA2 H/DA}<7sA׍t@A'<AHO=A ĜA@l?A Ay*A9?2AqVֽ:Az=BA9?JAqVֽRAz=٘i)I9t@YG JUC=JJJJE&K YT~?y5ߩUA DE{777E9)B[[ਿ[U~?[ ©[[[[BZYY i) kIiŽ@6= ))YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8328, header.stamp.nsec: 00 temperature: 13.569292* salinity: 33.375004, density: 1025.000000* values[0]: 0.576693F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743034829.663165 s, next control iter: 1743034830.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034830.063165 s.I~,g s&AA33333D@A Z+&D@A#/V~? AުA%"AAihNA"AZAbAjArAzAAAA sAt@AnCY<A"=Ak/A?A "A!*A9?2AUֽ:A=BA9?JAUֽRA=YE@y=,Y<ٓHR??-!? @y?R @9(?`?)E@ I٘i)I9t@YG JB=J5JJJE&K x> YT~?yoUAEŧ7ŧ7E9/B)BE[[ۮ[LU~?[ȩ[[[[BZYY i) 7Ii@C5= M))MM.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034830.103165 s, next control iter: 1743034830.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034830.483165 s.s_I~,s&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.074921"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0005002J dt: 0.419813:JBJnJ2 time: 1743034830.483280F (some fields omitted in printout)vJA\hD@Aّ[D@A%5V~? AA.%"AA/rhNA"AZAbAjArAzAAAY2r AC߱ՊsAks@AS<A9=A!A@?AA{ݑ*AA9?2Aֽ:AJ=BAA9?JAֽRAJ=٘i)I9s@YAG JC=JJJJE&K YT~?y=UAE{7{7E9)B[[]{[?V~?[ϩ[[[[BZYY i) HIi@"4= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034830.503165 s, next control iter: 1743034830.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8329, header.stamp.nsec: 00 temperature: 13.569495* salinity: 33.375000, density: 1025.000000* values[0]: 0.576150F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034830.903165 s.I~,͹s&AAQD@ApDD@A;V~? AzAT%"AA{hNA"AZAbAjArAzAAAy Aa~sAs@A:Aᝌ=A۔A ?AA@*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9s@YG J֐JJJJ E&K YT~?yTAE)77E9)BE[['F[ V~?[թ[[[[BZYY i) 8-Iiދ@3= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034830.943165 s, next control iter: 1743034831.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034831.323165 s.uI~,!s&AJ"J*J2J:Jl?BJl?nJ5vJAGzD@AV pD@ABV~? A@Aƻ%"AAhNA"AZAbAjArAzAAA兒 ) A ~ZsAܥr@A[ AI^=A+Af?A ؇A*A9?2A#׽:Af =BA9?JA#׽RAf =٘i)I9r@YG JJJJJ E&K Y*T~?yTAEb7FE90B)B E[[[FV~?[ܩ[[[[BZYY i) ~?A=A**Aļ9?2A׽:Aa=BAļ9?JA׽RAa=Y'ʞ@ yL=0ٓH=? z?x? y` ?r*`N`?)'ʞ@ I٘i)I9q@YG JJ0!<JJJE&K+x> YT~?y+SA Eb77pE91B)B!E[[[V~?[[[[[BZYY i) [Ii@0= .pܾ)).pܾ.pܾɪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034832.183165 s, next control iter: 1743034832.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034832.583165 s.I~, S%t&AA)\uE@A$'hE@AZV~? AI Ah%"AAOhNA"AZAbAjArAzAAAi AڱisA 6q@A3Aħ=AiA?AFAa*A9?2Aֽ:Ag =BA9?JAֽRAg =٘i)I96q@YG JJJJJE&K YT~?ybSAE)7b7E92B)B$E[[m[&V~?[L[[[[BZYY ik) jIim@.= Ӿ))ӾӾ̪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034832.603165 s, next control iter: 1743034832.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8331, header.stamp.nsec: 00 temperature: 13.569890* salinity: 33.374996, density: 1025.000000* values[0]: 0.575058F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034833.003165 s.w I~,H4@t&AJ"J*J2J:J6?BJ6?nJ]5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743034833.003330F (some fields omitted in printout)ARE@AhxE@AcV~? AAc%"AAhNA"AZAbAjArAzAAA! AǎsAp@Ap;Ac=A凿A??A AT*A¹9?2AhZֽ:AQr =BA¹9?JAhZֽRAQr =٘i)I9p@Y~G JJJJJE&K YT~?yRAEb77E9)B[[O5[.V~?[[[[[BZYY i)  zIi{@j-= ʾ))ʾʾΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034833.043165 s, next control iter: 1743034833.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034833.423165 s.uI~,[t&AA{GE@AL…%"AAzhNA"AZAbAjArAzAAAy,'Au?*sAo@A>D<A0=A=A@?A}Ap*A9?2AjYֽ:A=BA9?JAjYֽRA=٘i)I9o@YG JtB=JJJJE&K Y T~?y/:RAE)7ŧ7ƪE9)B[[[@V~?[?[[[[BZYY i) MIi'@+= N฾))N฾N฾yP ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034833.863165 s, next control iter: 1743034834.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034834.263165 s.$I~,,ؐt&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743034834.263283F (some fields omitted in printout)ALF@A5}v?F@A V~? A4+A%"AAhNA"AZAbAjArAzAAA"(A!sAo@A;A=AOA@p?A`I\A͹*A9?2Aֽ:A=BA9?JAֽRA=Y @y9=;ٓH Y^ U~?y6QAEj7Z7[E93B)B(E[[[?IV~?[o[[[[BZYY i) ΓIi@)= f))ff3תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034834.283165 s, next control iter: 1743034834.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 83332, header.stamp.nsec: 020 temperature: 13.5703032* salinity: 33.3750112, density: 1025.0000002* values[0]: 0.5738632F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034834.683165 s.l*I~,ot&AJ"J*J2J:JBJnJvJA(\F@A3uF@A V~? A2A %"AAKhNA"AZAbAjArAzAAAnngA^#sAn@A5A=ABzAP?Az'AgѦ*A 9?2A׽:A=BA 9?JA׽RA=٘i)I9n@Y+G JJJJJ"E&K YU~?yg>hQAE7777E94B)B+E[[/O[RV~?[[[[[BZYY i) ROIid@.(= ))ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034834.683165 s, next control iter: 1743034835.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743034835.103165 s.1I~,Țt&AAQF@AGF@AV~? A9A؏%"AANiNA"AZAbAjArAzAAAjA IysAm@A]?A<=AH\uA.?AaA*A9?2A+׽:A=BA9?JA+׽RA=٘i)I9m@YG J{JJJJ$E&K Y+U~?yEPAE77E9)įB[[ [\V~?[[[[[BZYY i) ТIiJ@&= ~,))~,~,ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034835.123165 s, next control iter: 1743034835.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034835.523165 s.7I~,{t&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743034835.523281F (some fields omitted in printout)AHzF@A;s F@A}V~? A@A%"AA iNA"AZAbAjArAzAAAxNA\KqzsAuim@A}OAu=A!pA`f?A`_A*A9?2A׽:A=BA9?JA׽RA=٘i)I9im@Y~G JJJJJ'E&K Y;U~?y7MPAE77{7E95B)ʯB.E[[1Չ[gV~?[[[[[BZYY i) QIi`@ۙ%= 5))55YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034835.543165 s, next control iter: 1743034835.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8334, header.stamp.nsec: 00 temperature: 13.570531* salinity: 33.375000, density: 1025.000000* values[0]: 0.573247F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034835.943165 s.Wd>I~,>]t&AAq= #G@A{G@AV~? AHAw%"AA~(iNA"AZAbAjArAzAAA_kAJuWCsAl@AoAէ=A kAA?A`|AN*A͙9?2Aֽ:Al=BA͙9?JAֽRAl=٘i)I9l@Y$G JJJJJ*E&K Y_JU~?yT-PAE)7ŧ7E96B)ϯB/E[[[qV~?[ [[[[BZYY i) ӱIi@R$= .7)).7.7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034835.963165 s, next control iter: 1743034836.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034836.363165 s.EI~,y>u&AJ"J*J2J:JBJnJvJAYG@A`LG@AͽV~? AOA%"AA;iNA"AZAbAjArAzAAA<ێ&gAƹsA8l@A ;A~b=AV fA`D?AU@A*Ay9?2AG^ֽ:A =BAy9?JAG^ֽRA =Y+M@ey]b=zM!;ٓH? ?烩?9? Fd? ?)+M@ I٘i)I98l@YG JB=J&<JJJ-E&Kw> Y[U~?y[OAeE{7j7FE97B)կB2E[[Z[|V~?[&[[[[BZYY i) )%Ii ~@"= J))JJ/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034836.403165 s, next control iter: 1743034836.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8335&, header.stamp.nsec: 0&0 temperature: 13.570764&* salinity: 33.375019&, density: 1025.000000&* values[0]: 0.572584&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034836.783165 s.[KI~,2u&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743034836.783332F (some fields omitted in printout)A(\G@AvRG@A"V~? AUAe%"AAwOiNA"AZAbAjArAzAAAxA_d8sAk@AI-<Ao=AaA{?AAuƼ*A9?2A=ֽ:AՌ=BA9?JA=ֽRAՌ=٘i)I9k@YaG JM¼C=JJJJ/E&K YmU~?ycbHOAēE7)7E9)گB[[[V~?[,[[[[BZYY i) >vIi+{@ = t))ttYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034836.803165 s, next control iter: 1743034837.183181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034837.203165 s.SI~,Mu&AJ"J*J2J:J~?BJ~?nJ5vJAQG@AsG@AV~? A\Ad%"AAciNA"AZAbAjArAzAAAkAUgsAj@AW<A=A%[A=I?A@AJ˼*A9?2AMֽ:A`j=BA9?JAMֽRA`j=٘i)I9j@YG JȼJJJJ2E&K YU~?yEiNAƓE77qE9)B5E[[q܀[˓V~?[2[[[[BZYY i) CǼIix@G%= b))bbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034837.223165 s, next control iter: 1743034837.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034837.623165 s.WYI~,]gu&AAGG@A G@A"V~? AcAZ%"AA*yiNA"AZAbAjArAzAAA1[)AsACAj@A<A=A5VA ?A }Aզ̼*A9?2A0`ֽ:Ar=BA9?JA0`ֽRAr=٘i)I9Aj@YG JK̼JJJJ5E&K YU~?y'pdNAɓE{7Z7E99B)B9E[[3}[V~?[8[[[[BZYY i) ϼIiv@w= PP))PPPPYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034837.643165 s, next control iter: 1743034838.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8336 , header.stamp.nsec: 0 0 temperature: 13.570992 * salinity: 33.375031 , density: 1025.000000 * values[0]: 0.571865 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034838.043165 s.`I~,Âu&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034838.043298F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף0H@ACF#H@AV~? A6jA%"AAiNA"AZAbAjArAzAAAsRbAK"sAwi@AHcظA=A"QA`?A 7A˼*A9?2Aֽ:AvR=BA9?JAֽRAvR=٘i)I9i@Y)G J̼JJJJ7E&K Y@U~?y wMA̓E{7E9)B[[Ǫx[\V~?[W>[[[[BZYY i) iּIit@= k>))k>k>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034838.063165 s, next control iter: 1743034838.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034838.463165 s.VgI~,褝u&AAfffffH@AZYH@AW~? ApAHV%"AAiNA"AZAbAjArAzAAAV۫Ar$sAh@A^*Ak=AȹKAЪ?A`Aʼ*A9?2A׽:A<=BA9?JA׽RA<=Y2@Ky=ٓH`*J?W? ?;c?@S ;e.?)2@ I٘i)I9h@Y G JY˼Jo;JJJ:E&K6x> YU~?yR}{MAKΓE1E9:B)Bq@}e= @o,))@o,@o,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034838.483165 s, next control iter: 1743034838.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8337, header.stamp.nsec: 00 temperature: 13.571261* salinity: 33.375042, density: 1025.000000* values[0]: 0.571125F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034838.883165 s.ymI~,/u&AJ"J*J2J:JBJnJvJA(H@AHH@AnW~? A?wA%"AAiNA"AZAbAjArAzAAA8aAgYsAAh@ApWAS=AmFAvo?AAɼ*AЄ9?2A׽:A=BAЄ9?JA׽RA=٘i)I9Ah@YZ G JɼJJJJ=E&K YU~?yMAѓEE9)B[[;o[V~?[I[[[[BZYY i) (Iin@^= Y))YYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034838.903165 s, next control iter: 1743034839.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034839.303165 s.UtI~,sgu&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743034839.303321F (some fields omitted in printout)AH@Aw*H@Ac$W~? A}AY%"AAiNA"AZAbAjArAzAAACAy DsAÖg@A)A@=AHAA.?AZAUͼ*A~9?2A@ֽ:AZ=BA~9?JA@ֽRAZ=٘i)I9g@Y G JʼJJJJ?E&K YjU~?y扪LAԓEj7\E9;B)B?E[[k[V~?[BO[[[[ZZ¸BZYY i¸[=) 3ؼIiIk@&= ,)),,yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034839.323165 s, next control iter: 1743034839.703176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 83382, header.stamp.nsec: 020 temperature: 13.5715022* salinity: 33.3750382, density: 1025.0000002* values[0]: 0.5703512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034839.723165 s.{I~,Hu&AJ"J*J2J:JBJnJvJAzI@AH@A4W~? AძA#%"AA iNA"AZAbAjArAzAAA@A'/2sAf@Aj A=AcD<A?AH A{LԼ*Ax9?2Ahoֽ:A=BAx9?JAhoֽRA=٘i)I9f@Y G JмJJJJBE&K Y#U~?y0LA֓E{7E9 elevatorAngleAction: 0.082366< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034840.563285F (some fields omitted in printout)A3333sI@A- (fI@AVW~? AAn%"AAjNA"AZAbAjArAzAAAZпA&EAsA?e@AHO<AC=A -2ArQ?A lAP*A9?2A ֽ:AjY<BA9?JA ֽRAjY YV~?y8KA1ܓE77E9=B)BFE[[j][ V~?[_[[[[ZZBZYY i) S:Iic@K= @բ))@բ@բy[=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034840.603165 s, next control iter: 1743034840.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8339, header.stamp.nsec: 00 temperature: 13.571774* salinity: 33.375057, density: 1025.000000* values[0]: 0.569550F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034840.983165 s.I~,>v&AA\I@A%I@A2hW~? AA:x%"AA:jNA"AZAbAjArAzAAAF8AL sARdd@A$7<A<{=A,A ?AA*A9?2AJ.ֽ:As<BA9?JAJ.ֽRAs<٘i)I9dd@Y G JJJJJJE&K Y:0V~?yJAޓE7777E9>B)BIE[[cX[ W~?[d[[[[ZZBZYY i) }Ii_@= |))||-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034841.023165 s, next control iter: 1743034841.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034841.403165 s.&I~,Yv&AJ"J*J2J:J?BJ?nJ5vJAQI@AӁI@AzW~? AݛA)%"AATjNA"AZAbAjArAzAAA9 )"?A^RqsAtc@A :f;AA7=A}'A[?A`mAӼ*AH9?2AMֽ:Aw;BAH9?JAMֽRAw;.I٘i)I9c@Y G J[JJJJME&K YEV~?ycgJAEFE9)!B[[?T[W~?[:j[[[[ZZBZYY i) ԝIi\@3$ = 2))22YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034841.443165 s, next control iter: 1743034841.803175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8340", header.stamp.nsec: 0"0 temperature: 13.572119"* salinity: 33.375065", density: 1025.000000"* values[0]: 0.568579"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034841.823165 s.I~,%tv&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082366< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743034841.823287F (some fields omitted in printout)AGzJ@A½2oJ@AnW~? AAF%"AANpjNA"AZAbAjArAzAAAځ񾗤?AsA4b@A$ϻA|z<AQ`"A?A rAZ*Ap9?2AMֽ:A4BAp9?JAMֽRA4٘i)I9b@Y$ G JüJJJJPE&K Y[V~?yIAEŧ7b7E9)'BLE[[cO[+W~?[mo[[[[ZZBZYY i) "IiY@n = 1Ҽ))1Ҽ1Ҽ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034841.843165 s, next control iter: 1743034842.223177 s, wait time: 0.380012 s*[V~?)* rAdjusting time to match Gazebo time: 1743034842.243165 s.I~,iv&AJ"J*J2J:JBJnJvJAףp=JJ@A1=J@AW~? A0A%%"AAPjNA"AZAbAjArAzAAAJf?A{q)ZtAzb@AWA-0<AW-A[?A`AP*A 9?2A8ֽ:ABA 9?JA8ֽRA٘i)I9zb@Y G JJJJJRE&K YGqV~?yIAE77qE9@B),BPE[[J[};W~?[t[[[[ZZBZYY i) 8oIiW@ = ))RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034842.263165 s, next control iter: 1743034842.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034842.663165 s.I~,qv&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8341, header.stamp.nsec: 00 temperature: 13.572321* salinity: 33.375053, density: 1025.000000* values[0]: 0.567910F (some fields omitted in printout)AJ@AeȱrJ@A)W~? AA7%"AAjNA"AZAbAjArAzAAA~a?AZWtAb@Ar~[AנAmA\?A@-߿A-/*A9?2A2ֽ:A9|BA9?JA2ֽRA9|Y$ @y.Ԡ[ٓH ??cl?7?`.]?t?o*?)$ @ I٘i)I9b@Y G J]JEJJJUE&Kw> YV~?yIAE{7{7E9)/B[[bF[KW~?[y[[[[ZZBZYY iz=) yIiS@\= S+<))^S+<S+<(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034842.683165 s, next control iter: 1743034843.063188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743034843.083165 s.DI~,Sv&AJ"J*J2J:Jb?BJb?nJr5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252671> elevatorAngleAction: 0.061161< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034843.083285F (some fields omitted in printout)A)\µJ@AsJ@AW~? A A)O%"AAjNA"AZAbAjArAzAAA=14?Ag3tAa@A|pA3%AA ?A޿Aͻ*A9?2ATֽ:AfBA9?JATֽRAf󫼙٘i)I9a@Yy G JJJJJXE&K Y7V~?yIAEb7b7E9AB)2BSE[[A[\W~?[~[[[[ZZBZYY i.V=) fIiO@!= <)) <<a)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034843.103165 s, next control iter: 1743034843.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034843.503165 s.I~,D4v&AARJ@Ap^}J@AUW~? AGA%"AAjNA"AZAbAjArAzAAA^?AGFt, tA}a@A+G;AsAו A@?A@޿Aº*Ag9?2Aս:AƼBAg9?JAսRAƼ٘i)I9a@Yg G JB=JJJJZE&K YV~?yzIAE{7{72E9BB)3BVE[[=[lW~?[f[[[[BZYY i) TIiL@j= ?=))?=?=G-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034843.523165 s, next control iter: 1743034843.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8342, header.stamp.nsec: 00 temperature: 13.572386* salinity: 33.375095, density: 1025.000000* values[0]: 0.567607F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034843.923165 s.9I~,v&AJ"J*J2J:JBJnJvJA{G!K@A5;K@AqW~? AdAM%"AAkNA"AZAbAjArAzAAA7J?A!yK tAa@A5<A-A_AM?AXݿA;*At9?2Aֽ:A-BAt9?JAֽRA-༙٘i)I9a@Yh G JQ9C=JJJJ]E&K  F9Y&V~? F9yjƪIAE)7ŧ7F9)[[d8[?~W~?[5[[[[BZYY i) AIiI@= V=))V=V=yؔ=xi*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034843.963165 s, next control iter: 1743034844.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034844.343165 s.<ŝI~,w&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071942< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743034844.343315F (some fields omitted in printout)Ap= WK@A()JK@AX~? AaA%"AA kNA"AZAbAjArAzAAA>2@j?A.DWtAa@AeV<A~SA,A?AњܿA<;*A 9?2Aֽ:AcBA 9?JAֽRAc٘i)I9a@Yy G J;JJJJ`E&K YV~?y[˪IAE777\F9)ZE[[3[W~?[[[[[BZYY i) ".IiG@7<  =)) = =ڎ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034844.363165 s, next control iter: 1743034844.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8343*, header.stamp.nsec: 0*0 temperature: 13.572285** salinity: 33.375103*, density: 1025.000000** values[0]: 0.567651*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034844.763165 s.J =˝I~"J*J2J,80w&A:JQ?BJQ?nJ`5vJǍK@AILPK@AX~? A=ƫAD%"AA?kNA"AZAbAjArAzAAA'N,@ANNtAb@AN<AusAA?AoۿA#<*Aߘ9?2A'ֽ:A0BAߘ9?JA'ֽRA0YF@^yos7<ٓH$?A? ̬`;޿r2?&?Py?x? 6?)F@ I٘i)I9b@Y G J<B=J2JJEJbE&Ku> YV~?yϪ JA^E{7{7F9CB)2B]E[[/[W~?[[[[[BZYY iKEf=) D2IiB@&a< J=))~J=J=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034844.783165 s, next control iter: 1743034845.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034845.183165 s.ҝI~,RKw&AA(\K@A K@A+X~? AʫAa%"AAp_kNA"AZAbAjArAzAAAA+@AI1tACgb@A4AA AG'?AۿApP]<*A9?2A1ս:A P BA9?JA1սRA P ٘i)I9gb@Y G J=<C=JJJJeE&K YjW~?yӪ\JAE77 F9DB)1BaE[[V*[W~?[[[[[BZYY i) kDIi>@)k< =)) ==*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743034845.203165 s, next control iter: 1743034845.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034845.603165 s.J "J *J 2J :J h?BJ h?nJ y574ٝI~vJ,fw&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743034845.603296F (some fields omitted in printout)AQK@AsEK@AAX~? AϫAU%"AAkNA"AZAbAjArAzAAAf2@Ar'stAb@A&AA$A n?A8OڿA}<*AL9?2AmԽ:AvBAL9?JAmԽRAv٘i)I9b@Y G J`y<JJJJhE&K YQ1W~?yתJAE7F9EB).BdE[[%[W~?[u[[[[BZYY i) Iiv;@< 0 >))0 >0 >%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034845.623165 s, next control iter: 1743034846.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8344 , header.stamp.nsec: 0 0 temperature: 13.572083 * salinity: 33.375095 , density: 1025.000000 * values[0]: 0.568006 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034846.023165 s.ZI~,{w&AAHz.L@AU!L@AVX~? AԫA%"AA/kNA"AZAbAjArAzAAA}}@@APatA4Mc@A_AAL޾A S?A`ٿA <*Ah9?2A_Խ:ABAh9?JA_ԽRA٘i)I9Mc@YV G J <JJJJjE&K Y7JW~?yܪJAE{7{7F9)*B[[; [W~?[Ξ[[[[BZYY iNn=) `ܻIi]8@<  >)) > >ylVf=*Y(,YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743034846.043165 s, next control iter: 1743034846.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034846.443165 s.7I~,>]w&AJ"J*J2J:JBJnJvJAq= cL@A!%VL@AlX~? A\ثAW%"AA8kNA"AZAbAjArAzAAAYT@Awr]tAc@AX$AA ӾA`d?AؿA<*Ae9?2Aս:AX BAe9?JAսRAX ٘i)I9c@Y G J<JJJJmE&K YcW~?y4QKAEj7GF9)'BgE[[[W~?[[[[[BZYY i) 缻Ii5@k< 3>))3>3>y!f=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034846.463165 s, next control iter: 1743034846.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8345, header.stamp.nsec: 00 temperature: 13.571774* salinity: 33.375118, density: 1025.000000* values[0]: 0.568623F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034846.863165 s.+I~,u>w&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034846.863281F (some fields omitted in printout)AL@A3L@AX~? AܫA^%"AAkNA"AZAbAjArAzAAA7&o @At tAdd@A2GA9AȾA`0?A׿AP<*A9?2Aս:A BA9?JAսRA Y~@\Ⱦy 9ճٓHm|?yy?a@fؿ T? [?"?R?)~@ I٘i)I9dd@Y G J<JJJJpE&K0u> Y6}W~?yKAȾE77{7F9FB)#BjE[[d[OW~?[+[[[[BZYY i) Ii:1@5< F>)){F>F>yŇ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034846.883165 s, next control iter: 1743034847.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034847.283165 s.7RI~,w&AJ"J*J2J:JBJnJvJA(\L@APL@ArX~? AAó%"AAlNA"AZAbAjArAzAAAB @AF ee#tA~d@A#><AyA#An?Ay׿A㭧<*A>9?2A;ֽ:ABA>9?JA;ֽRA٘i)I9d@YW G J<JJJJrE&K YKW~?yLAEb77rF9)BmE[[[X~?[0[[[[BZYY i) ~Ii/-@< Y>)) Y>Y>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034847.303165 s, next control iter: 1743034847.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8346., header.stamp.nsec: 0.0 temperature: 13.571392.* salinity: 33.375118., density: 1025.000000.* values[0]: 0.569363.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034847.703165 s.ֺI~,w&AAQM@AŭL@A8X~? AAe%"AA&lNA"AZAbAjArAzAAAۚ@Au%tA5e@A~8\<AYAKA?AgAֿAw<*A9?2Aս:A(BA9?JAսRA(٘i)I9e@Y G Jr<B=JJJJuE&K YeW~?yMLA E77!F9)BpE[[' [&X~?[[[[[BZYY i) DIi)@< l>))l>l>a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034847.723165 s, next control iter: 1743034848.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034848.123165 s.8I~,ax&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743034848.123295F (some fields omitted in printout)AG:M@A-M@AAX~? AEA%"AAIlNA"AZAbAjArAzAAA?6\t@A5k(tA f@Aܭ<<A/AA9?AmpտA<*A9?2A7ս:ABA9?JA7սRA٘i)I9 f@Y G J><C=JJJJxE&K Y{W~?yLA Eb77$F9)B[[ [+;X~?[[[[[BZYY i) :IiF&@< >))>> *Y; YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034848.143165 s, next control iter: 1743034848.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034848.543165 s.II~,"x&AA= ףpM@AcM@AX~? AA%"AAllNA"AZAbAjArAzAAA1*@Ah yI*tA f@A~g;AAA@?A:ԿAu<*A9?2A13ս:A0BA9?JA13սRA0٘i)I9f@YX G Jl<JJJJ{E&K YW~?yTMAE{7j72(F9HB)BtE[[6[OX~?[[[[[BZYY i) ǵIik#@-< @>))@>@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034848.563165 s, next control iter: 1743034848.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8347, header.stamp.nsec: 00 temperature: 13.571031* salinity: 33.375134, density: 1025.000000* values[0]: 0.570101F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034848.963165 s.J "J *J 2J :J ?BJ ?nJ 5vJ I~,Q=x&AAffffM@AV_]M@AX~? A^AC%"AA lNA"AZAbAjArAzAAAN{@AUvgh,tA (g@A5kλAAA ?N?A`HӿA:<*A9?2A3ս:ABA9?JA3սRAY'@jy<λٓHE?p?@1@q]ҿj?i?o?`[y?)'@ I٘i)I9(g@Y G J4<JQ;JJJ}E&Kt> YX~?yMAjEZ7Z7+F9IB)BwE[[M[ydX~?[F[[[[BZYY i)  mIi@9O< iD>))RxiD>iD>=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034849.003165 s, next control iter: 1743034849.363187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743034849.383165 s.I~,+Xx&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242971> elevatorAngleAction: 0.065640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743034849.383304F (some fields omitted in printout)A(M@AM@A Y~? AAJ%"AAϳlNA"AZAbAjArAzAAÅoP@Ap.tAg@A?QAAAwA?AҿA <*A9?2A[ս:A!BA9?JA[սRA!٘i)I9g@Y G J٪<JJJJE&K YX~?yNAE7777]/F9) BzE[[6[yX~?[[[[[BZYY i) և8:Ii@&< >)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034849.403165 s, next control iter: 1743034849.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8348", header.stamp.nsec: 0"0 temperature: 13.570649"* salinity: 33.375137", density: 1025.000000"* values[0]: 0.570839"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034849.803165 s.uAI~,sgsx&AJ"J*J2J:JBJnJvJAN@A"N@A%Y~? AA %"AAlNA"AZAbAjArAzAAA|\@A(a0tA$Eh@A'MAoAIAA³?AҿAOӥ<*A:?2AD Խ:AxBA:?JAD ԽRAx٘i)I9Eh@Y] G J<JJJJE&K Y6X~?y}NAEj7Z72F9)B}E[[U[X~?[#[[[[BZYY i) B:Ii@G< a>))a>a>=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034849.823165 s, next control iter: 1743034850.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034850.223165 s.g#I~,Hx&AAzGN@Ae:N@A=Y~? AA%"AAUlNA"AZAbAjArAzAAA]$+@A;2tAh@A7.AmAAmA?A*ѿAŽ<*A:?2AԽ:ABA:?JAԽRA٘i)I9h@Y G JԢ<JJJJE&K YQX~?y*NAE6F9)BE[[[X~?[jĪ[[[[BZYY i) (;Iix@Rü< f>))f>f>*Y`%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034850.243165 s, next control iter: 1743034850.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034850.643165 s.z)I~,*x&AJ"J*J2J:JT?BJT?nJp5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034850.643325F (some fields omitted in printout)A ףp}N@AMdpN@A%VY~? AA5%"AA!mNA"AZAbAjArAzAAA[K9@Ank3tAPi@A';AtӉA ~XA ?AIпAW<*A:?2AZս:ABA:?JAZսRA٘i)I9Pi@Y G J<JJJJE&K YlX~?yCOAE77:F9)B[[]׾[X~?[Ǫ[[[[BZYY i) e;Ii}@f< Y;>))Y;>Y;>ۻ*YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8349, header.stamp.nsec: 00 temperature: 13.570266* salinity: 33.375149, density: 1025.000000Waiting for Gazebo time sync: latest Gz time: 1743034850.663165 s, next control iter: 1743034851.043180 s, wait time: 0.380015 s* values[0]: 0.571606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034851.063165 s.0I~,[ x&AA3333N@A(N@AnY~? AAG]%"AAFmNA"AZAbAjArAzAAAvåb@A':5tAi@A._B<AA=CA _5?AοA<*A:?2ASս:AaBA:?JASսRAaYc@ Dyo#B<ٓHX?|A?A`Mȿ`j?QO?z?`K?`\?)c@ I٘i)I9i@YJG J%<J\<JJJE&Kt> YX~?y_OA DE7)7=F9JB)BE[[%*ξ[X~?[ʪ[[[[BZYY i3=) ;Ii @< >))v>>Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034851.083165 s, next control iter: 1743034851.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034851.483165 s.w_7I~,x&AJ"J*J2J:JBJnJvJA\N@A|N@A[Y~? AAY)%"AAXkmNA"AZAbAjArAzAAARw@Aq:7tABj@AGY<AѵA V.A6\?A`u̿Af <*A:?2A ֽ:AKBA:?JA ֽRAK𼙘٘i)I9Bj@YG J<JJJJE&K YFX~?y OA"E{7j7HAF9)BE[[y[ľ[X~?[xͪ[[[[BZYY i) F̰;Ii~@|n< =>))e=>=>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034851.503165 s, next control iter: 1743034851.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8350, header.stamp.nsec: 00 temperature: 13.569895* salinity: 33.375168, density: 1025.000000* values[0]: 0.572274F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034851.903165 s.=I~,x&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260542> elevatorAngleAction: 0.075782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743034851.903287F (some fields omitted in printout)AQO@AzO@A9Y~? AA%"AAmNA"AZAbAjArAzAAA[঻@Ax8tAj@A ;A 9A$fAԃ?A`˿A‰<*A{:?2ACGԽ:ACBA{:?JACGԽRAC٘i)I9j@YG J<JJJJE&K YX~?yUPA$E77DF9)BE[[z[X~?[?Ъ[[[[BZYY i) W;Ii@&s< !>)) !>!>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034851.923165 s, next control iter: 1743034852.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034852.323165 s.sDI~,y&AJ"J*J2J:JBJnJvJAGzTO@Ah>nGO@A>Y~? AA%"AAmNA"AZAbAjArAzAAAr՝@A&!W:tA+k@AADӆANAM?A`ɿA <*A:?2AT5Խ:AhBA:?JAT5ԽRAh٘i)I9+k@Y G J<JJJJE&K YX~?ygPA'Ej7j7rHF9)BE[[ሰ[Y~?[Ҫ[[[[BZYY i) ;Ii@< Ֆ>))Ֆ>Ֆ>y!=*YrYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034852.343165 s, next control iter: 1743034852.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8351*, header.stamp.nsec: 0*0 temperature: 13.569572** salinity: 33.375198*, density: 1025.000000** values[0]: 0.572897*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034852.743165 s.WKI~,m/y&AAףp=O@Aѓ2}O@AeY~? AAƟ%"AAmNA"AZAbAjArAzAAA89C&@A- _;tAk@Av+AA4 A?A`ǿAaR<*A:?2AeԽ:AJ-BA:?JAeԽRAJ-٘i)I9k@YhG Jt<JJJJE&K YzX~?y QA*E{7Z7LF9)BE[[݆[,Y~?[oժ[[[[BZYY i) ))٘>٘>+*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034852.783165 s, next control iter: 1743034853.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743034853.163165 s.u}RI~,qJy&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034853.163289F (some fields omitted in printout)J"J*J2J:JBJnJvJAO@A4fO@AY~? A Aw%"AAnNA"AZAbAjArAzAAACN@A5ݐ YY~?yhQA*,Eb77OF9)BE[[5[OCY~?[ת[[[[BZYY i) ƙ))hu}>}>1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034853.183165 s, next control iter: 1743034853.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034853.583165 s.XI~,Rey&AA)\O@AӹO@AZ~? A AS%"AAL)nNA"AZAbAjArAzAAAׂ@A94=tA6l@AA:A̒A`?A@ÿA<*Aj :?2Anս:ABAj :?JAnսRA٘i)I9l@YG J<JJJJE&K Y/Y~?yQA/EZ7Z73SF9)B[[᧒[ZY~?[ ڪ[[[[BZYY i) &))+΄w>w>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034853.603165 s, next control iter: 1743034853.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8352, header.stamp.nsec: 00 temperature: 13.569218* salinity: 33.375210, density: 1025.000000* values[0]: 0.573535F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034854.003165 s.x `I~,L4y&AJ"J*J2J:JBJnJvJAR+P@Aog_yP@AZ~? AF A`1%"AAOnNA"AZAbAjArAzAAAц/\ @A>tA m@A)A,5AQA` ?A`4¿AɎ<*A':?2AԽ:A[BA':?JAԽRA[٘i)I9 m@YDG Jv<JJJJE&K YKY~?y}!RA2E{7{7VF9RB)BE[[y[rY~?['ܪ[[[[BZYY i) +5 elevatorAngleAction: 0.075782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743034854.423296F (some fields omitted in printout)A{GaP@A[?AHAe<*A":?2A3ս:ABA":?JA3սRA٘i)I9m@YG J<JJJJE&K Y"Y~?y RA7Ej7j7]F9)BE[[ەh[\Y~?[ߪ[[[[BZYY i) TBA:?JALսRA>YLR@ YbY~?y =SA <:E)77aF9)ޯBE[[3pT[Y~?[[[[[BZYY i) c elevatorAngleAction: 0.075782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743034855.683314F (some fields omitted in printout)A(\Q@AhP@AZ~? A9A%"AAnNA"AZAbAjArAzAAA5K["@AوAtAn@A3;AZA!{<A]?AGAM<*A:?2Abս:A2 BA:?JAbսRA2 ٘i)I9n@YpG J%<C=JJJJE&K YY~?y SA elevatorAngleAction: 0.084895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743034856.943311F (some fields omitted in printout)Aq= ףQ@A ʖQ@AZ~? AAA%"AAaoNA"AZAbAjArAzAAA(U$@A-$BtAϚp@AuHAA=A`|}?A`~:AA<*A*:?2A "Խ:AۓBA*:?JA "ԽRAۓ٘i)I9p@YpG JZ<JJJJE&K YTZ~?y TADEb77oF9PB)̯BE[[{H[Z~?[[[[[BZYY i) dWz&AJ"J*J2J:JBJnJvJAQ@AQ@AZ~? AAD%"AA%oNA"AZAbAjArAzAAAO?C%@A[#CtAn*q@A|A$읽AA=A3?AjAG<*AA":?2AԽ:A'BAA":?JAԽRA'Y@=y락ٓH@?[㾳?@"?j r? t@?)@ I-I٘i)I9*q@YG J<J1JJJE&Ks> Ye-Z~?y6UA=GEŧ7b7ssF9)ǯB[[۽[8Z~?[[[[[BZYY i) 0;AYUAB>Aj?A KA<*AC:?2Aս:A[BAC:?JAսRA[٘i)I9q@YG J,<JJJJE&K YuIZ~?yUAJE77wF9)¯BE[[$[0RZ~?[[[[[BZYY i) ]ƄH2?H2?\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034857.803165 s, next control iter: 1743034858.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034858.203165 s.I~, z&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259325> elevatorAngleAction: 0.084895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034858.203303F (some fields omitted in printout)AQER@Aqn8R@A![~? AAo%"AA oNA"AZAbAjArAzAAAxzT&@Aҭ.FCtAHr@AGE<AJ$A->A?AvPw?A<*A/:?2ATԽ:A׏BA/:?JATԽRA׏٘i)I9Hr@YuG J}<JJJJE&K YeZ~?y VALE777zF9OB)BE[[fk[kZ~?[9[[[[BZYY i) j٦A5?A`Ջ?Acu<*Aq+:?2AxԽ:A)BAq+:?JAxԽRA)٘i)I9r@YG J~<JJJJE&K YZ~?ytVAOE)7ŧ73~F9)BE[[<[ÅZ~?[[[[[BZYY i) UA ?A(?A1`<*A#:?2AkԽ:ABA#:?JAkԽRA٘i)I9qs@Y*G J<JJJJE&K YZ~?yVAREŧ7b7ȁF9)BE[[WYм[ڟZ~?[[[[[BZYY i) eҵ elevatorAngleAction: 0.084895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743034859.463326F (some fields omitted in printout)AffffR@A-]R@Ao[~? AA%"AANpNA"AZAbAjArAzAAAPF-Y(@An7wBtAt@A&)AA"U>A`w?A ?Ar<*A:?2AOԽ:AvBA:?JAOԽRAvY@[U>y)ٓH2?@/sʿ% Hb?*O?Xy?$e ?)@ I٘i)I9t@YG Jo<JJJJE&Ks> YBZ~?y$RWA[U>TE777^F9NB)BE[[^:[Z~?[[[[[BZYY i) [BtAt@Av3AhMA>i>A`m?A0?A<*A:?2AOԽ:ALQBA:?JAOԽRALQ٘i)I9t@YG J<JJJJÔE&K YZ~?yRWAWE{7j7F9MB)BE[[j<[Z~?[ [[[[BZYY i) jA6c?A2?Ar<*AD):?2Alӽ:A[BAD):?JAlӽRA[٘i)I9au@YXG J<JJJJƔE&K YwZ~?y9XAZEj7Z7F9)BE[[t=[Z~?[[[[[BZYY i)  elevatorAngleAction: 0.084895*J2J< massPositionAction: 0.0000004 buoyancyAction: 0.000500:JBJ dt: 0.419955nJvJ2 time: 1743034860.723268F (some fields omitted in printout)AzS@A zS@A[~? AA%"AApNA"AZAbAjArAzAAAѱX1*@AH(OAtAv@AA|rAS>A5U?A`辷?A?<*AC%:?2AR Խ:ABAC%:?JAR ԽRA٘i)I9v@YG J<JJJJȔE&K Y [~?yXA]E777F9)B[[tj=[X[~?[s[[[[BZYY i) A`D?Av?A<*A:?2ADԽ:A`BA:?JADԽRA`٘i)I9v@Y.G JJ<JJJJ˔E&K Y'[~?y YA_E7F9LB)B¹E[[Zf=["[~?[[[[[BZYY i) M%"AAqNA"AZAbAjArAzAAA9Di+@A;?tAow@A<AA%s>A 0?A`6?AZ0<*A:?2AOս:ABA:?JAOսRAY[=9>y}<ٓH`^?`}ӿ@٦]?z?@+o???)[= I٘i)I9ow@YG J<JJJJΔE&Kt> YB[~?y1YA>bE7HF9)BŹE[[* =[=[~?[)[[[[BZYY i) ~ elevatorAngleAction: 0.084895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034861.983289F (some fields omitted in printout)A\(T@AT@A \~? A A9%"AA9qNA"AZAbAjArAzAAAhW,@A_/?tA2x@AƗ\<A洽Am>A@?A`{?Aj<*A>:?2A ֽ:ACBA>:?JA ֽRAC٘i)I9x@YG J<JJJJєE&K Yi][~?yZAeE7777ޚF9KB)BȹE[[=[W[~?[A[[[[ZZZZ¸>BZYY i¸>H) xtAx@A-<A&A>Au?A i?A<*A%:?2A=rԽ:AjBA%:?JA=rԽRAj٘i)I9x@YpG Ja<B=JJJJӔE&K YJx[~?yZAgEb7b7sF9JB)B˹E[[>[ r[~?[+[[[[ZZZZBZYY i) Bqm?))>m?>m?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034862.423165 s, next control iter: 1743034862.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8361", header.stamp.nsec: 0"0 temperature: 13.565629"* salinity: 33.375347", density: 1025.000000"* values[0]: 0.580572"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034862.823165 s.I~,%{&AAGzT@AJ%rT@A=\~? A AB%"AA[qNA"AZAbAjArAzAAA~<Ν:-@AviA ?A@*?ACV=*Ay-:?2AԽ:ABAy-:?JAԽRA٘i)I9y@YG J<C=JJJJ֔E&K Y)[~?y-[AjE{7j7 F9)}BιE[[U&>[[~?[[[[[ZZZZBZYY i) Qk<;; r?))r?r?I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034862.843165 s, next control iter: 1743034863.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034863.243165 s.I~,q{&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083147< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743034863.243294F (some fields omitted in printout)Aףp=T@A3T@AAd?Ay?Aj=*A6:?2A߹Խ:AֺBA6:?JA߹ԽRAֺ٘i)I9xz@YqG J=JJJJٔE&K Y[~?y{[AmE77F9GB)sB͹E[[<>[k[~?[o[[[[ZZZZBZYY i) eq; ~2x?))~2x?~2x?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034863.263165 s, next control iter: 1743034863.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034863.663165 s.I~,q{&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8362, header.stamp.nsec: 00 temperature: 13.565125* salinity: 33.375378, density: 1025.000000* values[0]: 0.581614F (some fields omitted in printout)AU@A臭T@Anp\~? AAF%"AAqNA"AZAbAjArAzAAAL7 l.@Aj:tA R{@AiOAtA>A?A ?A\<*A;:?2A#ս:A^oBA;:?JA#սRA^oY^B>`>yswOٓH.O?@gٿŠ Ug?]^?T`z?㉿?)^B> I٘i)I9R{@YG J=Jp=JJJ۔E&Kut> Y[~?y[A`>oEb774F9FB)lBйE[[-YR>[[~?[[[[[ZZZZBZYY i) %\'j; &}?))"z&}?&}?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034863.683165 s, next control iter: 1743034864.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034864.083165 s.DI~,S|&AJ"J*J2J:JBJnJvJA)\5U@As(U@A}\~? AaA%"AA7qNA"AZAbAjArAzAAApd }/@A;W@:9tA|@A5A7.Akz>A@?A>?A%<*A=:?2Aս:AECλBA=:?JAսRAECλ٘i)I9|@YnG J<JJJJޔE&K Y[~?y\ArE77ɬF9)eBӹE[[mVh>[W[~?[ߪ[[[[ZZZZBZYY i)  @; ?)) ??r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034864.103165 s, next control iter: 1743034864.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034864.503165 s.I~,L4 |&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083147< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034864.503296F (some fields omitted in printout)ARkU@Agy^U@Ah\~? AA%"AA rNA"AZAbAjArAzAAA=/@Av7tA|@AZAμA>Ai?A`u?A<*AQ:?2AaԽ:A;BAQ:?JAaԽRA;٘i)I9|@YG J<JJJJE&K Y[~?yq\AuE7777^F9EB)_BֹE[[Ղ~>[[~?[ݪ[[[[ZZZZBZYY i) ; HX?))HX?HX?_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034864.523165 s, next control iter: 1743034864.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8363, header.stamp.nsec: 00 temperature: 13.564579* salinity: 33.375385, density: 1025.000000* values[0]: 0.582715F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034864.923165 s.;I~,;|&AJ"J*J2J:JBJnJvJA{GU@ASy=U@A,\~? AA%"AAErNA"AZAbAjArAzAAAw0@AA9?6tA|:}@A@;A!A>AAF?Ap5?As1z<*AK:?2AԽ:A!<BAK:?JAԽRA!<٘i)I9:}@YG J<JJJJE&K Y\~?y}\AwEb77F9DB)ZBٹE[[k>[\~?[۪[[[[ZZZZBZYY i) =h>: "?))"?"?4F)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034864.943165 s, next control iter: 1743034865.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034865.343165 s.<I~,U|&AAp= U@A[U@A\~? AAD%"AA3krNA"AZAbAjArAzAAACac0@A,4tAN}@AX<A;A>>A ?A?A#<*A|A:?2AԽ:A'y<BA|A:?JAԽRA'y<٘i)I9}@YVG JU<JJJJE&K Y/\~?yܪ]AzE7F9)WB[[>[:,\~?[b٪[[[[ZZZZBZYY i) Pr˻: ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034865.363165 s, next control iter: 1743034865.743192 s, wait time: 0.380027 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8364*, header.stamp.nsec: 0*0 temperature: 13.564215** salinity: 33.375393*, density: 1025.000000** values[0]: 0.583420*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034865.763165 s.9I~,'p|&AJ"J*J2J:J[?BJ[?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083147< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743034865.763320F (some fields omitted in printout)A V@AU@A6\~? AAy%"AAarNA"AZAbAjArAzAAA]0@A2tA}@AgY<A^<A I?A?A?Ay;*A4:?2ADս:A<BA4:?JADսRA<٘i)I9}@YwG J<JJJJE&K YI\~?y{٪f]A}E77j7F9CB)UBܹE[[>[F\~?[֪[[[[ZZZZBZYY i) [[Xa\~?[Ӫ[[[[BZYY i) /SE[{\~?[Ѫ[[[[BZYY i) .[\~?[ͪ[[[[BZYY i-) S9 K?))K?K?$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034867.043165 s, next control iter: 1743034867.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034867.443165 s.:6I~J,J]|&A"J*J2J:Jo?BJo?nJ5vJAq= V@AV@AK]~? A3A*m%"AA""sNA"AZAbAjArAzAAAcM1@Ai+tA}@A?8VA=AZy?A@1?A``?A,*A 9?2Aֽ:A&=BA 9?JAֽRA&=٘i)I9}@YJG J C=JJJJE&K Y\\~?yw˪^AE77tF98B)LBE[[w>[\~?[|ʪ[[[[BZYY i) |&AAW@A6 W@APc]~? AAf%"AAEsNA"AZAbAjArAzAAAm2@AsX](tA-}@A\AY=A?A?Ar9?A)e*A9?2Aֽ:A=BA9?JAֽRA=YX>Mw?yX=<ٓHY#?`@?@P? 2??񆲿C?)X> I٘i)I9-}@YG J FJ>JJJE&K> Y~\~?yiƪK^Aw?E77 F9)NB[[o>[]\~?[Ǫ[[[[BZYY i}B>) s6;II?iͼeG )?))!t)?)?:˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034867.903165 s, next control iter: 1743034868.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034868.283165 s.8RDI~,}&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239068@ elevatorAngleAction: -0.046450< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034868.283285F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\OW@AkzPBW@Aqz]~? AAx%"AAhsNA"AZAbAjArAzAAA=\2@Ad.&tAp|@A,:A=A!?A`?A ?A(*A9?2Alֽ:AN$=BA9?JAlֽRAN$=٘i)I9|@YG JJJJJE&K Y\~?y\]AE77{7F97B)QBE[[>[\~?[Vê[[[[BZYY i36) ;I]I?iêZ ݪ?)) ݪ?ݪ?yq,ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034868.303165 s, next control iter: 1743034868.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8367., header.stamp.nsec: 0.0 temperature: 13.563985.* salinity: 33.375443., density: 1025.000000.* values[0]: 0.583394.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034868.703165 s.ԺJI~,-}&AAQW@AxW@AQ]~? A AlB%"AAߋsNA"AZAbAjArAzAAA%֗P2@A.D$tA:|@Ab(<A.d=A?&?A݅?A?A*A9?2A'Խ:A"=BA9?JA'ԽRA"=٘i)I9:|@YG JVB=JJJJE&K Y\~?yN]AE4F96B)TBE[[`>[\~?[u[[[[BZYY i) M;I I?i /1 ar?))ar?ar?ydAYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034868.723165 s, next control iter: 1743034869.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034869.123165 s.7QI~,]G}&AJ"J*J2J:JBJnJvJAGW@AխW@A]~? AޫA'%"AA`sNA"AZAbAjArAzAAAlq2@A!tA{@AT_<Ah=Ad+?AK?A?APƼ*A9?2AkԽ:A*!=BA9?JAkԽRA*!=٘i)I9{@Y"G JC=JJJJE&K Y ]~?yA ]A DEb7b7F9)YB[[>[]~?[a[[[[BZYY i) vۉ;I I?iL6W @?))@?@?yYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034869.143165 s, next control iter: 1743034869.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034869.543165 s.IXI~,b}&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.063092< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743034869.543324F (some fields omitted in printout)A= ףW@A жW@AP]~? A٫A%"AAsNA"AZAbAjArAzAAA*3@A]"JtAz@A`!<A=A0?A`?A`J?Ašϼ*A:?2AfԽ:AJ$=BA:?JAfԽRAJ$=٘i)I9z@YG J˼JJJJE&K Y%]~?y4\AE7777_F95B)^BE[[?[-]~?[[[[[BZYY i) V;II?iS[^ ^?))^?^?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034869.583165 s, next control iter: 1743034869.943181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8368, header.stamp.nsec: 00 temperature: 13.564152* salinity: 33.375458, density: 1025.000000* values[0]: 0.582773F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034869.963165 s.w^I~,}}&AJ"J*J2J:JBJnJvJAffff&X@A>Y1\X@Aj]~? AիA0%"AA7sNA"AZAbAjArAzAAAbx$m3@A˾ЬtA>z@Alo:AP@=A6?A?A`S?AѼ*A# :?2Aս:A=BA# :?JAսRA=Y>6?yK@=Mp:ٓH&?``??=?6?1ᵿM??)> I٘i)I9>z@YNG JqѼJ=JJJE&K9t> Y_:]~?yvF\A6?E{7F91B)_BE[[Uc ?[DF]~?[[[[[BZYY i) \;IQI?iU4 ب?))ب?ب?%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034869.983165 s, next control iter: 1743034870.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034870.383165 s.eI~,}&AA(\X@A0.OX@A:]~? A/ѫA%"AAtNA"AZAbAjArAzAAAvޯ3@A#tAjy@A7e Ap=A;?A?A` ?AUμ*A :?2AMֽ:A: =BA :?JAMֽRA: =٘i)I9y@YG JмJJJJE&K YO]~?y[AE{7F9)eB[[$?[^]~?[[[[[BZYY i) :IH?i9X ?))??\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034870.403165 s, next control iter: 1743034870.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8369&, header.stamp.nsec: 0&0 temperature: 13.564348&* salinity: 33.375450&, density: 1025.000000&* values[0]: 0.582051&F (some fields omitted in printout)*O]~?)* rAdjusting time to match Gazebo time: 1743034870.803165 s.uAlI~,sg}&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.063092< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743034870.803322F (some fields omitted in printout)J"J*J2J:JBJnJvJAX@A?߄X@A]~? A̫A2%"AA^4tNA"AZAbAjArAzAAA 3@A,K1tA?x@Ac\A=Ac@?AF?A@ ?APʼ*A:?2A}ֽ:A!g =BA:?JA}ֽRA!g =٘i)I9x@Y{G J̼JJJJ E&K Ye]~?y[[AE77F90B)iBE[[/?[v]~?[C[[[[BZYY i) ":IH?iLkw x?))x?x?6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034870.823165 s, next control iter: 1743034871.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034871.223165 s.gsI~,H}&AAzX@AH7¢X@A^~? AǫAq7%"AATtNA"AZAbAjArAzAAA:bkp14@A3StAn:x@A:A@=ABF?A`?A*?AGƼ*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9:x@YG JȼJJJJ E&K Yyz]~?y<ZAEb77F9/B)mBE[[:?[s]~?[?[[[[BZYY i) 5IH?iվ6 R?))R?R?:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034871.243165 s, next control iter: 1743034871.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034871.643165 s.yyI~,*}&AJ"J*J2J:JBJnJvJA ףpX@AgX@A)^~? AëAM%"AAttNA"AZAbAjArAzAAA>p4@Aז%HatAKw@Ap]A9s=AK?A@?A $v?A%ļ*A$:?2Aֽ͉:Av=BA$:?JAֽ͉RAv=٘i)I9w@YG JżJJJJE&K Y؏]~?y}pZAE{7{7JF9)sB[[Ş ?[]~?[ [[[[BZYY i) ݟIH?i徉k 3?))3?3?۪YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8370, header.stamp.nsec: 00 temperature: 13.564584* salinity: 33.375469, density: 1025.000000* values[0]: 0.581329F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743034871.663165 s, next control iter: 1743034872.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034872.063165 s.I~,k ~&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.063092< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034872.063284F (some fields omitted in printout)A33333Y@AaTR'&Y@Aw>^~? A%A%"AA1tNA"AZAbAjArAzAAAMA4@AƠZtAv@A;A_=A P?Am?A`5?A*A:?2Aabֽ:A=BA:?JAabֽRA=Y"?:P?y^=Ob;ٓH6?`=ݬ?/?? ĩ?1G7z??)"? I٘i)I9v@YKG J¼JƼJJJE&Kx> Y>]~?yZA:P?E777F9+B)E[[o&?[]~?[[[[[BZYY i) 'IH?i , ?))??ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034872.083165 s, next control iter: 1743034872.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034872.483165 s.y_I~,~&AJ"J*J2J:JBJnJvJA\hY@A[Y@AR^~? AAU%"AA.tNA"AZAbAjArAzAAA44@AA#? tAPv@A`P<A (=A8U?As!?A?AѺ*Aj:?2Ax`ֽ:A}=BAj:?JAx`ֽRA}=٘i)I9Pv@YG JVJJJJE&K Y]~?yYAE77tF9*B)wBE[[K,?[]~?[([[[[BZYY i) CIH?ifƶ ޹?))޹?޹?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034872.503165 s, next control iter: 1743034872.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8371, header.stamp.nsec: 00 temperature: 13.564780* salinity: 33.375481, density: 1025.000000* values[0]: 0.580638F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034872.903165 s.ȍI~,9~&AAQY@AX%Y@Af^~? AٳA%"AAtNA"AZAbAjArAzAAA9")5@AtA u@A ?[^~?[\[[[[BZYY i) ?QIH?i)>ٻ ?))??ͺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034873.763165 s, next control iter: 1743034874.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034874.163165 s.w}I~,q~&AJ"J*J2J:JBJnJvJA@Z@Ao2Z@AY^~? AxA%"AA)uNA"AZAbAjArAzAAA&5@ACsA$t@AKCAx=Aj?Ad?A i?A_*AT:?2A$t׽:A5Q<BAT:?JA$t׽RA5Q  G9Y ^~? G9ynXA\j?E7777G9$B)E[[#D?[+^~?[|[[[[BZYY i) ۻIH?i7. r?))r?r?y#귪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034874.183165 s, next control iter: 1743034874.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034874.583165 s.樟I~, S~&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743034874.583302F (some fields omitted in printout)A)\uZ@AF жhZ@Aײ^~? AĝA&d%"AAJFuNA"AZAbAjArAzAAA=6@A͖sAGs@A XA=Ao?A@H?A+?A8Ɉ*AY:?2Ah׽:Af<BAY:?JAh׽RAf<٘i)I9s@YPG J⊼JJJJ!E&K YD^~?ygWAEb77_G9#B)BE[[3I?[@^~?[u[[[[BZYY i) IsH?iCP Y?))Y?Y?ԶYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034874.603165 s, next control iter: 1743034874.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8373, header.stamp.nsec: 00 temperature: 13.565107* salinity: 33.375511, density: 1025.000000* values[0]: 0.579427F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034875.003165 s.v I~,D4~&AJ"J*J2J:JU?BJU?nJ5vJARZ@A6xZ@A^~? AA%"AA buNA"AZAbAjArAzAAAF6@A\ sA=s@AXAd=A2t?A)?A`?A8*A1:?2A.+׽:A+<BA1:?JA.+׽RA+<٘i)I9=s@Y G J#JJJJ$E&K Y|$^~?y`]WAE77 G9)B[[O?[U^~?[o[[[[BZYY i) x IhH?idM|s G?))G?G?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034875.023165 s, next control iter: 1743034875.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034875.423165 s.uI~,~&AA{GZ@AD YU^~?yKNVA:?EG9B) E[[Ib?[^~?[-Z[[[[BZYY i) ;IH?ig/ ?))??KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034876.283165 s, next control iter: 1743034876.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 83752, header.stamp.nsec: 020 temperature: 13.5653612* salinity: 33.3755002, density: 1025.0000002* values[0]: 0.5784592F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034876.683165 s.lʟI~,c+&AJ"J*J2J:J?BJ?nJG5vJA(\[@A u[@A| _~? AA%"AA8uNA"AZAbAjArAzAAA۲7@AK~*sAbq@A<A絉=AU„?A`q?A`S?AAЍ*A|9?2Aֽ:Aa=BA|9?JAֽRAa=٘i)I9bq@YG J`C=JJJEJ/E&K Yd^~?yCUA”Eb7JG9)B[[h?[Z^~?[R[[[[BZYY i)  lKItH?ir ?))??zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034876.683165 s, next control iter: 1743034877.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034877.103165 s.џI~,F&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743034877.103295F (some fields omitted in printout)AQ[@AE[@A_~? A;yA&%"AAuNA"AZAbAjArAzAAAp{G7@AeؗIsAp@AD9AX=As?A`?A ޟ?A~ҋ*A9?2A.׽:AF=BA9?JA.׽RAF=٘i)I9p@YG JJJJJ1E&K Yws^~?y<UAŔEb77G9B)BE[[0n?[^~?[xK[[[[BZYY i) ZI?gH?izQ D ?))D ?D ?yĦ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034877.123165 s, next control iter: 1743034877.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034877.523165 s.J "J *J 2J :J ?BJ ?ןI~nJ65vJ, |a&AAHz[@AV[@AI)_~? ArA%"AAuNA"AZAbAjArAzAAA6*w7@AXsAmwp@A-A=A2$?A@?A?A*A9?2Ao׽:A6<=BA9?JAo׽RA6<=٘i)I9wp@YZG JmJJJJ4E&K YP^~?y4'  ?)) ? ?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034877.963165 s, next control iter: 1743034878.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034878.363165 s.I~,>&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743034878.363283F (some fields omitted in printout)AY\@AqL\@A[G_~? AeA_%"AAc*vNA"AZAbAjArAzAAAIe;yU7@A JsAgo@A0Aė=A_?AS?Av?AU*A9?2At@׽:A =BA9?JAt@׽RA =Yqf? Y|^~?y3%{TAE?͔E77{7&G9)B[[B?[^~?[A4[[[[BZYY i) QI Yn^~?y?tRAO?۔E78G9B)BE[[?[3_~?[ [[[[BZYY i) BIG?iɘ\C z?))z?z?AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034880.503165 s, next control iter: 1743034880.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8379, header.stamp.nsec: 00 temperature: 13.566009* salinity: 33.375538, density: 1025.000000* values[0]: 0.576241F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034880.883165 s.y I~,@8&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743034880.883313F (some fields omitted in printout)J"J*J2J:JBJnJvJA(]@Az]@Aޖ_~? A;A5%"AA vNA"AZAbAjArAzAAAYza8@AIX־sAl@A&A=A?A~a?A-?A)*A9?2A1׽:AP=BA9?JA1׽RAP=٘i)I9l@YG J*C=JJJJIE&K Y^~?yRAݔE)7ŧ7 ?))>?>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034881.763165 s, next control iter: 1743034882.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034882.143165 s._/"I~,,*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.090392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743034882.143331F (some fields omitted in printout)A ףp=^@A8d0^@AH_~? A%Au%"AAvNA"AZAbAjArAzAAA^ݬ(9@AxsA7j@A]A =A)Ϧ?A@?AH?Aļ*AH9?2Aֽ:A=BAH9?JAֽRA=٘i)I97j@YG J[JJJJRE&K Y^~?y.ܩPAE777FG9)B[[?[b_~?[[[[[BZYY i) JǼIjG?ieϕN HS?))HS?HS?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034882.163165 s, next control iter: 1743034882.543184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034882.563165 s.(I~,N &AJ"J*J2J:JBJnJvJA3333s^@A=|(f^@At_~? AA%"AAvNA"AZAbAjArAzAAA%G9@AcYsA i@A5;ARp=A O?A ?Aਲ?Ajɼ*A!9?2Aֽ:A=BA!9?JAֽRA=YvJ?V?y&p=$5;ٓH I?1@ ?`?m?`V?EǵOf?`E?)vJ? I٘i)I9i@Y'G JƼJM<JJJTE&K+x> Y_~?yө?PAV?Ej7Z7uJG9)B[[7?[m_~?[ީ[[[[BZYY i) μIG?iLS 5@))5@5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034882.583165 s, next control iter: 1743034882.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8381, header.stamp.nsec: 00 temperature: 13.566487* salinity: 33.375553, density: 1025.000000* values[0]: 0.574854F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034882.983165 s./I~,쾀&AA\^@A^@A%_~? AA%"AAvNA"AZAbAjArAzAAA\"vd9@Ak\sAh@A4<A.=A ӫ?A`J?A?Agμ*At9?2A%?ֽ:Aj=BAt9?JA%?ֽRAj=٘i)I9h@Y G J˼JJJJWE&K Y _~?y!˩OAE777 NG9 B)įBE[[V?[v_~?[iթ[[[[BZYY i) @ּIG?i)X?W 5@))5@5@y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034883.003165 s, next control iter: 1743034883.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034883.403165 s.&6I~,ـ&AJ"J*J2J:J?BJ?nJ35vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.090392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743034883.403330F (some fields omitted in printout)AQ^@AF'K^@AX_~? AAr*%"AA2wNA"AZAbAjArAzAAA:˕Ȁ9@AksA6h@A\<A=Ag?Ad"?A@ ?A1Ҽ*Aߧ9?2A@ֽ:AJ=BAߧ9?JA@ֽRAJ=٘i)I96h@YT G JмJJJJZE&K Y_~?y©UOAE77QG9 B)ȯBE[[*x?[w_~?[-̩[[[[BZYY i) ݼIHsG?iY T@))T@T@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034883.423165 s, next control iter: 1743034883.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8382", header.stamp.nsec: 0"0 temperature: 13.566752"* salinity: 33.375580", density: 1025.000000"* values[0]: 0.574068"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034883.823165 s.<A\dz=A?A8u?Ao1?AWӼ*A9?2Abֽ:AU=BA9?JAbֽRAU=٘i)I9g@Y G J8ӼJJJJ\E&K Y_~?yNAE77776UG9)ͯB[[ƚ?[_~?[©[[[[ZZ¸BZYY i¸p=) pѼI`G?i Z K@))K@K@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034883.843165 s, next control iter: 1743034884.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034884.243165 s.CI~,i&AJ"J*J2J:JBJnJvJAףp=J_@A1=_@A?_~? A=AiS%"AA wNA"AZAbAjArAzAAA9@AꂎnsA5f@A^A=A+dz?A?A`W?AӼ*A9?2Aֽ:Ag=BA9?JAֽRAg=٘i)I9f@Y{ G JӼJJJJ_E&K Y!_~?yjNAE{7{7XG9)ӯB[[(?[_~?[~[[[[ZZBZYY i) sżING?iy4Z @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034884.263165 s, next control iter: 1743034884.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034884.663165 s.JI~,q*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082978< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743034884.663286F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8383, header.stamp.nsec: 00 temperature: 13.567039* salinity: 33.375580, density: 1025.000000* values[0]: 0.573272F (some fields omitted in printout)A_@AKr_@A_~? AAh%"AA,wNA"AZAbAjArAzAAAQ9@A8>sA f@AA-~=A|?A@?A`y?AU*A9?2A(׽:AC<BA9?JA(׽RAC Y%_~?yبMAb?EZ7Z7`\G9B)֯BE[[ޮ?[_~?[[[[[ZZBZYY i) I;G?iF^ 6`@))6`@6`@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034884.683165 s, next control iter: 1743034885.063180 s, wait time: 0.380015 s:%_~?):ب rAdjusting time to match Gazebo time: 1743034885.083165 s.EQI~,3SE&AJ"J*J2J:JBJnJvJA)\µ_@A~_@A_~? AAM%"AA7wNA"AZAbAjArAzAAA~9@A6sA7e@ACu_Aq=A!?A?A?A*Aֲ9?2A#׽:A<BAֲ9?JA#׽RA<٘i)I97e@Y G JC=JJJJdE&K Y)_~?y%MAE77{7_G9)ݯB[[?[_~?[[[[[ZZBZYY i) I)G?i `  @)) @ @yE=ժYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743034885.103165 s, next control iter: 1743034885.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034885.503165 s.WI~,U4`&AAR_@A"rz_@A_~? AA%"AABwNA"AZAbAjArAzAAA@9@A elevatorAngleAction: 0.082978< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743034885.923327F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G!`@A]4d<`@A`~? A%A%"AA}sAub@AE<A1<Ahj?ALz?A`Y ?Aߊ*Aٿ9?2Aμֽ:A<BAٿ9?JAμֽRA<Y_b?n?yF1<E<ٓH?`p /??`??@ 3??)_b? I٘i)I9ub@Y G JJx6JJJoE&Kx> Yt7_~?y8}LAn?E77{7KnG9)B[[:?[˫_~?[1[[[[ZZBZYY i =) CI@F?iOb w @))w @w @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034886.783165 s, next control iter: 1743034887.163181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034887.183165 s.rI~,gˁ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065456< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743034887.183264F (some fields omitted in printout)A(\`@A_`@AA`~? AjɪA~&"AAdwNA"AZAbAjArAzAAAe6:@A蹼*xsAb@As2<AA̳A?A4?A !?AE*Ac9?2Afֽ:A;etBAc9?JAfֽRA;et٘i)I9b@Y G JuJJJJrE&K Y8_~?yftLAE)7ŧ7qG9)B[[?[_~?[}v[[[[ZZBZYY inǚ=) kIF?ihd\d @))@@E(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034887.203165 s, next control iter: 1743034887.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034887.603165 s.84yI~,&AJ"J*J2J:J$?BJ$?nJ>5vJAQ`@AׇF`@AU`~? ArAT&"AA`kwNA"AZAbAjArAzAAAByB:@AtsAa@At;A1A̛?A@v?AD5?ASû*A9?2Aֽ:AʥBA9?JAֽRAʥ٘i)I9a@Ym G J6JJJJtE&K Y9_~?ykKAE77vuG9B)E[[?[[_~?[l[[[[ZZBZYY i) "XIF?ip7gd ^>@))^>@^>@y&=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034887.623165 s, next control iter: 1743034888.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8386 , header.stamp.nsec: 0 0 temperature: 13.567904 * salinity: 33.375568 , density: 1025.000000 * values[0]: 0.570873 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034888.023165 s.ZI~,{&AAHz.a@A|G !a@A`~? AsA7&"AA3qwNA"AZAbAjArAzAAAM:@AڑA9osAa@A<߹AA3+?A`?A@7F?Ak*As9?2AC?ֽ:AwϼBAs9?JAC?ֽRAwϼ٘i)I9a@Y] G JzuJJJJwE&K Y0;_~?ybKA E{7{7 yG9)B[[?[_~?[ c[[[[BZYY i) PRDIϣF?ii,c :@)):@:@y=3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034888.043165 s, next control iter: 1743034888.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034888.443165 s.:ÆI~,J]&AJ"J*J2J:J?BJ?nJ45vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075576< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034888.443306F (some fields omitted in printout)Aq= ca@AZVa@A`~? AoAR&"AA?A`T?AW7v;*A@9?2AIֽ:A%BA@9?JAIֽRA%𼙘٘i)I9a@Yb G JT:JJJJzE&K Yn<_~?yYKA Eb77|G9)B[[ :?[֯_~?[UY[[[[BZYY i) 0IF?iRi` `@))`@`@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034888.483165 s, next control iter: 1743034888.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8387, header.stamp.nsec: 00 temperature: 13.567966* salinity: 33.375587, density: 1025.000000* values[0]: 0.570690F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034888.863165 s.+I~,>7&AAa@A>B͐a@Ar`~? AfAA&"AA|zwNA"AZAbAjArAzAAASa^:@A+mesAfa@A١OAiYAQ?A+?A`b`?Aq;*A9?2Axֽ:ABA9?JAxֽRAY[?g?yweYOٓH lQ-?M@|j)? @?)[? I٘i)I9a@Yy G J;JJJJ}E&Kw> Y:_~?y$QLAg?E)7776G9)B[[`?[_~?[O[[[[BZYY ig=) 5 I}F?ia @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034888.883165 s, next control iter: 1743034889.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034889.283165 s.:RI~,R&AJ"J*J2J:J?BJ?nJ55vJA(\a@A"LQa@Ao `~? AZAG&"AA}wNA"AZAbAjArAzAAA%Lhd:@AԄ``sAH!b@A!ջA,3yA?A?Ai?Au1<*A9?2Adֽ:AF@ BA9?JAdֽRAF@ +I٘i)I9!b@Y G J<JJJJE&K Y09_~?yWHeLAE{7j7˃G9B)BE[[ԇ?[A_~?[E[[[[BZYY i) 'IjF?i'b |@))|@|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034889.303165 s, next control iter: 1743034889.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 83882, header.stamp.nsec: 020 temperature: 13.5678812* salinity: 33.3756072, density: 1025.0000002* values[0]: 0.5708622F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034889.703165 s.ӺI~,m&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743034889.703266F (some fields omitted in printout)AQb@Axa@A!`~? AJA)&"AAwNA"AZAbAjArAzAAAG\h:@A [sAavb@A['>;A<刽Aݥ?A@?Ajp?Ade<*A9?2A]ֽ:A BA9?JA]ֽRA ٘i)I9vb@Y G JJ<JJJJE&K Y7_~?y?LAE)7ŧ7aG9)B[[?[Ъ_~?[D<[[[[BZYY id=) :IXF?iƯu`  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034889.723165 s, next control iter: 1743034890.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034890.123165 s.@ᡠI~,⇂&AJ"J*J2J:JBJnJvJAG:b@A 4-b@A"`~? A9A&"AAhwNA"AZAbAjArAzAAAN-k:@A0-hVsAb@AI/<AqCAR?Ao?At?A<*A-9?2A#ֽ:Ac BA-9?JA#ֽRAc ٘i)I9b@Y G Jbx<JJJJE&K Y5_~?y6LAE77G9)B[[/?[_~?[2[[[[BZYY i) ޻IeEF?iЭ{^ @))@@yFh=F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034890.143165 s, next control iter: 1743034890.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034890.543165 s.II~,â&AA= ףpb@ATt$cb@A4#`~? A'Ad&"AAowNA"AZAbAjArAzAAA{l:@Ar!QsATc@AQ<A4A?Aei?Av?AC<*A?9?2A4ֽ:A BA?9?JA4ֽRA ٘i)I9Tc@Y[ G JO<JJJJE&K YS4_~?y-@MAEb77G9B)BE[[s?[_~?[ )[[[[BZYY i) RI3F?i̪ПZ -@))-@-@y-=b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034890.563165 s, next control iter: 1743034890.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8389, header.stamp.nsec: 00 temperature: 13.567716* salinity: 33.375587, density: 1025.000000* values[0]: 0.571319F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034890.963165 s.zI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066209< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743034890.963303F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffb@A5[b@A#`~? AA5&"AAwNA"AZAbAjArAzAAAw7\l:@A3+LsAc@A<AA?AAv?A<*AS9?2Aֽ:AG BAS9?JAֽRAG Yua?m?y~<ٓH@9Ŀr}?T?@[Ŀ`/˲^?? ??)ua? I٘i)I9c@Y G J<J\JJJE&Kx> Y/_~?y?%MAm?E{7Z7!G9B)BE[[?[_~?[[[[[BZYY i) I F?i[ @))@@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034890.983165 s, next control iter: 1743034891.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743034891.383165 s.صI~,+؂&AA(b@ALb@Af"`~? AyAҟ&"AAwNA"AZAbAjArAzAAAWj:@AGsAead@A^AhhA?A$A r?AZ<*Aا9?2A\cֽ:ABAا9?JA\cֽRA٘i)I9ad@Y G Jf<JJJJE&K Y`+_~?yNA E77{7G9)ݯB[[Z>?[_~?[[[[[BZYY i) ߁IPF?iX= Z H!@))H!@H!@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034891.383165 s, next control iter: 1743034891.783176 s, wait time: 0.400011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8390&, header.stamp.nsec: 0&0 temperature: 13.567461&* salinity: 33.375576&, density: 1025.000000&* values[0]: 0.571937&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034891.803165 s.zAI~,g&AJ"J*J2J:JBJnJvJAc@Adc@A5!`~? ApA\=&"AAwNA"AZAbAjArAzAAA R¼f:@A4_BsAd@AA`A?A`Am?Ar<*Aݫ9?2A%ֽ:ABAݫ9?JA%ֽRA٘i)I9d@YY G Jװ<JJJJE&K Y&_~?yxNA#Eŧ77LG9)دB[[f`?[Y_~?[ [[[[BZYY i) GI2E?iW "@))"@"@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034891.823165 s, next control iter: 1743034892.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034892.223165 s.gàI~,H&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066209< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034892.223283F (some fields omitted in printout)AzGc@A:c@A`~? AhA&"AAwNA"AZAbAjArAzAAAZsa:@Az >sAӏe@A[TAyAH?AAe?A<*A(9?2A$ֽ:A BA(9?JA$ֽRA ٘i)I9e@Y G J><JJJJE&K Yn"_~?y, NA&E{7{7G9B)ӯBE[[?[r_~?[)[[[[BZYY i) d IbE?i5T f$@))f$@f$@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034892.243165 s, next control iter: 1743034892.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034892.643165 s.ɠI~,5*)&AJ"J*J2J:JBJnJvJA ףp}c@A.epc@AC`~? A`Aw&"AA|wNA"AZAbAjArAzAAAȳZ:@Au#9sA*f@AUAϛA?A@'A[?A<*A~9?2A `ֽ:A BA~9?JA `ֽRA ٘i)I9*f@Y G Jj<JJJJE&K Y_~?y{IOA(Eb77vG9)ίB[[?[؄_~?[[[[[BZYY i) eIE?iΡ*O %@))%@%@`*YFFF]:tReceived state from Gazebo (printed only once in a while):Waiting for Gazebo time sync: latest Gz time: 1743034892.663165 s, next control iter: 1743034893.043186 s, wait time: 0.380021 s0 header.stamp.sec: 8391, header.stamp.nsec: 00 temperature: 13.567219* salinity: 33.375572, density: 1025.000000* values[0]: 0.572617F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034893.063165 s.РI~, D&AA3333c@A&'c@A`~? AXA &"AAxwNA"AZAbAjArAzAAA0n_R:@A\ET=4sAf@AgA񏙽AQq?AAN?A<*A9?2A ֽ:ANBA9?JA ֽRANYfh?t?y珙2鴺ٓH9vпk??uп`b-?V`?)fh? I٘i)I9f@Yr G J<J:JJJE&K#x> Y_~?yOAt?+E{7{7 G9)ɯB[[?[~|_~?[[[[[BZYY i) ÖIE?i:~_N '@))'@'@Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034893.083165 s, next control iter: 1743034893.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034893.483165 s.{_נI~,^&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066209< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034893.483301F (some fields omitted in printout)J"J*J2J:JBJnJvJA\c@Aqc@A2`~? APA &"AAGtwNA"AZAbAjArAzAAA1^H:@AjY/sAUg@A;A!A"?A ӹA??AP?<*A9?2Aq׽:ABA9?JAq׽RA٘i)I9Ug@Y G J<JJJJE&K Yd_~?yyPA.E77G9B)ƯBE[[@'D  ),@)) ),@ ),@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034894.343165 s, next control iter: 1743034894.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8393., header.stamp.nsec: 0.0 temperature: 13.566672.* salinity: 33.375603., density: 1025.000000.* values[0]: 0.573987.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034894.743165 s.WI~,y&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066209< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034894.743297F (some fields omitted in printout)Aףp=d@AF 2}d@A$ `~? A8A &"AAawNA"AZAbAjArAzAAA5 :@Ag" sAh@Ap;AZA-?A`4¿A?Aw<*A9?2Aجֽ:A1hBA9?JAجֽRA1h٘i)I9h@Y G J<JJJJE&K Y^~?yרLQA6E7{7aG9)B[[O%?[7T_~?[̨[[[[BZYY i) 6^;I(E?i> ص-@))ص-@ص-@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034894.783165 s, next control iter: 1743034895.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034895.163165 s.y}I~,qʃ&AJ"J*J2J:J1?BJ1?nJQ:5vJAd@Aeȱd@A`~? A1AZ &"AA ZwNA"AZAbAjArAzAAAn:@A^sAri@A黻AP-A~n?A`kĿA?Aϛ<*A}9?2Afֽ:AOBA}9?JAfֽRAOYAo?{?y,]ٓHtֿ0`??@ֿ ?)}w "?)Ao? I٘i)I9i@YG Jn<B=JX<JJJE&Kw> Y^~?yϨQA{?8E{7Z7G9B)B E[[5??[jH_~?[è[[[[BZYY i) ;ITuE?iI< @/@))@/@@/@ *YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743034895.203165 s, next control iter: 1743034895.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034895.583165 s.$I~,7S&AA)\d@A^+d@A_~? A))AW &"AAQwNA"AZAbAjArAzAAA@ 9@AS&sAj@ACFAA~?A@DƿA?A<*A9?2AIֽ:ABA9?JAIֽRA٘i)I9j@YoG J"<C=JJJJE&K Y^~?y|Ǩ RA;E777G9)B[[*@[;_~?[[[[[BZYY i=) D;IeE?i9(9 0@))0@0@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034895.603165 s, next control iter: 1743034895.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8394, header.stamp.nsec: 00 temperature: 13.387028* salinity: 33.391644, density: 1025.000000* values[0]: 0.694559F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034896.003165 s.y I~,P4&AJ"J*J2J:J1?BJ1?nJq:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034896.003289F (some fields omitted in printout)AR+e@A ye@Ap_~? AU!AR &"AA:HwNA"AZAbAjArAzAAAYo9@A& _sA/j@AEAnA@?AȿA?A|<*A9?2Afֽ:AVBA9?JAfֽRAV٘i)I9j@YG J5<JJJJE&K Y|^~?yAjRA>E{7!G9)B[[@[._~?[[[[[BZYY i) #;IVE?i,y4 U2@))U2@U2@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034896.023165 s, next control iter: 1743034896.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034896.423165 s.uI~,&AA{Gae@Aףp=Te@A_~? AA &"AA'>wNA"AZAbAjArAzAAA<9@Av sA8 k@A5qAA@?AɿA>?A݋<*A9?2Aֽ:ABA9?JAֽRA٘i)I9 k@YG Jf<JJJJE&K Yu^~?yRA@Eŧ77G9)B[[=@[F!_~?[[[[[BZYY i) t;IGE?i. 3@))3@3@r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034896.463165 s, next control iter: 1743034896.823179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8395, header.stamp.nsec: 00 temperature: 13.386821* salinity: 33.391647, density: 1025.000000* values[0]: 0.695457F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034896.843165 s. I~,5&AJ"J*J2J:J 2?BJ 2?nJ:5vJAp= e@ASe@A_~? AA&"AAM3wNA"AZAbAjArAzAAA}ۙ9@AusA,k@A{r;AAm@A]˿A`l?AG><*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@YXG J<JJJJE&K Yp^~?yɮ)SACE)7ŧ7LG9B)BE[[@[_~?[ˡ[[[[BZYY i)  elevatorAngleAction: 0.075187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743034897.263312F (some fields omitted in printout)Ae@ABe@A _~? A Av&"AA'wNA"AZAbAjArAzAAA$ Fq9@A/r3sAk@Aw6<AE^AN@AɧͿA`F?Aχ<*AM9?2A"(׽:AȲBAM9?JA"(׽RAȲY{w?A@y\6<ٓH@ܿ$^?`?ܿ 䫿 J?Ά?V?){w? I٘i)I9k@YG JӉ<J;JJJE&KDx> Yɺ^~?y馨SAA@FE77G9)B[[L@["_~?[[[[[BZYY i) 9+ elevatorAngleAction: 0.075187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743034898.523324F (some fields omitted in printout)AHznf@As af@AE_~? A^Al&"AA4wNA"AZAbAjArAzAAAk4V9@A3PrAUm@AT̺A A'@AѿA1?Aʑ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Um@YrG J<JJJJE&K Yє^~?yITANE)7b7G9B)BE[[* @[^~?[Ձ[[[[BZYY i) hBׄ&AJ"J*J2J:J2?BJ2?nJ4;5vJAf@A\>f@A_~? AA &"AA,vNA"AZAbAjArAzAAAJS9@AZ=rASn@AUAđAB@A@?ӿA`h?Az<*A9?2AxFֽ:AP BA9?JAxFֽRAP Y|?{@yeVٓHEÛ?@?@#`(<4? ?)|? I٘i)I9Sn@Y G Jϙ<B=J2JJJE&Kw> Yy^~?yUUA@SEj7j7G9)B[[O @[M^~?[r[[[[BZYY i) a@))>@>@m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034899.383165 s, next control iter: 1743034899.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8398&, header.stamp.nsec: 0&0 temperature: 13.386326&* salinity: 33.391644&, density: 1025.000000&* values[0]: 0.697828&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034899.783165 s.h;I~, &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743034899.783309F (some fields omitted in printout)A(\g@AQg@A_~? A+ݩA&"AAvNA"AZAbAjArAzAAAyJ8@A'rAmn@A0AOAQ @AJԿAo5?A<*A9?2Aֽ:A6m BA9?JAֽRA6m ٘i)I9n@Y]G J<C=JJJJ•E&K Yi^~?yxUAVEbG9 B)BE[[a@[^~?[hk[[[[BZYY iKg=) p][[[[BZYY i)  ɇ elevatorAngleAction: 0.084181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743034901.043267F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףg@AŪAg@Ay_~? AǩAT2&"AAWvNA"AZAbAjArAzAAAHA{8@ABrA]p@AR<Ao}A @AֿA?Ar<*A9?2A(׽:Ar BA9?JA(׽RAr ٘i)I9]p@YKG Jk<JJJJ˕E&K Yk<^~?yAbVA^E7"G9)B[[@[e^~?[qV[[[[BZYY i) m Y*^~?yX[FWAG@aE77G9B)BE[[IW@[Q^~?[O[[[[BZYY i) c elevatorAngleAction: 0.084181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743034902.303313F (some fields omitted in printout)AQh@A>Dh@A\_~? AŲA&"AABbvNA"AZAbAjArAzAAAF8@AoӚrAq@AhӻAeA@A ٿAk?A+<*A9?2AdCֽ:ABA9?JAdCֽRA٘i)I9q@YGG J<JJJJӕE&K Y^~?yMXAfE)7ŧ7G9B)BE[[oL@[(^~?[B[[[[BZYY i) 1 elevatorAngleAction: 0.084181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743034903.563288F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333h@A)h@A 1_~? AAMV&"AA!vNA"AZAbAjArAzAAAk7@ATrAEs@APAzA5@A }ۿA?A{ؿ<*A9?2A-ֽ:AGBA9?JA-ֽRAGY@<@y榪樻ٓHc1@«?` YX]~?yc9]YA@nE{7j7G9)sB[[@[]~?[0[[[[BZYY i) @ elevatorAngleAction: 0.084181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743034904.823309F (some fields omitted in printout)AGzi@A1zni@Au_~? AA&"AA uNA"AZAbAjArAzAAAB=6@A.drAu@AM<A;A@A@ݿA@1?A֠<*Aۊ9?2A׽:AzBAۊ9?JA׽RAz٘i)I9u@YG Jt<JJJJE&K Yq]~?yo&ZAvE)7b7bH9)iB[[!@["]~?[ [[[[BZYY i) 1))>sS@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034905.263165 s, next control iter: 1743034905.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034905.663165 s.I~,qj&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8404, header.stamp.nsec: 00 temperature: 13.385050* salinity: 33.391712, density: 1025.000000* values[0]: 0.703776F (some fields omitted in printout)Aj@Ani@A^~? AHA&"AAuNA"AZAbAjArAzAAAȡ`s֗6@ACourA%w@A AAGJ@AQ4߿A?A`<*A9?2ANֽ:A Y5m]~?yt[AM@{E)7b7H9B)aBE[[#@[u]~?[[[[[BZYY i) D 6=))6=T@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034905.683165 s, next control iter: 1743034906.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034906.083165 s.J "J *J 2J TEI~:J*4?BJ*4?nJ<5,T&AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092986< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200712 time: 1743034906.083370F (some fields omitted in printout)A)\5j@A^(j@A5^~? APyAV7&"AA]uNA"AZAbAjArAzAAAmMb6@AHЫrAw@A'AlfA@A`߿Ab/?Aw<*A(9?2A ֽ:AuBA(9?JA ֽRAu٘i)I9w@YG J<C=JJJJE&K YW]~?y\A~E777"H9)\B[[S%@[]]~?[[[[[ZZZZ¸>BZYY i¸>R) 5=5vJA{Gj@AJΉ=j@A ^~? AmAO&"AAOWuNA"AZAbAjArAzAAA?=tt5@A`LrAYBy@AAUA( @AjAn?AL=*Ac9?2A9Hֽ:A BAc9?JA9HֽRA ٘i)I9By@YG J<JJJJE&K Yv,]~?yy ]AE77MH9B)TBڹE[[((@[-]~?[[[[[ZZZZBZYY i) TrAaz@A8<A#xA"@AHA?Ag<*A:9?2A%ֽ:A gBA:9?JA%ֽRA gYm@"@ywx<ٓH1g@C5D??u`  ? ǂ?`?)m@ I٘i)I9z@YG J <J=JJJE&Kw> Y\~?y]A"@E777x!H9#B)KB׹E[[*@[\~?[[[[[ZZZZBZYY i) `*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034907.803165 s, next control iter: 1743034908.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034908.183165 s.¡I~,g &AA(\Bk@A5k@A>q^~? A2]Ab&"AAuNA"AZAbAjArAzAAAx)4H5@A*馚rAR{@A&b<A+4A&$@A`A?A/H<*A(9?2AҚֽ:Ai˸BA(9?JAҚֽRAi˸٘i)I9{@Y/G J<JJJJE&K Y)\~?y'^AE77 %H9$B)GBԹE[[a,@[\~?[[[[[ZZZZBZYY i) =ko: B4))B4s]@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034908.223165 s, next control iter: 1743034908.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034908.603165 s.64ɡI~,&&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034908.603261F (some fields omitted in printout)J"J*J2J:JBJnJvJAQxk@AjIGkk@A]^~? AWA&"AAwtNA"AZAbAjArAzAAAS 5@AprAEP|@A^<<Ah ߼Ap%@AA6?A<*A^9?2A`ֽ:ANq;BA^9?JA`ֽRANq;٘i)I9P|@YG J_<JJJEJE&K Y\~?yz^A DE{7j7(H9)BB[[-@[\~?[*[[[[ZZZZBZYY i) ӎ: 3))3_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034908.623165 s, next control iter: 1743034909.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8407 , header.stamp.nsec: 0 0 temperature: 13.384183 * salinity: 33.391712 , density: 1025.000000 * values[0]: 0.707821 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034909.023165 s.ZСI~,{A&AAHzk@A|G k@AI^~? ARAU0&"AAgtNA"AZAbAjArAzAAA|4@A2!MrA|@Ab;A-A&@A`:A1{?A#<*A9?2AAֽ:A9<BA9?JAAֽRA9<٘i)I9|@YG J0<JJJJE&K Yo\~?y^AE77{78,H9'B)@BйE[[K+/@[\~?[[[[[ZZZZBZYY i) 2; 1))1u`@x)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034909.063165 s, next control iter: 1743034909.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034909.443165 s.7֡I~,>]\&AJ"J*J2J:JBJnJvJAq= k@ANk@A.5^~? AMA&"AAҧtNA"AZAbAjArAzAAA+4@A>rA4}@Ax ǻAՑ;A(@A]A`Ż?A3@<*A$9?2A3ֽ:As<BA$9?JA3ֽRAs<٘i)I94}@YG JZk<JJJJE&K Y\~?y!_AE{7/H9)B)?B͹E[[0@[s\~?[w[[[[ZZZZBZYY i) p9H; >0))>0a@ بYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034909.463165 s, next control iter: 1743034909.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8408, header.stamp.nsec: 00 temperature: 13.383973* salinity: 33.391727, density: 1025.000000* values[0]: 0.708766F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034909.863165 s.+ݡI~,>w&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743034909.863339F (some fields omitted in printout)Al@A2 l@A~ ^~? AHA8&"AAtNA"AZAbAjArAzAAAh*T4@A}yADrA x}@A7EFA#<AV)@AA@.?Agq;*Aח9?2Aֽ:A<BAח9?JAֽRAJJJE&K Y,\~?y_AR)@E7777c3H9*B)>BʹE[[ 1@[~\~?[X[[[[ZZZZBZYY i2r) o^ec; .)).Mc@ܩYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034909.883165 s, next control iter: 1743034910.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034910.283165 s.ARI~,&AJ"J*J2J:JBJnJvJA(\Ol@A QBl@A} ^~? A'DA]R&"AA(itNA"AZAbAjArAzAAAIy4@At")^rA}@AI;AXh=A*@AA`^4?AҬ;*Ag9?2Aֽ:AAo<BAg9?JAֽRAAo<٘i)I9}@YZG J;JJJJE&K YFp\~?y^AEj7j76H9)=B[[XR3@[*e\~?[k[[[[BZYY i)  PL; f-))f-d@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034910.303165 s, next control iter: 1743034910.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8409., header.stamp.nsec: 0.0 temperature: 13.383925.* salinity: 33.391720., density: 1025.000000.* values[0]: 0.709177.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034910.703165 s.ӺI~,&AAQl@AAxl@A-]~? A?A&"AAItNA"AZAbAjArAzAAA0Ŭ3@Ah͌rA}@A>A6=A&+@As_A>n?A[*A9?2A_ֽ:A<BA9?JA_ֽRA<٘i)I9}@YYG J%B=JJJJE&K Y]W\~?ykާ^AE777:H9+B)?BǹE[[e4@[vK\~?[[[[[BZYY i) .:W; Q+))Q+d$f@&zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034910.723165 s, next control iter: 1743034911.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034911.123165 s.9I~,eLJ&AJ"J*J2J:J5?BJ5?nJ^>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743034911.123300F (some fields omitted in printout)AGl@A}^ԭl@A]~? A;A&"AA(tNA"AZAbAjArAzAAAXW3@AfZЅrAt}@A@;A\=A0-@A`A@ԥ?A*AM9?2Aֽ:A=BAM9?JAֽRA=٘i)I9t}@YBG JuC=JJJJ E&K Y{>\~?y8ڧ^AE77#>H9-B)ABĹE[[a6@[1\~?[%[[[[BZYY i) (*A9?2Aս:A =BA9?JAսRA =٘i)I92}@YG JmJJJJE&K Y%\~?y֧^AE77AH9.B)EBE[[i7@[-\~?[[[[[BZYY i)  5vJAffff&m@AI[m@A]~? A2A&"AAIsNA"AZAbAjArAzAAAdA 3@A_rA|@AR<Av=A/@A ,#A ?An*A9?2Aս:At=BA9?JAսRAt=Y!@/@y=ZS<ٓHyؿ@X `?`Tk>?@N@\??)!@ I٘i)I9|@YG JpUJ=JJJE&K.w> Y \~?yҧ<^A/@E{7{7MEH90B)IBE[[8@[0[~?[[[[[BZYY iR|h) k2@AWgyrAn{@AH',AG=A3@AAz?AB*A?9?2Aֽ:A =BA?9?JAֽRA =٘i)I9n{@YG JJJJJE&K YB[~?yzȧ(]AEb7PH94B)XBE[[<@[r[~?[ݧ[[[[BZYY i) ;IFD?iL?<  #)) #n@yhժYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034913.243165 s, next control iter: 1743034913.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034913.643165 s.{I~,*i&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419996J2 time: 1743034913.643285F (some fields omitted in printout)"J*J2J:JBJnJvJA ףpm@A@gm@A)Y]~? A#A &"AA\sNA"AZAbAjArAzAAA=a=1@A0W0wrAz@AQVAS8=AL5@A@oA?AJ*A9?2Aֽ:A'n=BA9?JAֽRA'n=٘i)I9z@YG JJJJJE&K Y-[~?yŧ\AE7SH95B)^BE[[*#>@[[~?[ۧ[[[[BZYY it) ;IAD?i^?< ^5"))^5"Wo@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034913.663165 s, next control iter: 1743034914.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8412, header.stamp.nsec: 00 temperature: 13.384384* salinity: 33.391720, density: 1025.000000* values[0]: 0.707345F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034914.063165 s. I~,_ &AA33333n@A)&n@AA]~? AAy)!&"AA\9sNA"AZAbAjArAzAAA@+C1@AurARz@A@TA.K=A%^6@A@|DA'?A*A&9?2Apֽ:A=BA&9?JApֽRA=Y M(@.S6@yI=ٓH@mҿ@8j?``r?qdx $?) M(@ I٘i)I9Rz@Y[G J\J<JJJE&Kx> Y$[~?y§d\AS6@E778WH96B)dBE[[y?@[|[~?[Pڧ[[[[BZYY i) d;ID?i*j?<  )) "Kq@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034914.083165 s, next control iter: 1743034914.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034914.483165 s.u_'I~,있&AJ"J*J2J:JBJnJvJA\hn@Aƨk[n@A *]~? AEA:l!&"AAsNA"AZAbAjArAzAAAvh1@A3XsrAy@A]8AMG=Ai7@A@vA?A*Ao9?2Aeֽ:A3=BAo9?JAeֽRA3=٘i)I9y@YG JJJJJ!E&K Ym[~?y[AE7{7ZH98B)jBE[[@@[b[~?[-٧[[[[BZYY i)  (;I$D?iDw?@< t))t6r@ ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034914.503165 s, next control iter: 1743034914.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8413, header.stamp.nsec: 00 temperature: 13.384682* salinity: 33.391731, density: 1025.000000* values[0]: 0.706238F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034914.903165 s.-I~,͹&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201552 time: 1743034914.903447F (some fields omitted in printout)AQn@A"n@A']~? AA!&"AArNA"AZAbAjArAzAAA0 1@Av6qrA)y@ACQ<ATږ=A$8@A`ͦA7?Ar*A9?2A*ֽ:AB=BA9?JA*ֽRAB=٘i)I9)y@YG JEJJJJ#E&K YR[~?yx[AEŧ7b7c^H9)nB[[B@[H[~?[6ا[[[[BZYY i) ,:I; E?i?0'< z))z; t@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034914.923165 s, next control iter: 1743034915.303184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034915.323165 s.u4I~,!Ԉ&AJ"J*J2J:JBJnJvJAGzn@AOon@A\~? A A !&"AALrNA"AZAbAjArAzAAA(fz0@A29orAx@AdU<A\=A+:@AA 4?A *A 9?2A&ֽ:A=BA 9?JA&ֽRA=٘i)I9x@YKG JJJJJ&E&K Y7[~?y+[AE77aH99B)tBE[[7oC@[/[~?[lק[[[[BZYY i) JA:I5E?iZ?^2< ҷ))ҷgu@yg˪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034915.343165 s, next control iter: 1743034915.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8414*, header.stamp.nsec: 0*0 temperature: 13.384957** salinity: 33.391724*, density: 1025.000000** values[0]: 0.705058*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034915.743165 s.W;I~,&AAףp= o@A=`2n@A\~? A'A#"&"AArNA"AZAbAjArAzAAAz؍0@AvmrAx@A3:(<A\=A};@A AP?A *A9?2A]ֽ:Ag=BA9?JA]ֽRAg=٘i)I9x@YG JJJJJ)E&K Y[~?ydZAE{7j7eH9:B)zBE[[ջD@[k[~?[֧[[[[BZYY i) ;I-)E?i?>< [))[5v@ǪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034915.763165 s, next control iter: 1743034916.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034916.163165 s.z}BI~,q &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420004J2 time: 1743034916.163291"JF (some fields omitted in printout)*J2J:JBJnJvJA@o@Am2o@AM\~? AlAZ"&"AArNA"AZAbAjArAzAAA1'MC0@AgЈkrAzyw@AU;A=A0<@A2+A/?AŽ*A\9?2Aֽܱ:A<BA\9?JAֽܱRA YI[~?ydZA<@E77#iH9;B)BE[[; F@[Z~?[V֧[[[[BZYY i) I9E?i8?fE< )) x@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034916.183165 s, next control iter: 1743034916.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034916.583165 s.HI~,S%&AA)\uo@A닄ho@A\~? A A"&"AA^rNA"AZAbAjArAzAAA/@A!^8jrAv@AHAڗ=A0,>@ASA?AV*AZ9?2Aֽ:AS<BAZ9?JAֽRAS<٘i)I9v@YNG JJJJJ.E&K YZ~?y ZAEj7Z7lH9B)BE[[H@[Z~?[է[[[[BZYY i) ́DI&]E?i@?]W< ]J))]JXz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034917.023165 s, next control iter: 1743034917.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034917.423165 s.uVI~,[&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034917.423284F (some fields omitted in printout)A{Go@Az):o@A~\~? A* A"&"AALrNA"AZAbAjArAzAAA.@A:#b]grAu@A=A =Az@@A`AQ?AH*A9?2A,ֽ:AF<BA9?JA,ֽRAF<٘i)I9u@YG JJJJJ3E&K YZ~?yEYAƕE)7ŧ7sH9?B)BE[[ Y8uZ~?y?XAYC@̕E77{H9AB)BE[[L@[{Z~?[x֧[[[[BZYY i 7) IE?ia?/t<  Z)) Z~@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034918.283165 s, next control iter: 1743034918.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 84172, header.stamp.nsec: 020 temperature: 13.3856982* salinity: 33.3917392, density: 1025.0000002* values[0]: 0.7020412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034918.683165 s.J "J *J ljI~2J,&A:J3?BJ3?nJs<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743034918.683271F (some fields omitted in printout)A(\p@A-wfup@A3\~? AUAc#&"AA֠qNA"AZAbAjArAzAAA :,@AcrAt@A`D<Aְ=A5D@AA?Ay*Aw9?2ALFֽ:Aw4<BAw9?JALFֽRAw4<٘i)I9t@YG JJJJJ;E&K YYZ~?yv2XAϕE7777~H9BB)BE[[CM@[bZ~?[֧[[[[BZYY i) 1N޻IE?i?X}< {)){@㶪YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743034918.683165 s, next control iter: 1743034919.083191 s, wait time: 0.400026 s rAdjusting time to match Gazebo time: 1743034919.103165 s..qI~,Ɖ&AAQp@A5Ep@A\~? AA8#&"AAOzqNA"AZAbAjArAzAAA &^,@AwbrA=t@AQK<AY+=ArE@A@$ A?AX*A9?2A]ֽ:A4<BA9?JA]ֽRA4<٘i)I9t@YG JJJJJ>E&K Y ?A*A9?2A3ֽ:A>=BA9?JA3ֽRA>=٘i)I9s@YMG J JJJJAE&K Y Z~?y䬧WAԕEŧ7b7΅H9CB)BE[[TP@[0Z~?[pا[[[[BZYY i) eIE?i?< ))gL@ypܶYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034919.543165 s, next control iter: 1743034919.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8418, header.stamp.nsec: 00 temperature: 13.385923* salinity: 33.391727, density: 1025.000000* values[0]: 0.701135F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034919.943165 s.^d~I~,[]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743034919.943308F (some fields omitted in printout)Aq= #q@A,q@Aa[~? AA#&"AA,qNA"AZAbAjArAzAAAK'+@A9arA:s@A GAW=ApH@A5A@J?A9*A99?2Aֽ:Awk=BA99?JAֽRAwk=٘i)I9:s@Y G JB=JJJJCE&K YZ~?y%WAוE)7ŧ7dH9DB)BE[[kQ@[Z~?[d٧[[[[BZYY i) IE?i?x< SE))SE1@︪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034919.963165 s, next control iter: 1743034920.343183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743034920.363165 s.I~,}>&AJ"J*J2J:JBJnJvJAYq@AR Lq@A[~? AA#&"AAqNA"AZAbAjArAzAAA<} *@AHl`rAr@AB1A=AF6HA`FAww?AN*A9?2A>"׽:A"=BA9?JA>"׽RA"=Ys;@ BHy=1ٓH1?@, @~``뇿<(E?)s;@ I٘i)I9r@YG JȁC=Ja;JJJFE&KEx> YgY~?y7VABHٕE{7j7H9EB)BE[[LR@[NY~?[ڧ[[[[BZYY i) -Iv F?i2? < s ))s @#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034920.383165 s, next control iter: 1743034920.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8419&, header.stamp.nsec: 0&0 temperature: 13.386164&* salinity: 33.391724&, density: 1025.000000&* values[0]: 0.700274&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034920.783165 s.XI~,2&AA(\q@AHPq@AͲ[~? AAq#&"AApNA"AZAbAjArAzAAA])@AH;_rAQ`r@A SAh=AFATA0?A29*A39?2A2׽:AK-=BA39?JA2׽RAK-=٘i)I9`r@YG JGJJJJIE&K Y(Y~?ySmVAܕE77H9FB)BE[[WT@[Y~?[ۧ[[[[BZYY i) n=I$F?i?(< g ))g '1@.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034920.803165 s, next control iter: 1743034921.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034921.203165 s.I~,;M&AJ"J*J2J:J)3?BJ)3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034921.203326F (some fields omitted in printout)AQq@Adq@A[~? AA#&"AApNA"AZAbAjArAzAAA1Q)@AEV_rA%q@A&\AC=AўEAW`A;ݰ?Ap*A9?2ATֽ:A0=BA9?JATֽRA0=)I٘i)I9q@Y?G JJJJJLE&K YY~?yoVAߕE7{7$H9CB)BE[[m_U@[ZY~?[+ݧ[[[[BZYY i) F?i?Κ< Q| ))Q| у@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034921.223165 s, next control iter: 1743034921.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034921.623165 s.SI~,Lg&AAGq@A;vq@A~[~? A]Af $&"AANpNA"AZAbAjArAzAAAQe(@AQ^rAwq@An:A =A/\DA iA0?A_*A9?2Aj~ֽ:A =BA9?JAj~ֽRA =٘i)I9wq@YG JRB=JJJJNE&K YY~?yUAE7777H9)B[[QV@[@Y~?[ާ[[[[BZYY i) 1\IYF?i?< m= ))m= $q@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034921.663165 s, next control iter: 1743034922.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8420 , header.stamp.nsec: 0 0 temperature: 13.386360 * salinity: 33.391731 , density: 1025.000000 * values[0]: 0.699431 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034922.043165 s.I~,Â&AJ"J*J2J:JBJnJvJA= ף0r@A҈#r@Ae[~? AA$&"AAhpNA"AZAbAjArAzAAAn(@A ^rAp@A<A=A#CA pA?Aر*A9?2A:ֽ:Ak=BA9?JA:ֽRAk=٘i)I9p@YG J&C=JJJJQE&K YhwY~?yZUAEj7NH9DB)BE[[W@[sY~?[a[[[[BZYY i)  kIhuF?io@< ))))F@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034922.063165 s, next control iter: 1743034922.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034922.463165 s.XI~,𤝊&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200602 time: 1743034922.463343F (some fields omitted in printout)Afffffr@A^Yr@A K[~? AA$&"AAApNA"AZAbAjArAzAAAH+gey'@A 4ar^rAnsp@A#W<A\=AAAuA&$?A*A9?2A1ֽ:AO=BA9?JA1ֽRAO=YrYB@!AyX=ܳW<ٓH@c ?)`<%s? 沿q??)rYB@ I٘i)I9sp@YXG JB=JJ<JJJTE&Kw> YY[Y~?yTAAEŧ7b7H9)B|E[[2Y@[Y~?[7[[[[BZYY i) jzIבF?i%@g%< ))@2ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034922.503165 s, next control iter: 1743034922.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8421, header.stamp.nsec: 00 temperature: 13.386605* salinity: 33.391731, density: 1025.000000* values[0]: 0.698501F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034922.883165 s.yI~,Q&AJ"J*J2J:J2?BJ2?nJ;5vJA(r@AWr@A 1[~? AdA#$&"AA;pNA"AZAbAjArAzAAAȺ&@A[-eY^rAuo@Aj!<AXO=Ao~@ANwA[{?A0*A9?2Ahֽ:A=BA9?JAhֽRA=٘i)I9o@YG J C=JJJJVE&K YN?Y~?yTAE{7Z7yH9)ůByE[[WZ@[nY~?[.[[[[BZYY i) IF?iD@$< Ճ))ՃM@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034922.903165 s, next control iter: 1743034923.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034923.303165 s.RI~,fgӊ&AAr@A@r@A [~? AeA7%$&"AAoNA"AZAbAjArAzAAA*) >&@AK~7Z^rA=`o@A:AU=AS&?AwA n+Ak*A9?2Aֽ:Awj=BA9?JAֽRAwj=٘i)I9`o@YG JJJJJYE&K YA#Y~?y)TAE77H9)ɯBvE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #46q/.^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) )7ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034923.323165 s, next control iter: 1743034923.703175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 84222, header.stamp.nsec: 020 temperature: 13.3868512* salinity: 33.3917312, density: 1025.0000002* values[0]: 0.6974792F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034923.723165 s.I~,H&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J: rudderAngleAction: 0.000000"J*J@ elevatorAngleAction: -0.0772542J< massPositionAction: 0.0000004 buoyancyAction: 0.000500:JBJ dt: 0.420065nJvJ2 time: 1743034923.723329F (some fields omitted in printout)Azs@Arr@A Z~? AA#$&"AAioNA"AZAbAjArAzAAA>`a%@AΚu^rAn@AuA=AK=A`:tAO A-E*A=9?2A ׽:A =BA=9?JA ׽RA =٘i)I9n@Y\G JcB=JJJJ\E&K Y0Y~?ySAE{7j7H9)ͯBtE[[\@[?@Y~?[[[[[BZYY i챽) ])IF?i@< )) و@cתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034923.763165 s, next control iter: 1743034924.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034924.143165 s.^/¢I~,(* &AA ףp=s@AR h0s@AZ~? AA$&"AAoNA"AZAbAjArAzAAAq%@A<:^rAJn@AXA=A<AyAAw䧼*AHp:?2A½:AQ =BAHp:?JA½RAQ =٘i)I9Jn@YG JC=JJJJ^E&K Y$X~?y^SAE)7)79H9)үBqE[[^@[n)Y~?[[[[[BZYY i) ʻI:F?i@A< ))$@L۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034924.163165 s, next control iter: 1743034924.543186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743034924.563165 s.ȢI~,g $&AJ"J*J2J:JBJnJvJA3333ss@AҊo(fs@AZ~? AzAQ$&"AA|oNA"AZAbAjArAzAAAd$@Aek_rAm@ANoBA=Ae<A vA;A*Aq:?2A"Ľ:AkL=BAq:?JA"ĽRAkL=YH@ YX~?ysRA<E77ϰH9)֯BnE[[ ?_@[Y~?[W[[[[BZYY i) e0Iv G?i@< ))@۪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034924.583165 s, next control iter: 1743034924.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8423, header.stamp.nsec: 00 temperature: 13.387130* salinity: 33.391701, density: 1025.000000* values[0]: 0.696436F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034924.983165 s.ϢI~,>&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034924.983329F (some fields omitted in printout)A\s@Aqs@AZ~? AA $&"AAUoNA"AZAbAjArAzAAAF^Z#@Ang_rA{.m@A;AĢ=A;A`pA [A{*Ar:?2Aƽ:ArX=BAr:?JAƽRArX=٘i)I9.m@YZG JתJJJJdE&K YٳX~?y9RAE7)7dH9)ۯB[[aw`@[X~?[[[[[BZYY i) Ik.G?i6@< ))]@yߪY/_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034925.023165 s, next control iter: 1743034925.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034925.403165 s.&֢I~,Y&AJ"J*J2J:JBJnJvJAQs@Ams@AZ~? AAd#&"AA-oNA"AZAbAjArAzAAA_H)#@AO_rAl@A;A=A 9A[hAeA*Al:?2A~Ƚ:A=BAl:?JA~ȽRA=٘i)I9l@YG JJJJJfE&K Y5X~?yRAEŧ7b7H9)߯BkE[[a@[X~?[[[[[BZYY i) sI$PG?i@n< +\))+\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034925.423165 s, next control iter: 1743034925.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8424", header.stamp.nsec: 0"0 temperature: 13.387400"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.695389"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034925.823165 s.ܢI~,%t&AAGzt@ACot@A%{Z~? AA#&"AAgoNA"AZAbAjArAzAAA}TP=Ì"@Awk`rAk@AEV<AÕ=A8A\AEAL&*Akc:?2A9N˽:AJ=BAkc:?JA9N˽RAJ=٘i)I9k@YG JJJJJiE&K Y|X~?yŸQAE7)7H9)BhE[[b@[X~?[[[[[BZYY i) IrG?i @< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034925.843165 s, next control iter: 1743034926.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034926.243165 s.I~,q&AJ"J*J2J:J1?BJ1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743034926.243303F (some fields omitted in printout)Aףp=Jt@Ae1=t@AHaZ~? AA#&"AA'nNA"AZAbAjArAzAAA:&!@A~0ĩarAZk@A|Z<A*=Ath7AkNAhAü*AX:?2A5ͽ:Ao=BAX:?JA5ͽRAo=٘i)I9Zk@Y=G JJJJJlE&K Y`X~?yEQAE77$H9)BeE[[d@[$X~?[~[[[[BZYY i) ITG?il%@,< ))+@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034926.263165 s, next control iter: 1743034926.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034926.663165 s.I~,q&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8425, header.stamp.nsec: 00 temperature: 13.387684* salinity: 33.391731, density: 1025.000000* values[0]: 0.694204F (some fields omitted in printout)At@Art@A}GZ~? AAK#&"AAnNA"AZAbAjArAzAAAyPS!@AɧarAj@A9;A=Av6A<A@Aż*AM:?2A2н:Ac=BAM:?JA2нRAc=YWN@<6y=;ٓH@{ ?6ɱҿDN䒿z#'{?m?)WN@ I٘i)I9j@YG J)ļB=JԀ<JJJnE&Kf> YEX~?yPA6E{7j7H9)BbE[[He@[X~?[[[[[BZYY i) KȼIG?iI(@h< K&))K&HƋ@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034926.683165 s, next control iter: 1743034927.063178 s, wait time: 0.380013 sEX~?) rAdjusting time to match Gazebo time: 1743034927.083165 s.DI~,Sŋ&AJ"J*J2J:JBJnJvJA)\µt@AʧǶt@A-Z~? A`A#&"AAnNA"AZAbAjArAzAAA痃ŝ @A5obrAj@AgAۯ=AϬ4A@(AA@ż*AA:?2AhGҽ:A=BAA:?JAhGҽRA=٘i)I9j@YtG JżC=JJJJqE&K Y*X~?y\PAE77{7OH9)B_E[[{f@[-X~?[[[[[BZYY i) ϼIhG?i+@< K))K_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034927.103165 s, next control iter: 1743034927.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034927.503165 s.I~,Y4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743034927.503287F (some fields omitted in printout)ARt@A :!tt@A(Z~? AAѐ#&"AAjnNA"AZAbAjArAzAAA2G @A| crA,ii@AvAA9=AL3A(A@b¿AǼ*Ac6:?2A+ӽ:A=BAc6:?JA+ӽRA=٘i)I9ii@YG JƼJJJJtE&K YX~?yG§OAE77H9)B[[g@[/zX~?[![[[[BZYY i) ּIH?i4/@B< #^))#^R@YFFF]U:Waiting for Gazebo time sync: latest Gz time: 1743034927.523165 s, next control iter: 1743034927.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8426, header.stamp.nsec: 00 temperature: 13.387965* salinity: 33.391705, density: 1025.000000* values[0]: 0.693016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034927.923165 s.5I~,&AJ"J*J2J:JBJnJvJA{G!u@A^}<u@AY~? AAq#&"AAOCnNA"AZAbAjArAzAAAsjy,@A+2U[drA h@A+bA(=A>1A@,AhĿA|˼*A+:?2AXԽ:A9=BA+:?JAXԽRA9=٘i)I9h@Y G J@ɼB=JJJJwE&K YW~?yħsOA E77{7zH9)B\E[[h@[eX~?[[[[[BZYY i) O޼I+H?i@3@q< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034927.943165 s, next control iter: 1743034928.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034928.343165 s.<I~,&AAp= Wu@AwIu@A@Y~? AcAO#&"AAnNA"AZAbAjArAzAAAȣ7@AOb,herACh@A AŶ=A0AA>ƿA@Ҽ*A!:?2A}Iս:A=BA!:?JA}IսRA=٘i)I9h@Y> G JμC=JJJJyE&K Y W~?ypǧNA E77H9)BYE[[j@[6QX~?[ [[[[ZZ¸BZYY i¸@=) .ҼI SH?i7@< ߥ))ߥ뿩c&@ YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743034928.363165 s, next control iter: 1743034928.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8427&, header.stamp.nsec: 0&0 temperature: 13.388294&* salinity: 33.391708&, density: 1025.000000&* values[0]: 0.691751&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034928.763165 s.9 I~,'0&AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082793< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743034928.763267F (some fields omitted in printout)Ǎu@Au@AY~? A`A*#&"AAVmNA"AZAbAjArAzAAA[Μ@AfrA]g@A:A=Ag/A@!A@ȿAbۼ*A:?2Asqս:A|=BA:?JAsqսRA|=Y4T@`e/y울=z:ٓHlW*?`}Uؿ `v@to`^ @S??)4T@ I٘i)I9]g@Y G JּB=JR<JJJ|E&KJ|> YW~?yʧNAe/E77H9) BVE[[9k@[*A(:?2Aս:A+J<BA(:?JAսRA+J<٘i)I9e@Y G J JJJJE&K Y(W~?yѧMAE{7j7H9CB)BQE[[m@[BX~?[U[[[[ZZBZYY i) TꭼI_H?i@@< ))俩;@y=oתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034929.623165 s, next control iter: 1743034930.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8428 , header.stamp.nsec: 0 0 temperature: 13.388633 * salinity: 33.391693 , density: 1025.000000 * values[0]: 0.690375 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034930.023165 s.Z I~,$|&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082793< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743034930.023303F (some fields omitted in printout)AHz.v@Au!v@A}Y~? AEA"&"AAumNA"AZAbAjArAzAAABw@AIkrAd@AkT"<Az=A+AOA~ͿA*Ab.:?2A"Rֽ:A?y<BAb.:?JA"RֽRA?y<٘i)I9d@YA G JJJJJE&K Y2rW~?y*էMAE777dH9)B[[n@[X~?[F[[[[ZZBZYY i) \ӡIH?iD@g< g8))g8⿩@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743034930.043165 s, next control iter: 1743034930.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034930.443165 s.8&I~,B]&AJ"J*J2J:JBJnJvJAq= cv@A|oVv@ApdY~? AAw"&"AA^mNA"AZAbAjArAzAAAc@AlrA d@A9A4=A+*A(A`@OϿA;Ӽ*A0:?2A|ֽ:Aw;BA0:?JA|ֽRAw;٘i)I9 d@Y G JsB=JJJJE&K Y9XW~?yاLAEb7b7H9)#BNE[[o@[W~?[L[[[[ZZBZYY ip=) II?iH@~= +߿))+߿P@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034930.483165 s, next control iter: 1743034930.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8429, header.stamp.nsec: 00 temperature: 13.389020* salinity: 33.391685, density: 1025.000000* values[0]: 0.688737F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034930.863165 s.+-I~,>&AAv@A\Ɏv@AKY~? AAjC"&"AA9mNA"AZAbAjArAzAAAkԱ4ʼ@A *anrAZfc@A^A<A?(AA IпAa਼*A.:?2Aֽ:A$ BA.:?JAֽRA$ Y=[@(y<ٓH:I?H޿r@ab{݃?)=[@ I٘i)I9fc@Yf G J¼C=J^JJJE&Ky> Yo?W~?yܧnLA(E777H9)'BKE[[q@[W~?[{ [[[[ZZBZYY iI.=) %cIi2K@ = ݿ))ݿ٬@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034930.903165 s, next control iter: 1743034931.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743034931.283165 s.6R4I~,Ҍ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069424< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743034931.283315F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\v@AްmQv@A3Y~? AA "&"AAmNA"AZAbAjArAzAAAg9@A+n)prAb@A1uA5!<Aq'AxAvrѿA*A#:?2A*ֽ:AA(&BA#:?JA*ֽRAA(&٘i)I9b@Y G J͘JJJJE&K Y&W~?yILAEb77%H9BB)+BHE[[Ar@[mW~?[$[[[[ZZBZYY i_4=)  IiN@= W4ۿ))W4ۿB@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034931.303165 s, next control iter: 1743034931.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8430., header.stamp.nsec: 0.0 temperature: 13.389317.* salinity: 33.391705., density: 1025.000000.* values[0]: 0.687557.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034931.703165 s.պ:I~, &AAQw@A{v@AY~? AA!&"AAlNA"AZAbAjArAzAAA)xr@AB rrAb@ApPAA=&AA@VҿA)*A:?2A#ֽ:ABA:?JA#ֽRA٘i)I9b@Y G J \B=JJJJE&K Y W~?y]$LA"Eŧ7b7H9).BEE[[ks@[#W~?[)[[[[ZZBZYY i) ^mIi8Q@= ؿ))ؿג@yB=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034931.723165 s, next control iter: 1743034932.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034932.123165 s.5AI~,T&AJ"J*J2J:JBJnJvJAG:w@AV{-w@AY~? AA4!&"AAlNA"AZAbAjArAzAAALP@A1trANb@A;A7Ar$AtA9ӿAȻ*A:?2Asֽ:AkBA:?JAsֽRAk٘i)I9Nb@Y G J C=JJJJE&K Y V~?yKA$E7777PH9)/B[[mt@[:W~?[-[[[[ZZBZYY i) XIiT@2= ֿ))ֿ2l@yh=8)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034932.143165 s, next control iter: 1743034932.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034932.543165 s.IHI~,"&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078225< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743034932.543289F (some fields omitted in printout)A= ףpw@A cw@AX~? A?!AS!&"AAlNA"AZAbAjArAzAAA:781@A\8 vrA1b@AL;AA`#A@AԿAz*A4 :?2A.׽:A˼BA4 :?JA.׽RA˼٘i)I91b@Y G JJJJJE&K YAV~?yKA'ESI787H9)0BBE[[u@[W~?[2[[[[BZYY i) 1DIiX@W = AԿ))AԿu@0*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743034932.563165 s, next control iter: 1743034932.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8431, header.stamp.nsec: 00 temperature: 13.389477* salinity: 33.391666, density: 1025.000000* values[0]: 0.687028F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034932.963165 s.J "J *J 2J |NI~:J/?BJ/?,=&AnJl85vJAffffw@A]w@AX~? A$A~!&"AAlNA"AZAbAjArAzAAA"a@A~9xrA/b@A]"[<A{2ABH"A AԿAQ;*A9?2A|T׽:A~BA9?JA|T׽RA~Ya@Q"ya2W[<ٓHI)9??`11L\?9]?d?r?)a@ I٘i)I9/b@Y G JnB=J+JJJE&Ky> YV~?yLAQ"*Eŧ7ŧ7zH9AB)@E[[`v@[=W~?[6[[[[BZYY iFi=) .3IiZ@" = ѿ))ѿ+@Bp*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034933.003165 s, next control iter: 1743034933.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034933.383165 s.UI~,'X&AA(w@AF!w@A_X~? At(AA &"AA`lNA"AZAbAjArAzAAAwnR@A?xzrA6Jb@AT<A1k[A' AFA@տA;*AT9?2A3<׽:ABAT9?JA3<׽RA٘i)I9Jb@Y G JQ~;C=JJJJE&K YV~?yRLA,E77H9).B=E[[y x@[%qW~?[m;[[[[BZYY i =) ^"Ii]@k = Ͽ))Ͽ8(@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034933.403165 s, next control iter: 1743034933.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8432&, header.stamp.nsec: 0&0 temperature: 13.389502&* salinity: 33.391663&, density: 1025.000000&* values[0]: 0.687009&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034933.803165 s.{A\I~,gs&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034933.803287F (some fields omitted in printout)Ax@A]Px@AjX~? AF,A+ &"AA=lNA"AZAbAjArAzAAA?E @AmM|rAb@A&;A̸{AlA`kA SֿA_?3<*Ax9?2Aֽ:ARBAx9?JAֽRAR٘i)I9b@Y G J <JJJJE&K YxV~?yLA/E{7Z7H9)-B[[3y@[h`W~?[8@[[[[BZYY i) Iiz`@ͪ= SQͿ))SQͿ@Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034933.823165 s, next control iter: 1743034934.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034934.223165 s.gcI~,H&AAzGx@A5Y:x@AX~? A=0AJ5 &"AAlNA"AZAbAjArAzAAA @Ak8rAb@AAʼnA*qA \Ay׿Am<*A>9?2Aֽ:ABA>9?JAֽRA٘i)I9b@Y G JuN<JJJJE&K  I9Y5V~? I9yLA2E7777:I9@B))B:E[[DXz@[PW~?[E[[[[BZYY i) Iic@= ˿))˿N@yjW=ں*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034934.243165 s, next control iter: 1743034934.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034934.643165 s.wiI~, *&AJ"J*J2J:JBJnJvJA ףp}x@Adpx@AEyX~? AX4A&"AAkNA"AZAbAjArAzAAA،3^ @A-9rAHc@ACRA՗A,A@AIؿA/S<*A9?2AZUֽ:AxBA9?JAZUֽRAx٘i)I9Hc@YS G J<JJJJE&K YgV~?yMA4EZ7Z7I90B)B7E[[{{@[@W~?[J[[[[BZYY i) ߻Iig@,= 3ȿ))3ȿߖ@*YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8433, header.stamp.nsec: 00 temperature: 13.389413* salinity: 33.391663, density: 1025.000000* values[0]: 0.687502F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743034934.663165 s, next control iter: 1743034935.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034935.063165 s.pI~, č&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743034935.063300F (some fields omitted in printout)A3333x@A+x@AcX~? A8AB&"AAkNA"AZAbAjArAzAAA1i@AҘzQrAwc@A^hA았AAAUٿAv<*A9?2Ahֽ:AZBA9?JAhֽRAZY&Jh@nyhٓHBe?ذ?@/Y [9? ? `t?)&Jh@ I٘i)I9c@Y G Jw<B=J#JJJE&Kw> YyRV~?y mMA7E77e I9)B[[?|@[30W~?[O[[[[BZYY i) rIiri@g= tƿ))tƿr@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034935.103165 s, next control iter: 1743034935.463182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034935.483165 s.x_wI~,ލ&AJ"J*J2J:J0?BJ0?nJ85vJA\x@AwJx@A8MX~? A<A"A&"AAkNA"AZAbAjArAzAAA (V@A<zrAOd@AaAIAAA=ٿAF~<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Od@Y G J<C=JJJJE&K Y=V~?ygMA:E7{7 I9) B5E[[}@[ W~?[,T[[[[BZYY i) mIik@= [,Ŀ))[,Ŀ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034935.523165 s, next control iter: 1743034935.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8434, header.stamp.nsec: 00 temperature: 13.389212* salinity: 33.391624, density: 1025.000000* values[0]: 0.688433F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034935.903165 s.}I~,&AAQy@A(y@A7X~? A~AAH&"AAkNA"AZAbAjArAzAAA5?OK@A) %rAd@A;AQHA/A`1VAصڿAj<*A99?2A'׽:ArBA99?JA'׽RAr٘i)I9d@YK G J<JJJJE&K Y'V~?y:NA elevatorAngleAction: 0.066433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743034936.323282F (some fields omitted in printout)AGzTy@A6KoGy@AY"X~? A'FA&"AAtkNA"AZAbAjArAzAAAmnG@A4HrAoe@A9<AADAAۿA!<*A9?2Aml׽:A BA9?JAml׽RA ٘i)I9oe@Y G J<JJJJE&K YV~?yNA?E%I9)B[[J@[W~?[^[[[[BZYY i) MIi}q@ۍ= W))WE'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034936.343165 s, next control iter: 1743034936.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8435., header.stamp.nsec: 0.0 temperature: 13.389007.* salinity: 33.391628., density: 1025.000000.* values[0]: 0.689543.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034936.743165 s.WI~,X/&AAףp=y@A$]3}y@Aa X~? AJA4&"AATkNA"AZAbAjArAzAAA)?AErAf@ACm<A7ꞽAoA:AJGܿA<*A9?2Ak׽:Ap@ BA9?JAk׽RAp@ ٘i)I9f@Y G J2<JJJJE&K YU~?y#OABE7I9)B.E[[i@[zV~?[c[[[[BZYY i) (xIit@b= a))ad@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034936.763165 s, next control iter: 1743034937.143290 s, wait time: 0.380125 s rAdjusting time to match Gazebo time: 1743034937.163165 s.v}I~,qJ&AJ"J*J2J:JBJnJvJAy@AK8y@AW~? AOA&"AAw4kNA"AZAbAjArAzAAA+f&_?AIbrA9f@A$<AAp<AzAݿAW#<*Aw9?2A5*׽:ARBAw9?JA5*׽RARYun@Iy8$<ٓHu@+?`i?f ??H?9?)un@ I٘i)I9f@YV G J<JaλJJJE&Kx> Y!U~?y)qOAIDE77{7PI9.B)B+E[[&@[KV~?[Ji[[[[BZYY i) /Iiv@= ))H@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034937.203165 s, next control iter: 1743034937.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034937.583165 s.昣I~,Re&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743034937.583276F (some fields omitted in printout)A)\y@Anضy@AhW~? ATA\t&"AAdkNA"AZAbAjArAzAAA?A,[rA;-g@A9A\AA.A*ݿA~<*Ab9?2Azֽ:AwBAb9?JAzֽRAw(I٘i)I9-g@Y G Jų<JJJJE&K YU~?yL0OAGE777I9/B)B,E[[q@[vV~?[n[[[[BZYY i) ͹Iix@R= ٸ))ٸlٚ@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034937.603165 s, next control iter: 1743034937.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8436, header.stamp.nsec: 00 temperature: 13.388792* salinity: 33.391609, density: 1025.000000* values[0]: 0.690693F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034938.003165 s.z I~,U4&AJ"J*J2J:JBJnJvJAR+z@A¡xz@AjW~? AZA&"AAjNA"AZAbAjArAzAAAs{?A~ȘrAg@AAABA`A޿A1<*AT9?2A$ֽ:ABAT9?JA$ֽRA٘i)I9g@Y G J<JJJJE&K Y)U~?y6EPAJE77{#I9)B)E[[G@[V~?[It[[[[BZYY i) K:Iiz@g = ))i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034938.023165 s, next control iter: 1743034938.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034938.423165 s.uI~,&AA{Gaz@An;Tz@AüW~? Aj_AB&"AAjNA"AZAbAjArAzAAA;. ?A rA`h@AAkAAApA`ZA@7߿Ag<*A49?2ABxֽ:A0aBA49?JABxֽRA0a٘i)I9`h@Ym G Jʶ<JJJJE&K YU~?y=PAME7{7'I9.B)B&E[[aׂ@[V~?[y[[[[BZYY i)  :Ii}@d"= Y))Y\@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034938.443165 s, next control iter: 1743034938.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8437, header.stamp.nsec: 00 temperature: 13.388547* salinity: 33.391602, density: 1025.000000* values[0]: 0.691906F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034938.843165 s.ݬI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743034938.843295F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= z@A#ظz@AvW~? AdAA&"AA6jNA"AZAbAjArAzAAAp~L?A,DUrAh@An=A$A?A,?A߿Av<*A9?2Aֽ:A•BA9?JAֽRA•٘i)I9h@Y G J5<JJJJE&K Y1U~?ygCQAOE77*I9)B[[Xf@[*V~?[{[[[[BZYY i) ;Iip@g$= ))S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034938.863165 s, next control iter: 1743034939.243182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743034939.263165 s.I~,Ў&AAz@A,Dz@AW~? AejAy&"AA5jNA"AZAbAjArAzAAAgmq?A%hrAi@A0AOAA wAPA=<*A;9?2A ׽:AoBA;9?JA ׽RAoYVu@uy-0ٓHM8G?N?@7`ȫ??fl?)Vu@ I٘i)I9i@Y!G J<Ju<JJJE&Ktx> YU~?y\J{QAREj7Z7;.I9)B#E[[d@[V~?[5[[[[BZYY i) D*W;Ii@B%= ݯ))ݯ_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034939.283165 s, next control iter: 1743034939.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 84382, header.stamp.nsec: 020 temperature: 13.3882822* salinity: 33.3915822, density: 1025.0000002* values[0]: 0.6930682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034939.683165 s.lI~,k&AJ"J*J2J:JBJnJvJA(\{@AP"z@AW~? ApAi&"AAÁjNA"AZAbAjArAzAAA[o*?A!.rAj@Ap;A^Al AAiAm<*A,9?2AW׽:A|BA,9?JAW׽RA|٘i)I9j@YtG J<JJJJ–E&K YxU~?yQQQAUE{7j71I9/B)ޯB$E[[@[V~?[[[[[BZYY i) 7;Ii@[&= +))+@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034939.683165 s, next control iter: 1743034940.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743034940.103165 s.I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743034940.103289F (some fields omitted in printout)AQ8{@A;4,F+{@AqW~? AuA8&"AAejNA"AZAbAjArAzAAAd.͆?AcorAj@A d<A7.A A@:AA=.<*A9?2Ar׽:AeBA9?JAr׽RAe٘i)I9j@YG J<JJJJĖE&K Y@gU~?yFX>RAWEZ7e5I9.B)گB!E[[M@[V~?[Ґ[[[[BZYY i)  ٨;Ii@\'= Kb))KbH7@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034940.123165 s, next control iter: 1743034940.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034940.523165 s.ǣI~,{!&AJ"J*J2J:JBJnJvJAHzn{@As a{@A_W~? A{A*&"AAJjNA"AZAbAjArAzAAA?$89¿AguvFQrAek@AXT<AyAr A`n߿A`SAG <*A9?2AM׽:ApBA9?JAM׽RAp󼙘٘i)I9k@YG Jc<JJJEJǖE&K YUU~?y;_RAZE778I9)֯B[[ @[RV~?[[[[[BZYY i=) S};Ii>@E)= W'))W'ƞ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034940.543165 s, next control iter: 1743034940.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8439, header.stamp.nsec: 00 temperature: 13.388083* salinity: 33.391544, density: 1025.000000* values[0]: 0.694140F (some fields omitted in printout)"UU~?)";_ rAdjusting time to match Gazebo time: 1743034940.943165 s.WdΣI~,>]<&AAq= ף{@AF̖{@ANW~? AāA&"AA/jNA"AZAbAjArAzAAAoR'OֿAb rA~k@A4;A4A A ߿AA<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@Y[G J<JJJJʖE&K YDU~?y0fSA]Eŧ7b7W&AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743034941.363284F (some fields omitted in printout)A{@Aq{@A=W~? A㇩A&"AAjNA"AZAbAjArAzAAA>yAjrA6l@A/A1KATDA#U޿A A*<*A9?2Aֽ:ABA9?JAֽRAY{@}>yJhٓH`#?Z?n?@?`u?){@ I٘i)I9l@YG JE<JH'<JJJ͖E&KUx> Y5U~?ym\SA>_E&@I9)ͯB[[@[kV~?[[[[[BZYY i) iNA"AZAbAjArAzAAA`AfbrAl@A.UAQXAA@ݿAAAjj<*A9?2AOֽ:ABA9?JAOֽRA٘i)I9l@YG J<JJJJϖE&K Y&U~?y!uSAbEj7Z7CI9.B)ʯBE[[O@[aV~?[[[[[BZYY i) )))>@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034942.223165 s, next control iter: 1743034942.603183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743034942.623165 s.XI~,a⧏&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743034942.623282F (some fields omitted in printout)AGz|@Am|@A W~? AߚA-&"AAiNA"AZAbAjArAzAAA{}5AkOrAwm@A9AAl\AܿAAT<*Ap9?2A!ֽ:A BAp9?JA!ֽRA ٘i)I9wm@YG J<JJJJՖE&K YU~?ynTAgE7777JI9-B)¯BE[[l@[aMV~?[ݴ[[[[BZYY i) D1 YcT~?yt)UAmE77j7RI9.B)BE[[l@[;V~?[>[[[[BZYY i) ;P elevatorAngleAction: 0.075645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743034943.883284F (some fields omitted in printout)A(}@Ah}@A*V~? AA&"AA.iNA"AZAbAjArAzAAA~Auܺ>qrAn@AFj<AAzZA+ٿAA<*A9?2A[`׽:ATBA9?JA[`׽RAT٘i)I9n@Y^G Jʋ<JJJJݖE&K YT~?y\UAoE7ŧ7UI9)B[[G@[o2V~?[Ǩ[[[[BZYY i) _ elevatorAngleAction: 0.084579< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743034945.143292F (some fields omitted in printout)A ףp}@AZEh}@AjV~? AléA &"AAPGiNA"AZAbAjArAzAAAl9XWAnVٵrAUp@Ar9&A2VA?A]E׿A@gA<*A9?2Agֽ:AоBA9?JAgֽRAо٘i)I9Up@YFG JƝ<B=JJJJE&K YT~?yVAwE77{7f`I9.B)BE[[ȼ@[V~?[ڨ[[[[BZYY i) 2 YӱT~?yV WAizE77cI9)B[[I@[V~?[[[[[BZYY i) /z elevatorAngleAction: 0.084579< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034946.403287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^~@A-Q~@AʒV~? AةA{&"AAiNA"AZAbAjArAzAAA+窓Afu rA%q@A$AϟA66A@&ԿA`AY<*A9?2Aֽ:AZBA9?JAֽRAZ٘i)I9q@YEG J<JJJJE&K Y=T~?y˨WAE7&kI9)B[[c@[1V~?[[[[[BZYY i)  elevatorAngleAction: 0.084579< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743034947.663293F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8446, header.stamp.nsec: 00 temperature: 13.386567* salinity: 33.391453, density: 1025.000000* values[0]: 0.701454F (some fields omitted in printout)A@AU~@A|rV~? AA1&"AAhNA"AZAbAjArAzAAAAU[J rAɬs@AL<AcWAg>A XҿAAܴ<*Ay9?2A%׽:ABAy9?JA%׽RAY@Q`yTELM<ٓHϿ ?Be?;dϿxE? T$?뒉?`?)@ I٘i)I9s@YNG Jذ<JZJJJE&KJx> YT~?yYA`Eŧ7ŧ7uI9)B[[i @[U~?[^[[[[BZYY i) F^(rAHt@A$;AyGA A05ѿA@Ai(<*A9?2Aνֽ:Ac,BA9?JAνֽRAc,٘i)I9Ht@YG J޸<JJJJE&K Y|T~?yfYA DE{7j7|yI9)B[[땏@[U~?[[[[[BZYY i) J elevatorAngleAction: 0.084579< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034948.923309F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@AԻx?@AVV~? A~A|&"AAhNA"AZAbAjArAzAAAܸG A7$dsAZu@AdYAAA@οAs(A%I<*AX9?2Aֽ:AlBAX9?JAֽRAl٘i)I9u@YxG Jp<JJJJE&K YsnT~?ypqZAE77j7I9,B)BE[[|@[U~?[&[[[[BZYY i) =Fv@AB^AYܱA]߿A@oͿANA <*A89?2A;:ֽ:ABA89?JA;:ֽRA٘i)I9Fv@YG Jl<JJJJE&K YggT~?yZAE774?BJ>4?,p&AnJ=5vJA @Au@AsFV~? AA&"AAhNA"AZAbAjArAzAAA1/ A܊) sAv@Ap޻AAlܿAT;˿AsA1<*Af9?2Aֽ:ABAf9?JAֽRAY@XܿyugJ߻ٓHi#ÿ I?1K?@b AIÿ̵?O?{?)@ I٘i)I9v@YPG Jl<B=J2JJJE&Kx> Y+cT~?y[[AXܿEb77҇I9)uB[[Ƒ@[U~?[j"[[[[BZYY i)  elevatorAngleAction: 0.084579< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743034950.183290F (some fields omitted in printout)A(\B@Af5@A&?V~? AA&V&"AA?hNA"AZAbAjArAzAAAۓ+ Az}sAw@A$Ij;A]uAٿA _ɿAA<*Aě9?2A'ֽ:A+BAě9?JA'ֽRA+٘i)I9w@YG J<C=JJJJE&K Y^T~?yX[AE77fI9)oBE[[R@[QU~?[)[[[[BZYY i) GsAXx@A[_E<Ao;AֿAǿAA<*AA9?2A7׽:AVBAA9?JA7׽RAV٘i)I9Xx@Y&G J$<JJJJE&K YZT~?y !J\AE7I9)iB[[ޒ@[|U~?[/[[[[ZZZZ¸>BZYY i¸>z) ]ܑ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083242< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034951.443277F (some fields omitted in printout)Aq= @A_ր@AY,V~? A4A &"AA~nhNA"AZAbAjArAzAAA1HAl`@sAjy@A<AA ѿAÿA|A?<*Aˠ9?2A*ֽ:ABAˠ9?JA*ֽRA򼙘٘i)I9y@Y G Jx<JJJJ E&K Y&AA@A>B͐ @A'V~? A;A &"AA"fhNA"AZAbAjArAzAAA9 AЊ"sA z@APuAAQϿAA A=*A9?2Ǎֽ:AҿBA9?JǍֽRAҿY8@XOϿyuٓH騿 6?r?@  `?%?`N`?)8@ I٘i)I9z@YG J=B=J=JJJE&K6x> YPT~?y9;]AOϿEb77I9)WB[[E@[5U~?[C[[[[ZZZZBZYY i) 9&BA5Jv;sA}@A͊<A;A`¿A A@\A"<*A>9?2A6;ֽ:AE<BA>9?JA6;ֽRAEG>JJJE&Kv> YLT~?y6g,_A]¿Eŧ7b7I9)=B[[Dǿ[U~?[e[[[[ZZZZBZYY iy) 6phNA"AZAbAjArAzAAAC^ςANsA}@AEۻAZ=A~ⷿAD|ADvA+N*A9?2Aֽ:AnT<BA9?JAֽRAnT<٘i)I9}@Y|G JJJJJ(E&K YRT~?yx_AEb77I9)=B[[|[JU~?[[[[[BZYY i) $i3 ?)@ I٘i)I9}@YWG J J`>JJJ+E&K YWT~?y.^AUE)7ŧ7I9)?BE[[L[BU~?[:[[[[BZYY ih) hNA"AZAbAjArAzAAAX_"|Ae'XsAE}@AYPA:=AA@?A LsAt'[*Aޗ9?2Avֽ:A =BAޗ9?JAvֽRA =٘i)I9E}@Y&G J?JJJJ-E&K Ym[T~?y⛩Z^AEŧ7b7'I9)BB[[[U~?[[[[[BZYY i) e6? ?)@ I٘i)I9B{@YG JC=J\=JJJ8E&Kw> YoT~?y\AS˖ESI787|I9)RB[[T[U~?[[[[[BZYY i) >#;Ii@8= G))GGyG5ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034958.183165 s, next control iter: 1743034958.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034958.583165 s.I~,"S&AA)\u@Aӹh@AV~? AyA&&"AALhNA"AZAbAjArAzAAAwv&AqsArz@A;A쥚=A$˥A͸?A CA)*Ac9?2A*qֽ:A =BAc9?JA*qֽRA =٘i)I9z@YG JuJJJJ;E&K YvT~?y ǩ\A͖E)7b7I9-B)XBE[["[U~?[G[[[[BZYY i) :^;Ii܏@$8= o5))o5o5ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034958.623165 s, next control iter: 1743034958.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8457, header.stamp.nsec: 00 temperature: 13.568039* salinity: 33.374992, density: 1025.000000* values[0]: 0.579805F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034959.003165 s.v I~,D4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065867< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743034959.003285F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A-z@A4V~? AwĪA\&"AADQhNA"AZAbAjArAzAAA,uA]usAsz@AH AB=AA?A1A&z*Aj9?2Aֽ:A4=BAj9?JAֽRA4=٘i)I9z@Y7G J3JJJJ=E&K Y}T~?yϩ'\AЖEj7j7I9)]B[[﬿[_U~?[嵩[[[[BZYY i) !;Iia@o7= ))ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034959.023165 s, next control iter: 1743034959.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034959.423165 s.uI~,ۓ&AA{G@ARy;Ԅ@Al"V~? An̪A&"AA:WhNA"AZAbAjArAzAAA ng8A1zsAUy@A8A=A9?2AF׽:A=BA>9?JAF׽RA=٘i)I9y@YG JJJJJ@E&K YT~?yة[AӖEb77=I9.B)aBE[[[JU~?[[[[[BZYY i) :Ii@'7= Gi ))Gi Gi ЪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743034959.443165 s, next control iter: 1743034959.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8458, header.stamp.nsec: 00 temperature: 13.568317* salinity: 33.374992, density: 1025.000000* values[0]: 0.579093F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034959.843165 s.I~,&AJ"J*J2J:JBJnJvJAp= @AK @A*'V~? A_ԪA(S&"AA]hNA"AZAbAjArAzAAAՍRA;\sAx@A<`hA=AĝAE?A Anͥ*Aʽ9?2A׽:A`=BAʽ9?JA׽RA`=٘i)I9x@YG JcJJJJCE&K Y'T~?yV[AՖE77I9)fB[[[U~?[é[[[[BZYY i) PV&:Ii@.7= k))kk3ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034959.863165 s, next control iter: 1743034960.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034960.263165 s.I~,#&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065867< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743034960.263267F (some fields omitted in printout)AL@Ay?@An,V~? AGܪAd%"AAehNA"AZAbAjArAzAAABEASsApx@A7:A ȓ=A4A`T?AuA6*A9?2Aeֽ:Aձ<BA9?JAeֽRAձ Y T~?yZAKؖE{7hI9/B)kBE[[V[5U~?[ɩ[[[[BZYY i) 0Ii@T5= ;));;˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034960.283165 s, next control iter: 1743034960.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 84592, header.stamp.nsec: 020 temperature: 13.5685672* salinity: 33.3750042, density: 1025.0000002* values[0]: 0.5784562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034960.683165 s.l I~,V+&AJ"J*J2J:J?BJ?nJG5vJA(\@Ag{u@A62V~? A'AB%"AAmhNA"AZAbAjArAzAAANf AyNsAw@A $A=AҰA?AAx*A,9?2Aqֽ:Aƕ=BA,9?JAqֽRAƕ=٘i)I9w@YG JJJJJHE&K YT~?yZAۖEZ7Z7I9)pBE[["[7V~?[Щ[[[[BZYY i) {Ii!@4= k))kkȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034960.683165 s, next control iter: 1743034961.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034961.103165 s.!I~,ؚF&AAQ@A@#H@A8V~? AAӄ%"AAvhNA"AZAbAjArAzAAA u A sA.Zw@A%<Ax=A+AE?A@A"+*A9?2AGֽ:A^=BA9?JAGֽRA^=٘i)I9Zw@YG J)JJJJKE&K YΩT~?yU,ZAݖE7777I9)tB[[[ V~?[֩[[[[BZYY i) _ Ii{@`3= n))nnŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034961.143165 s, next control iter: 1743034961.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034961.523165 s.I~,{a&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065867J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000500*J2J dt: 0.419969:JBJ2 time: 1743034961.523278F (some fields omitted in printout)nJvJAHz@AI @AL?V~? AA%%"AA܀hNA"AZAbAjArAzAAAUO{ A*5ْsAUv@Af<A =AAM~?AIAD*A9?2A?ֽ:Ar =BA9?JA?ֽRAr =٘i)I9v@Y7G JLJJJJNE&K YT~?yYAE(I90B)zB E[[շ[XV~?[ݩ[[[[BZYY i) xRJIi@93= ))쾩dªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034961.543165 s, next control iter: 1743034961.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8460, header.stamp.nsec: 00 temperature: 13.568792* salinity: 33.375004, density: 1025.000000* values[0]: 0.577816F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034961.943165 s.dI~,^|&AAq= #@Aē@AFV~? AAJT%"AAhNA"AZAbAjArAzAAAGO1 AbsAGv@A7<A =AvAT?AFvA *AY9?2Auֽ:AI<BAY9?JAuֽRAI<٘i)I9Gv@YG JdJJJJPE&K YT~?y fYAE)7ŧ7I9)~B[[[wV~?[[[[[BZYY i) HIi@2= ))㾩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034961.983165 s, next control iter: 1743034962.343228 s, wait time: 0.360063 s rAdjusting time to match Gazebo time: 1743034962.363165 s.%I~,>&AJ"J*J2J:JBJnJvJAY@AXᖏL@AjNV~? A>AS%"AAhNA"AZAbAjArAzAAA ? AHsAu@Ad;AX=AnIA }+?AQA1*A9?2Aֽ:AA8<BA9?JAֽRAA8 YT~?y YADEZ7SI7SI91B)B!E[[L[V~?[[[[[BZYY i+) Ii@3[1= .۾)).۾.۾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034962.403165 s, next control iter: 1743034962.763176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8461*, header.stamp.nsec: 0*0 temperature: 13.569029** salinity: 33.375011*, density: 1025.000000** values[0]: 0.577230*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034962.783165 s.U+I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743034962.783313F (some fields omitted in printout)A(\@AO@AVV~? A AR'%"AA"hNA"AZAbAjArAzAAA^)[C ArivsAJu@ARA=AOA`?A;*A*AX9?2A׽:AR5<BAX9?JA׽RAR5<٘i)I9Ju@YJG JkJJJJVE&K YT~?yXAE77{7I92B)B$E[[['V~?[E[[[[BZYY i) JIi@/0= :Ҿ)):Ҿ:ҾxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034962.803165 s, next control iter: 1743034963.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034963.203165 s.3I~,͔&AJ"J*J2J:JBJnJvJAQņ@A@A_V~? AAZ%"AAhNA"AZAbAjArAzAAA*a2m Â㗥sAt@A`AӅ=AzA@h?A+AE*AM9?2Az1׽:AE<BAM9?JAz1׽RAE<٘i)I9t@YG J JJJJXE&K Y&T~?y!SXAEj7Z7}I9)B[[{ޖ[/V~?[[[[[BZYY i) Ii@ /= 6Zɾ))6Zɾ6ZɾPYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034963.223165 s, next control iter: 1743034963.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034963.623165 s.X9I~,a&AAG@A@AhV~? A A{%"AAԽhNA"AZAbAjArAzAAA~AA2sAegt@AMA=AqXA@/M?A A*A99?2A׽:A(<BA99?JA׽RA(<٘i)I9gt@YG J焼JJJJ[E&K YT~?yh)WAEI9)B[[Y[}8V~?[[[[[BZYY i) Ii@ <.= u))uuyg0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034963.643165 s, next control iter: 1743034964.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8462 , header.stamp.nsec: 0 0 temperature: 13.569213 * salinity: 33.375019 , density: 1025.000000 * values[0]: 0.576664 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034964.043165 s.@I~,&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743034964.043303F (some fields omitted in printout)A= ף0@A#@ArV~? A!Ak%"AANhNA"AZAbAjArAzAAA9oœA@#îsADs@A .A =A΃A`-?AȥAɇ*A9?2A ֽ:AXF<BA9?JA ֽRAXF<٘i)I9s@Y|G JvJJJJ^E&K  J9Y3T~? J9yM1WAE777J93B)B(E[[j[mAV~?[-[[[[BZYY i) cIi@j-= ))EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034964.063165 s, next control iter: 1743034964.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034964.463165 s.VGI~,&AAfffff@A1DN_Y@A}V~? A(A?%"AAhNA"AZAbAjArAzAAA@jA JsAus@AӠ;A =AKA`q ?A`uA;*A9?2A!iֽ:A;=BA9?JA!iֽRA;=Y@>yl = ;ٓH@? ?? R@:?౳=v? F?)@ I٘i)I9s@Y5G JՉB=J;JJJ`E&Kw> Y< U~?y8@WA>E=J9)B[[3[JV~?[] [[[[BZYY i) IiV@I+= &))&&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034964.483165 s, next control iter: 1743034964.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8463, header.stamp.nsec: 00 temperature: 13.569394* salinity: 33.375015, density: 1025.000000* values[0]: 0.576189F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034964.883165 s.yMI~,U8&AJ"J*J2J:J?BJ?nJ5vJA(@A! @AˇV~? AI0AI%"AAthNA"AZAbAjArAzAAA5hAܮƷsA s@AS<A(=At}Ao?A)CAE*A9?2A<ֽ:A1=BA9?JA<ֽRA1=٘i)I9 s@YG JpC=JJJJcE&K YCU~?y8@VAE77{7J94B)B+E[[g[DTV~?[[[[[BZYY i) P.Ii-@w*= ɥ))ɥɥYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034964.903165 s, next control iter: 1743034965.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034965.303165 s.WTI~,{gS&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034965.303285F (some fields omitted in printout)Aч@AKć@A V~? A7A%"AAhNA"AZAbAjArAzAAAfxniA0җ8sAr@Az^<A9=AMxA?A 7AJ*Aн9?2ARֽ:A =BAн9?JARֽRA =٘i)I9r@YG JJJJJfE&K YK)U~?yGVAEŧ7b7h J9)B[[[A^V~?[[[[[BZYY i) >Ii4@F9)= ܜ))ܜܜêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034965.323165 s, next control iter: 1743034965.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8464., header.stamp.nsec: 0.0 temperature: 13.569576.* salinity: 33.375019., density: 1025.000000.* values[0]: 0.575652.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034965.723165 s.[I~,Hn&AJ"J*J2J:JBJnJvJAz@AQٰ@AǞV~? A>A-%"AA iNA"AZAbAjArAzAAADaoAsAr@A;AMA=ArAW?AAB*AG9?2Aֽ:Ao =BAG9?JAֽRAo =٘i)I9r@YTG J?B=JJJJhE&K YT8U~?y"O)VAE77J95B)B.E[[끉[hV~?[[[[[BZYY i) ̚MIik@7(= 瓾))瓾瓾ƪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743034965.743165 s, next control iter: 1743034966.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034966.143165 s.]/bI~,$*&AA ףp=@A2g0@AV~? AEAn%"AAiNA"AZAbAjArAzAAAg GAzbsArq@A ?JA\=AYmAx?A QA}{*A9?2ASֽ:Ax=BA9?JASֽRAx=٘i)I9q@YG JC=JJJJkE&K Y[GU~?yVUAE777J96B)B/E[[C[WsV~?[![[[[BZYY i) ]Ii҂@s'= ))`ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034966.163165 s, next control iter: 1743034966.543184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034966.563165 s.hI~,J &AJ"J*J2J:JL?BJL?nJs5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743034966.563279F (some fields omitted in printout)A3333s@A0g+f@AV~? ALA%"AAp2iNA"AZAbAjArAzAAArsAGsAq@Ag>AG=A3hAP?A_A甼*A9?2A4׽:AV=BA9?JA4׽RAV=Yj@jhy=>ٓH@:?@4? k?`'@?J@̇`?)j@ I٘i)I9q@YG JJEI<JJJnE&KLx> YXU~?y]iUAjhE77(J97B)B2E[[A [S~V~?['[[[[BZYY i) TlIiR@ψ%= N))NNp̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034966.583165 s, next control iter: 1743034966.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8465, header.stamp.nsec: 00 temperature: 13.569748* salinity: 33.375000, density: 1025.000000* values[0]: 0.575099F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034966.983165 s.oI~,쾕&AA\@As뛈@AV~? ASA%"AAEiNA"AZAbAjArAzAAAUғA^}sAp@A#eA=A}bA$?AR!A1*A9?2A*׽:A =BA9?JA*׽RA =٘i)I9p@YoG J'JJJJqE&K YjU~?yxdUAEj7j7J9)B[[ĉ[V~?[-[[[[BZYY i) ~{Ii@#= #r))#r#rϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034967.003165 s, next control iter: 1743034967.383184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743034967.403165 s.&vI~,ٕ&AJ"J*J2J:JBJnJvJAQވ@Ad#ш@AbV~? AZA%"AA2ZiNA"AZAbAjArAzAAAK(AŤmsAp@AA.=A]A ?ATA*A9?2Aֽ:AF =BA9?JAֽRAF =٘i)I9p@Y G JȚJJJJsE&K Y~{U~?yikTAEb77SJ9)B5E[[[oV~?[3[[[[BZYY iꮽ) bIi}@i"= ,)`)),)`,)`ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034967.423165 s, next control iter: 1743034967.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8466", header.stamp.nsec: 0"0 temperature: 13.569933"* salinity: 33.375038", density: 1025.000000"* values[0]: 0.574562"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034967.823165 s.|I~,-&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743034967.823287F (some fields omitted in printout)AGz@A!o@AlV~? AaA%"AAoiNA"AZAbAjArAzAAALo6oAsAo@A?:A=AXA%?A ǟA`*A9?2Awֽ:AR=BA9?JAwֽRAR=٘i)I9o@YG JJJJJvE&K YތU~?yYr>TAE7777!J98B)B6E[[|[V~?[S9[[[[BZYY i) Ii{@F6!= p N))p Np NYժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034967.843165 s, next control iter: 1743034968.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034968.243165 s.I~,m&AJ"J*J2J:JBJnJvJAףp=J@A 2=@AV~? ARhA%"AAiNA"AZAbAjArAzAAAr*A{KsAo@A%<A"=A+SA`ن?A\A9*A9?2A3ֽ:A=BA9?JA3ֽRA=٘i)I9o@YwG JkJJJJyE&K Y@U~?yJySA Ej7~%J99B)B9E[[x[V~?[?[[[[BZYY i) =Iidz@@ = <))<<תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034968.263165 s, next control iter: 1743034968.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034968.663165 s.I~,q*&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8467, header.stamp.nsec: 00 temperature: 13.570129* salinity: 33.375038, density: 1025.000000* values[0]: 0.573964F (some fields omitted in printout)A@AW Y˱U~?yoSAaNEŧ77)J9:B)ƯB&sAvGm@ANN:Aϣ=ADCA?A^AW*A9?2ANֽ:AW=BA9?JANֽRAW=&I٘i)I9Gm@YiG J`JJJJE&K YU~?yWRAE77>0J9;B)ЯB?E[[/j[EV~?[O[[[[BZYY i) Iiq@Ǧ= P))PP/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034969.523165 s, next control iter: 1743034969.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8468, header.stamp.nsec: 00 temperature: 13.570347* salinity: 33.375038, density: 1025.000000* values[0]: 0.573340F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034969.923165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ?I~,{&AA{G!@AXXp?@A-W~? A2A~%"AAziNA"AZAbAjArAzAAAFAxb6]sAUl@AIAm=A>A`?A4Acٱ*As9?2AU׽:A=BAs9?JAU׽RA=٘i)I9l@YG JJJJJE&K YkU~?y/RAE7773J9 YuV~?yPQAR4E{7j7:J9=B)BFE[[\[V~?[?`[[[[BZYY i) @Iij@= Ş))ŞŞmYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034970.803165 s, next control iter: 1743034971.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034971.183165 s.˲I~,x˖&AA(\Š@A@A `W~? AAo%"AA-jNA"AZAbAjArAzAAA֙rF¿A~jsAj@A.A=AD/Aÿ?A CAˆü*A9?2Aֽ:A>=BA9?JAֽRA>=٘i)I9j@YG JJJJJE&K Y*V~?ypPAE777>J9)B[[[X[lW~?[e[[[[BZYY i) ȼIif@5= t))tt YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034971.223165 s, next control iter: 1743034971.583182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034971.603165 s.64I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034971.603282F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AI@AqW~? AfAL"%"AA\HjNA"AZAbAjArAzAAAY.߱ޱ?A}EsAW:j@A޼;A=A| *A@B7?A@A̼*Am9?2Ah-ֽ:A=BAm9?JAh-ֽRA=٘i)I9:j@YG JǼJJJJE&K Yv@V~?y#iPA EZ7Z7)BJ9>B)BIE[[S[W~?[j[[[[BZYY i) gϼIid@= +))++YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034971.623165 s, next control iter: 1743034972.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8470 , header.stamp.nsec: 0 0 temperature: 13.570756 * salinity: 33.375065 , density: 1025.000000 * values[0]: 0.572026 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034972.023165 s.ZI~,{&AAHz.@A!@AW~? A-AU%"AAcjNA"AZAbAjArAzAAAFC9?A;hsAi@A/!W<A.=AC%A@=?A`%AӼ*A9?2Aս:A=BA9?JAսRA=٘i)I9i@Y#G JϼJJJJE&K YUV~?yկOA#Eb77EJ9)BLE[[?2O[ -W~?[o[[[[BZYY i) @#׼Iia@n= Lļ))LļLļbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034972.043165 s, next control iter: 1743034972.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743034972.443165 s.4ƥI~,1]&AJ"J*J2J:JBJnJvJAq= c@AJV@AzW~? AեA@%"AANjNA"AZAbAjArAzAAADN!?A8I܆sAjh@AY<Aⰳ=AA@S?A !EAּ*AJ9?2Aֽ:A=BAJ9?JAֽRA=٘i)I9h@Y G JjռJJJJE&K YtkV~?yOA&Ej7j7SIJ9@B)BME[[wJ[7&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743034972.863273F (some fields omitted in printout)A@AC6@A]W~? A`A#%"AAjNA"AZAbAjArAzAAA^I?A.btA#h@A;Az=AlA6?A߿Aּ*A'9?2Aitֽ:A<=BA'9?JAitֽRA<=Yî@Gyy=R;ٓHB?0'?H?`iZ?`Gz?@ ?)î@ I٘i)I9#h@YH G J ׼B=Jf <JJEJE&Kw> YV~?y OAG(E)7ŧ7LJ9)BPE[[?F[LW~?[y[[[[ZZ¸BZYY i¸>=) 3dҼIi[@b = B<))B<B<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034972.883165 s, next control iter: 1743034973.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034973.283165 s.;RԥI~,R&AJ"J*J2J:J%?BJ%?nJ>5vJA(\ϋ@A4HS‹@AW~? A˰A h%"AAjNA"AZAbAjArAzAAA?AZ7tAog@A3tAp+=AA ?A N߿Aռ*A+9?2Alֽ:Aζ=BA+9?JAlֽRAζ=٘i)I9og@Y G J5ּC=JJJJE&K YV~?yNA+Eb77~PJ9AB)BSE[[CmA[A]W~?[~[[[[ZZBZYY i) [ƼIiVX@t = S<))S<S<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034973.303165 s, next control iter: 1743034973.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 84722, header.stamp.nsec: 020 temperature: 13.5712562* salinity: 33.3750762, density: 1025.0000002* values[0]: 0.5704802F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034973.703165 s.պڥI~, m&AAQ@Ah@A5W~? AA_%"AAjNA"AZAbAjArAzAAA-?Au ur tAof@AIDAg׬=ASA?Aa޿A*A9?2Aq ׽:A~<BA9?JAq ׽RA~<٘i)I9f@Yb G J JJJJE&K Y+V~?y{ĪNA.E777TJ9BB) BVE[[<[mW~?[[[[[ZZBZYY i) RIiCU@K}= D=))D=D=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034973.723165 s, next control iter: 1743034974.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034974.123165 s.7I~,]⇗&AJvPublished command to Gazebo (printed only once in a while):"J*J2J( dropWeightState: 1:JBJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084104< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743034974.123331F (some fields omitted in printout)AG:@Ah-@A$W~? AAA*%"AAjNA"AZAbAjArAzAAAUJ?AJ tAe@AffAj=AuX A%?AݿA~*A9?2Aֽ:Aw<BA9?JAֽRAw<٘i)I9e@Y G JJJJJE&K YfV~?ywɪMA0E77WJ9)B[[S*8[W~?[q[[[[ZZBZYY i) JIiR@= @,=))@,=@,=y=ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034974.143165 s, next control iter: 1743034974.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034974.543165 s.II~,â&AA= ףp@Acc@AhW~? AJAm5%"AAGkNA"AZAbAjArAzAAA嬞&V?AmtAe@AfAp=A;A@r?A-ܿAXm*A9?2Aֽ:AU<BA9?JAֽRAU<٘i)I9e@Ya G J\JJJJE&K YV~?ysΪ%MA3E777>[J9)BZE[[3[W~?[[[[[ZZBZYY i) BIiFP@K= v=))v=v=ѧYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034974.583165 s, next control iter: 1743034974.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8473, header.stamp.nsec: 00 temperature: 13.571544* salinity: 33.375069, density: 1025.000000* values[0]: 0.569606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034974.963165 s.~I~, &AJ"J*J2J:J?BJ?nJ5vJAffff@A![@A X~? A3ūA-%"AA:1kNA"AZAbAjArAzAAAXy?ATO!tAEd@AϮ9A,=A3&A ?Ae%ܿAμ*A9?2Aֽ:Ay&;BA9?JAֽRAy&;Y)@$y,=9ٓH ?@I?֢?@޿`?!q5=??))@ I٘i)I9Ed@Y G JJ߽JJJE&Kx> YtV~?yҪLA$6EZ7SI7^J9DB)"B^E[[.[&W~?[[[[[ZZBZYY iB=) B}Ii/L@=  =)) = =rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034975.003165 s, next control iter: 1743034975.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743034975.383165 s.I~,/ؗ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252072> elevatorAngleAction: 0.073858< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743034975.383295F (some fields omitted in printout)A(܌@AWό@A!X~? AɫAtu%"AAPkNA"AZAbAjArAzAAA4v>@ATtA2c@A<Aq<AaAO?A aۿA*A9?2Aֽ:A BA9?JAֽRA ٘i)I9c@Y G JJJJJE&K YEW~?y֪LA8EZ7ibJ9)'BaE[[_6*["W~?[&[[[[ZZBZYY i) IizH@N= =)) ==vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034975.423165 s, next control iter: 1743034975.783176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8474&, header.stamp.nsec: 0&0 temperature: 13.571800&* salinity: 33.375099&, density: 1025.000000&* values[0]: 0.568758&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034975.803165 s.wAI~,{g&AJ"J*J2J:J?BJ?nJ5vJA@AP@A)7X~? AΫAP%"AApkNA"AZAbAjArAzAAAA@AXxltA!c@AU<A8S<AܼAEP?A`ڿA܁*A9?2Aս:A&K BA9?JAսRA&K ٘i)I9!c@Y; G J皼JJJJE&K Y*W~?y&۪wLA;Eŧ7ŧ7eJ9)+B[[%[|W~?[[[[[ZZBZYY i) lIi'E@[< (>))(>(>5SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034975.843165 s, next control iter: 1743034976.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034976.223165 s.gI~,H&AAzG@AX:@ALX~? A$ӫA%"AAkNA"AZAbAjArAzAAAZKL@A;.tABb@Ao<AAY}A@O?AٿA+,*A9?2Aκս:AqBA9?JAκսRAq٘i)I9b@Y G Je_JJJJE&K YBW~?yaߪEb77iJ9EB)/BdE[[ [1W~?[ޞ[[[[ZZBZYY iK=) e\nIi9B@< @!>))@!>@!>y= )YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034976.243165 s, next control iter: 1743034976.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034976.643165 s.x I~,*)&AJ"J*J2J:Jy?BJy?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083268< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743034976.643281F (some fields omitted in printout)A ףp}@AUdp@AbX~? A׫Ah%"AA۱kNA"AZAbAjArAzAAA4]@A%stAb@A0:A_ADB׾A`*?A ٿAΩ*Af9?2Aս:AgBAf9?JAսRAg٘i)I9b@Y G JJJJJE&K Y[W~?yLAAE)7ŧ7)mJ9)1BgE[[g[=W~?[[[[[ZZBZYY i) XIi?@\< 3>tReceived state from Gazebo (printed only once in a while):))0 header.stamp.sec: 84753>, header.stamp.nsec: 03>0 temperature: 13.571918* salinity: 33.375111, density: 1025.000000* values[0]: 0.568262F (some fields omitted in printout)yn"=l)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034976.663165 s, next control iter: 1743034977.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034977.063165 s.I~,R D&AA3333@An8)@AxX~? A۫Ah%"AA#kNA"AZAbAjArAzAAAde&Iv @A=[q tAub@ALA A";AI?AAؿAH*A9?2A}ս:AӼBA9?JA}սRAӼY>@x̾yi ٓHOt?`?`=%ؿZw?@i?7;? ?)>@ I٘i)I9ub@Y G JMB=J8JJJE&Kt> YuW~?y 1LA̾CE77pJ9FB)2BjE[[Ga[ZW~?[.[[[[BZYY i,!l=) sGIii;@y< PF>))/~PF>PF>y=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034977.103165 s, next control iter: 1743034977.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034977.483165 s.x_I~,^&AJ"J*J2J:Js?BJs?nJ5vJA\@AGgۍ@A X~? A߫A%"AAkNA"AZAbAjArAzAAA (3 @A>ЌA"tAlb@A3bAK7A¾A`R?A_q׿A6;*Aޞ9?2Aս:ABAޞ9?JAսRA٘i)I9b@Y G J:C=JJJJE&K YُW~?y}_LAFEb7TtJ9)[[+[X~?[-[[[[BZYY i=) y6Ii7@< Y>)) Y>Y>yZ=v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034977.503165 s, next control iter: 1743034977.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8476, header.stamp.nsec: 00 temperature: 13.571916* salinity: 33.375126, density: 1025.000000* values[0]: 0.568142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034977.903165 s.I~,y&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743034977.903286F (some fields omitted in printout)AQ@An@AX~? AAs%"AAlNA"AZAbAjArAzAAAw𸣺 @AH;$^%tATb@A@@A$\A3A ?A`ֿAr7 <*A9?2AԽ:AsBA9?JAԽRAs٘i)I9b@Y G J;JJJJE&K YW~?yLAIE77{7wJ9)1BmE[[ [&X~?[[[[[BZYY i) $Ii4@xp< l>))l>l>y e=ܔ*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743034977.923165 s, next control iter: 1743034978.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034978.323165 s.{$I~,:&AJ"J*J2J:JBJnJvJAGzT@ARrG@AX~? AA'%"AAv9lNA"AZAbAjArAzAAAM5iV@A_]'tAmb@A3rAP_yAFA?A`TտA:<*Ae9?2A'ս:A*BAe9?JA'սRA*٘i)I9b@Y G J"<JJJJE&K YW~?y]LAKEŧ7b7{J9HB)qE[[w [:X~?[粪[[[[BZYY i) ]Ii0@x< >))>>y8=˨*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034978.343165 s, next control iter: 1743034978.723181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8477*, header.stamp.nsec: 0*0 temperature: 13.571744** salinity: 33.375134*, density: 1025.000000** values[0]: 0.568426*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034978.743165 s.W+I~,m&AAףp=@A1}@AX~? AUAT%"AAY\lNA"AZAbAjArAzAAAH @Av()tACc@A;A7A_{A?AԿAֵb<*A9?2Ayս:An BA9?JAyսRAn ٘i)I9Cc@YQ G JM<JJJJE&K YW~?yLANEb77J9).BtE[[OP[dOX~?[[[[[BZYY i) Ii:.@< >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034978.783165 s, next control iter: 1743034979.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743034979.163165 s.J t}2I~"J*J2J,qʘ&A:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743034979.163282F (some fields omitted in printout)A@AjM@A%X~? AAҗ%"AAlNA"AZAbAjArAzAAACaܣ'@A4 ,tA c@A>O<AzKAߘA6?AԿAȂ<*A99?2Aֽ:A BA99?JAֽRA Yfw@VyzHtnP<ٓH?@ YW~?yfLMAVQE77J9IB)+BwE[["[cX~?[+[[[[BZYY im=) fIi)@W< >)){>>K*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034979.183165 s, next control iter: 1743034979.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743034979.583165 s.8I~,R&AA)\@AV}@AY~? A?A1T%"AA5lNA"AZAbAjArAzAAA( F@A/JN*.tAvd@AK<A3A {Ai?A6ӿApp<*Ai9?2A*ֽ:A BAi9?JA*ֽRA ٘i)I9d@Y G J<JJJJE&K YX~?yMASE7?J9)(BzE[[[xX~?[[[[[BZYY i) `ƻIi%@|+< >)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034979.603165 s, next control iter: 1743034979.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8478, header.stamp.nsec: 00 temperature: 13.571459* salinity: 33.375145, density: 1025.000000* values[0]: 0.568926F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034980.003165 s. @I~,r4&AJ"J*J2J:JBJnJvJAR+@AXy@AY~? AzA}%"AA)lNA"AZAbAjArAzAAAk*g@AA#0tAѡd@Az;ACAA@?ASҿAۿ<*A59?2AԽ:A*BA59?JAԽRA*٘i)I9d@Y& G J^<JJJJėE&K Y.X~?yNAVEŧ7b7ԉJ9)$B[[[X~?[[[[[BZYY i) %Ii"@< .>)).>.>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034980.043165 s, next control iter: 1743034980.403182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743034980.423165 s.uFI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743034980.423290F (some fields omitted in printout)A{Ga@A';T@A2Y~? AA%"AAplNA"AZAbAjArAzAAA$eЊ@A g12tA2e@A2AU*A>uA?A|ѿA<*A9?2AswԽ:Ac!BA9?JAswԽRAc!٘i)I92e@Y~ G Jk<JJJJǗE&K YIX~?y1pNAYE{7{7iJ9) B}E[[@[nX~?[=Ī[[[[BZYY i) VIi@Y< ߯>))߯>߯>y n=i*Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034980.443165 s, next control iter: 1743034980.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8479, header.stamp.nsec: 00 temperature: 13.571112* salinity: 33.375156, density: 1025.000000* values[0]: 0.569602F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034980.843165 s.LI~,5&AJ"J*J2J:J?BJ?nJ5vJAp= @A@AJY~? AA%"AAmNA"AZAbAjArAzAAAǰ@AO1R3tAe@A AAقAgaA?A@пAM{<*A9?2AԽ:A BA9?JAԽRA ٘i)I9e@Y G J2<JJJJɗE&K YdX~?yNA[E77J9)BE[[ ؾ[DX~?[bǪ[[[[BZYY i) UIi@Y< >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034980.863165 s, next control iter: 1743034981.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034981.263165 s.TI~,#P&AȀ@AL4H@APcY~? AJAb%"AA4mNA"AZAbAjArAzAAAJf@As#5tAHjf@AwtXAALA ?A؀ϿAj<*A9?2Aս:AC9 BA9?JAսRAC9 Y@#KyYٓH G?`/s?M`Aɿ`[?k?[?`[?)@ I٘i)I9jf@Y< G Jʻ<Jg9JJJ̗E&Kt> YX~?y:OAK^E777J9JB)BE[[ξ[ X~?[\ʪ[[[[BZYY i) cIiv@< >>))Ey>>>>a*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743034981.283165 s, next control iter: 1743034981.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 84802, header.stamp.nsec: 020 temperature: 13.5706772* salinity: 33.3751752, density: 1025.0000002* values[0]: 0.5703752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034981.683165 s.lZI~,k&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243430> elevatorAngleAction: 0.058093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743034981.683276F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AT@A{Y~? AAj-%"AAZmNA"AZAbAjArAzAAABAW^@AJ" 7tAvg@AnAMAf7AbH?AͿA[<*A9?2A-ս:ABA9?JA-սRA٘i)I9g@Y G J<JJJJϗE&K YOX~?yFOAaEj7j7*J9)BE[[+ž[+X~?[<ͪ[[[[BZYY i: =) غIiM@< >)) >>^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034981.683165 s, next control iter: 1743034982.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743034982.103165 s.aI~,&AAQ8@AUE+@AY~? AgA]%"AApmNA"AZAbAjArAzAAA/@ALZ8tAٜg@A;AA"A r?A˿AS<*A:?2AԽ:AmBA:?JAԽRAm٘i)I9g@Y G J <JJJJїE&K YX~?y PAcE)7ŧ7J9) BE[[d[X~?[Ϫ[[[[BZYY i) Ii@ƺ< >))>>7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034982.143165 s, next control iter: 1743034982.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743034982.523165 s.gI~,|&AJ"J*J2J:JBJnJvJAHzn@Al a@AY~? AA[%"AAmNA"AZAbAjArAzAAAZ9Rw^@Aϝ:tAc*h@A-<AQ㎽A@ A?AʿAZ<*A:?2Aս:A}pBA:?JAսRA}p٘i)I9*h@YL G Jp<B=JJJJԗE&K YX~?yrPAfEŧ7b7UJ9) BE[[}[gY~?[Ҫ[[[[BZYY i) 9Ii. @4n< 9>))9>9>*Yc YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034982.543165 s, next control iter: 1743034982.923182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8481, header.stamp.nsec: 00 temperature: 13.570286* salinity: 33.375187, density: 1025.000000* values[0]: 0.571195F (some fields omitted in printout)"X~?)" rAdjusting time to match Gazebo time: 1743034982.943165 s.[dnI~,O]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066918< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743034982.943309F (some fields omitted in printout)Aq= ף@A"h̖@AY~? AAZ%"AAmNA"AZAbAjArAzAAAAȎ@A9R`;tA[h@Arf`<A ȋAAn?AQ?ȿAf<*A :?2ATtս:A>uBA :?JATtսRA>u𼙘٘i)I9h@Y G JU<C=JJJJחE&K YVX~?y PAiE777J9)B[[[t)Y~?[(ժ[[[[BZYY i) Y:Ii; @X< -x>))-x>-x>y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034982.963165 s, next control iter: 1743034983.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034983.363165 s.uI~,p>י&AJ"J*J2J:JR?BJR?nJm5vJAِ@A?6ɏ̐@AY~? A Acw%"AA&mNA"AZAbAjArAzAAAO@Ar6ս:ABA2 :?JA>սRAY_@6ZʽySap<ٓH@?p?]Q420?+h(??2?)_@ I٘i)I9/i@Y G J9<J<JJJٗE&Kt> Ys Y~?y^ 6QAZʽkESI7SI7J9)BE[[=ܝ[l@Y~?[ת[[[[BZYY i) C;Ii@+< yC>))gwyC>yC>B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034983.403165 s, next control iter: 1743034983.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8482&, header.stamp.nsec: 0&0 temperature: 13.569916&* salinity: 33.375198&, density: 1025.000000&* values[0]: 0.571910&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034983.783165 s.T{I~,&AA(\@ASςP@ASY~? A AyQ%"AAxnNA"AZAbAjArAzAAAR-<@Avϼ=tAi@A֯9AuA`A@ ?AȚĿA2<*A :?2Aս:A,;BA :?JAսRA,;٘i)I9i@Y8G Jƕ<JJJJܗE&K Y'Y~?y= QAnE{7j7J9)BE[[[WY~?[٪[[[[BZYY i) ZS;IiO@o<< ">))9Dž">">*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034983.803165 s, next control iter: 1743034984.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034984.203165 s.I~, &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J< rudderAngleAction: -0.261286*J> elevatorAngleAction: 0.0669182J< massPositionAction: 0.0000004 buoyancyAction: 0.000500:J dt: 0.420024BJ2 time: 1743034984.203285F (some fields omitted in printout)nJvJAQE@Aqn8@AZ~? At A.%"AA=nNA"AZAbAjArAzAAAf  @Aq>tAe*j@A\mA셽A0hrA ?Aུ¿A9<*AC$:?2AJӽ:ABAC$:?JAJӽRA٘i)I9*j@YG J?<JJJJߗE&K YCY~?y QAqE7{7J9)BE[[% [RoY~?[۪[[[[BZYY i) ~;Ii?M<  ?))  ? ?:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034984.223165 s, next control iter: 1743034984.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034984.623165 s.UI~,T'&AAGz@Am@Ac,Z~? AA%"AAdnNA"AZAbAjArAzAAA_x @Auy?tA j@AG]AA"A!?A 5A@<*A%:?2A2$Խ:A'BA%:?JA2$ԽRA'٘i)I9j@YG J`<JJJJE&K Y_Y~?y KRAsE{7j7?J9)BE[[Y[7Y~?[ݪ[[[[BZYY i) ŧ;Ii?<  ?)) ? ?*Y9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034984.643165 s, next control iter: 1743034985.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8483 , header.stamp.nsec: 0 0 temperature: 13.569545 * salinity: 33.375229 , density: 1025.000000 * values[0]: 0.572608 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034985.043165 s.I~,B&AJ"J*J2J:J?BJ?nJ5vJA= ף@A×@AFZ~? A_AK%"AAnNA"AZAbAjArAzAAAvK!@Aie5@tA0!k@A4A\AȟA6?A",A<*A$:?2APԽ:A|BA$:?JAPԽRA|٘i)I9!k@YG Jq<JJJJE&K Y{Y~?yRAvE777ԴJ9)BE[[3k[_Y~?[ߪ[[[[BZYY iu͜=) ;Ii?< ?))??*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743034985.063165 s, next control iter: 1743034985.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743034985.463165 s.XI~,]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743034985.463272F (some fields omitted in printout)Affff@AK[ّ@A_Z~? AA%"AA~nNA"AZAbAjArAzAAA윩!@ASbTLAtAk@A5AłAo:AH?A@nAQ؈<*AI":?2AUuս:AzUBAI":?JAUuսRAzUY@f:y7"6ٓH]?-U@MX? ? e?M?pf W?)@ I%I٘i)I9k@YbG J8<J<JJJE&Krt> Y'Y~?yRA:yEŧ7b7jJ9)BE[[W[`Y~?[][[[[BZYY i) =;Ii?y< ?))Hv??ñ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034985.503165 s, next control iter: 1743034985.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8484, header.stamp.nsec: 00 temperature: 13.569208* salinity: 33.375237, density: 1025.000000* values[0]: 0.573267F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034985.883165 s.yI~,/x&AJ"J*J2J:J?BJ?nJ5vJA(@A7S!@AyZ~? AAK%"AAnNA"AZAbAjArAzAAAho\"@AAtAl@Ay;AMAv<A X?AӢAڀ<*A:?2Aֽ:A]ABA:?JAֽRA]A٘i)I9l@YG J<JJJJE&K YiY~?yWSA|E777J9)BE[[#C[Y~?[[[[[BZYY i)  elevatorAngleAction: 0.076564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743034986.723298F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@Ag'z@AZ~? AFA+%"AA(oNA"AZAbAjArAzAAA YH%Z~?y TA= DEŧ77UJ9)ۯBE[[&[ 3Z~?[[[[[BZYY i) ncA elevatorAngleAction: 0.076564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743034987.983322F (some fields omitted in printout)A\(@A;1@AZ~? AAˁ%"AAaoNA"AZAbAjArAzAAAVj%@A8N#ЯCtAh5n@ASIAxA=A ?A BAt<*A:?2A1ս:Aa BA:?JA1սRAa ٘i)I95n@YG J<JJJJE&K YbAZ~?y UAE777J9)ׯBE[[[,LZ~?[p[[[[BZYY i) PA?AB?AX<*A2:?2Aӽ:Au BA2:?JAӽRAu ٘i)I9n@YHG J0<JJJJE&K Y}]Z~?y yUAE)7)7J9OB)گBE[[֭[eZ~?[[[[[BZYY i) A ?A`?AI<*A0:?2A=Խ:Aw BA0:?JA=ԽRAw ٘i)I96o@YG J<JJJJE&K YyZ~?y5 UAE77J9)կBE[[LLR[!Z~?[[[[[BZYY i) 'o elevatorAngleAction: 0.076564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743034989.243304F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=ʓ@Aۧ1@AI[~? AIA%"AApNA"AZAbAjArAzAAA#ߞr'@ACtAo@ANz*;A餖A:>A?ANݝ?A<*A+:?2A ս:Ai BA+:?JA սRAi ٘i)I9o@YG J<JJJJE&K YZ~?yP 6VAEŧ7j7J9NB)ѯBE[[e[Z~?[[[[[BZYY iy=) #A`{?A-?AB<*A&:?2Aս:A BA&:?JAսRA Y@N>yטҮ3<ٓHC?6ɿ #?X?M@p?e??)@ I٘i)I9;p@Y6G Jݛ<B=JiJJJE&K0t> Y]Z~?yVAN>E77@J9)̯BE[[/0[jZ~?[[[[[BZYY i)  < OF?))UvOF?OF?!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034989.683165 s, next control iter: 1743034990.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034990.083165 s.DI~,S&AJ"J*J2J:JBJnJvJA)\5@A+l(@A}[~? ASA1%"AAcpNA"AZAbAjArAzAAAV30(@AsBtAcp@A \<A݅AAvd>A$r?A@?AƯ<*A:?2Aֽ:Aȱ BA:?JAֽRAȱ ٘i)I9p@YG J<C=JJJJE&K YZ~?yWAE77J9)ȯB[[H<["Z~?[[[[[BZYY i) ̭ elevatorAngleAction: 0.085680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743034990.503287F (some fields omitted in printout)ARk@ATN{^@Aח[~? AA%"AA4pNA"AZAbAjArAzAAAa.K)@A7BtAEq@A <AϞA]nx>AMh?A?AJ<*A/:?2A?Խ:ABBA/:?JA?ԽRAB٘i)I9Eq@YG J5<JJJJE&K YZ~?yiWAE77jJ9MB)ïBE[[)<[Z~?[[[[[BZYY i) ;A Z?Ap?Av.<*A):?2A9,Խ:A BA):?JA9,ԽRA ٘i)I9q@Y.G J<JJJJ E&K YV[~?yBWAE{7{7J9)BE[[tO=['[~?[[[[[BZYY i) ɝAJ?A/?Ao[<*A!:?2ARԽ:AzBA!:?JARԽRAz٘i)I9gr@YG JB<JJJJ E&K Y [~?y~7XAEj7Z7J9LB)B¹E[[=[c[~?[[[[[BZYY i) V elevatorAngleAction: 0.085680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743034991.763324F (some fields omitted in printout)A @A%t@Ab[~? AwA%"AAqNA"AZAbAjArAzAAAO; !+@A;@tAs@A`AqA>A]8?Aڽ?Ap<*AK:?2AԽ:A =BAK:?JAԽRA =Yzr=ݍ>y|mh`ٓH's?`ҿ@??,?@A ?)zr= I٘i)I9s@YG J<B=JTJJJE&Ks> Y:[~?yXA>EZ7+J9)BŹE[[=[N4[~?[m[[[[BZYY i) .A4#?A?A@]<*A:?2A [ս:ABA:?JA [սRA٘i)I9s@YIG J<C=JJJJE&K YU[~?yCYAE{7j7J9KB)BȹE[[)=[^N[~?[[[[[BZYY i) tA#Ht@AAFA>A ?A?A <*A":?2AkKԽ:ABA":?JAkKԽRA٘i)I9Ht@YG J[<JJJJE&K Yp[~?yYAE777UJ9JB)B˹E[[>[h[~?[[[[[BZYY i) Y_ elevatorAngleAction: 0.085680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743034993.023297F (some fields omitted in printout)AHz@A^ @A*2\~? A A(%"AAzuqNA"AZAbAjArAzAAAEb,@AB=tArt@A;AUA{>AK?A ?A <*An:?2Aս:A=6BAn:?JAսRA=6٘i)I9t@YG J<JJJJE&K YNj[~?yYAE{7J9)B[[>[[~?[b[[[[BZYY i) A`?A`Ve?Ac<*AS:?2Aս:AџBAS:?JAսRAџ٘i)I9u@YvG J5<JJJJE&K Y[~?yjlZAE77j7J9)BιE[[=@4>[Z[~?[[[[[BZYY i) w&AA@Ae @Ad\~? A Aip%"AAhqNA"AZAbAjArAzAAAI^&.@Aw;tA:v@A!C<AS۳A|>Ad?AU7?A<*A:?2Aoս:ABA:?JAoսRAY;>>yس|D<ٓHT?ٿ`t?m?@;@s?=w? ?);> I٘i)I9:v@YG J<JsYJJJE&Kt>  K9Y[~? K9yZA>E777K9IB)BѹE[[ݶI>[c[~?[z[[[[BZYY i) Y@ elevatorAngleAction: 0.085680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743034994.283287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\O@A:$PB@A}\~? AA֘%"AAqNA"AZAbAjArAzAAA.@A{&:tAv@A;A.A'>A@r?A@?A<*A:?2Aս:ApBA:?JAսRAp٘i)I9v@YGG Jc<JJJJE&K Y[~?y][AEb77K9FB)BӹE[[=^_>[[~?[[[[[BZYY i) cqE$; s?)) s?s?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034994.303165 s, next control iter: 1743034994.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8493., header.stamp.nsec: 0.0 temperature: 13.565741.* salinity: 33.375366., density: 1025.000000.* values[0]: 0.579870.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034994.703165 s.պ*I~, &AAQ@ASx@Aߖ\~? AA]%"AArNA"AZAbAjArAzAAAziV/@Ab48tAw@A߳A!A]>A`u?A`^?A<*A:?2Ap Խ:ABA:?JAp ԽRA٘i)I9w@YG JB<B=JJJJ"E&K Y[~?y[AE7)7AK9EB)BֹE[[3u>[[~?[ު[[[[ZZZZ¸>BZYY i¸>p) Ni1; m.?))m.?m.?Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034994.723165 s, next control iter: 1743034995.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743034995.123165 s.>1I~,zǜ&AJ"J*J2J:J?BJ?nJ5vJAGẖ@A}^ԭ@A\~? AA%"AAF4rNA"AZAbAjArAzAAA/@A$~a;7tAXx@A!LA AM8>A P?A`@?Ak<*AT:?2AOԽ:Ah BAT:?JAOԽRAh ٘i)I9Xx@Y'G J<C=JJJJ%E&K Y\~?yO\AE{7{7 K9)B[[_>[\~?[ܪ[[[[ZZZZBZYY i)  e); E?))E?E?*Yj/YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743034995.143165 s, next control iter: 1743034995.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743034995.543165 s.I8I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084267< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743034995.543261F (some fields omitted in printout)A= ף@A0@AU\~? A~AX$%"AAYrNA"AZAbAjArAzAAA}@0@A5V5tA)y@AFSAn:A>A`&?A`Y?A4=*A+:?2AԽ:ABA+:?JAԽRA٘i)I9)y@YG JS<JJJJ'E&K Yy(\~?y3\AE77kK9DB){BٹE[[ߣ>[Z \~?[zڪ[[[[ZZZZBZYY i) 0^ b; 專?))專?專?m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034995.563165 s, next control iter: 1743034995.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8494, header.stamp.nsec: 00 temperature: 13.565277* salinity: 33.375389, density: 1025.000000* values[0]: 0.580821F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034995.963165 s.y>I~,&AJ"J*J2J:JBJnJvJAffff&@AC(^@A\~? AAX%"AA~rNA"AZAbAjArAzAAAl"0@A+ɶ3tA z@A)һAxkA?A?A U?A[=*A$:?2A8tս:A껼BA$:?JA8tսRA껼Y=>?yjFһٓH ? ޿? ? s((?3Ez`?)=> I٘i)I9 z@Y0G J\=B=J<JJJ*E&Kt> Y9A\~?yު.]A?E77K9CB)sBܹE[[>[D:\~?[ ت[[[[ZZZZBZYY i) ɱS4; n?))m|n?n?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034996.003165 s, next control iter: 1743034996.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034996.383165 s.EI~,D&AA(\@AO@A\~? AA)%"AArNA"AZAbAjArAzAAA`ʼ0@ADG)2tAz@A wr;AZuA?A?A7r?A^<*A):?2Aս:A$HbBA):?JAսRA$Hb٘i)I9z@YG J=C=JJJJ-E&K YY\~?yڪ]AEj7Z7K9BB)kB߹E[[>[5T\~?[gժ[[[[ZZZZBZYY i)  ; 1?)) 1?1?*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743034996.403165 s, next control iter: 1743034996.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8495", header.stamp.nsec: 0"0 temperature: 13.564766"* salinity: 33.375385", density: 1025.000000"* values[0]: 0.581964"F (some fields omitted in printout).Y\~?).ڪ rAdjusting time to match Gazebo time: 1743034996.803165 s.vALI~,wg3&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084267< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743034996.803282F (some fields omitted in printout)J"J*J2J:JBJnJvJA둗@AX߄@A']~? AA%"AArNA"AZAbAjArAzAAAMtC1@AnH0tAD{@AG<A0A+ ?AD?Ad\?A<*A@:?2A-Խ:ABA@:?JA-ԽRA٘i)I9{@Y)G J<JJJJ/E&K Yr\~?yy֪]AE777+K9AB)dBE[[˱>[+n\~?[Ҫ[[[[ZZZZBZYY i) [}: ?))??t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034996.823165 s, next control iter: 1743034997.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743034997.223165 s.gSI~,HN&AAzǗ@AŎơ@A )]~? AA %"AArNA"AZAbAjArAzAAAV*f1@A*P.tASE|@Ao<AZԼA{??At?A6?A7<*A&?:?2AEս:AG;BA&?:?JAEսRAG;٘i)I9E|@YG J<JJJJ2E&K Yo\~?y;Ҫc^AėEj7Z7K9)_B[[O>[\~?[Ϫ[[[[ZZZZBZYY i) _B)WBE[[L>[\~?[R̪[[[[ZZZZBZYY i) 3t?y=;±ٓHW?m*vu?`S*?X?n?z 68 ?)> I٘i)I9%}@YG Jd<JF>JJJ7E&Ku> Y}\~?yȪ^A?ɗE{7{7#K9[q\~?[Ȫ[[[[ZZZZBZYY i~) -a[\~?[]Ū[[[[ZZZZBZYY i) $RN s(?)) s(?s(?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034998.503165 s, next control iter: 1743034998.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8497, header.stamp.nsec: 00 temperature: 13.563958* salinity: 33.375408, density: 1025.000000* values[0]: 0.583537F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743034998.903165 s.mI~,͹&AAQ@A-@A`]~? AA%"AA-{sNA"AZAbAjArAzAAAMg$2@A^^%tA}@A^A 6 =A$?A`?Aˤ?As:*A!':?2Alpս:A<BA!':?JAlpսRA<٘i)I9}@YMG J;JJJJ=E&K Y\~?y^AϗE77+K9)OB[[s4>[?\~?[[[[[BZYY i) v;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743034998.923165 s, next control iter: 1743034999.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743034999.323165 s.tI~,uԝ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073039< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743034999.323278F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzԘ@A@7nǘ@A]~? A(Atf%"AA՝sNA"AZAbAjArAzAAAm 2@AjTR#tA}@A)A\7=A*?Aec?As?A>*AY:?2Auս:A-<BAY:?JAuսRA-<٘i)I9}@YKG JѹJJJJ@E&K Yi]~?y^AїE7777.K9:B)NBE[[>[]~?[[[[[BZYY i) (.O4?yEF|= <ٓHV?̪?`y?.e?` ?@+?-?)m> I٘i)I9!}@YG JmC=J@>JJJEE&Ksu> YC.]~?y:I^AO4?חEj7Z75K96B)MBE[[O?['9]~?[[[[[BZYY i j) P?A`{a?A?Aq*A+:?2A,%ս:A=BA+:?JA,%սRA=$I٘i)I9Z|@YG JJJJJJE&K YTY]~?yѣ]AܗE7)7=K94B)QBE[[?[i]~?[ث[[[[BZYY i) ;IH?iйm @?))@?@?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035001.023165 s, next control iter: 1743035001.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035001.423165 s.uI~,[&AA{G@AQ<ԙ@A ^~? AIʫA %"AAEtNA"AZAbAjArAzAAAJ1n@4@AtA{@AT;A=AC?A?AUl?A*A:?2AQս:A+=BA:?JAQսRA+=٘i)I9{@YJG J疼JJJJME&K Yn]~?yK]AߗE77j7@K9)UB[[خ?[]~?[릪[[[[BZYY ia) ;IBH?iξm  ί?)) ί? ί?y[jѪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035001.443165 s, next control iter: 1743035001.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8500, header.stamp.nsec: 00 temperature: 13.563828* salinity: 33.375462, density: 1025.000000* values[0]: 0.583261F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035001.843165 s.ݜI~J"J*J,u&A2J:JP?BJP?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743035001.843288F (some fields omitted in printout)Ap= @A - @A^~? AūAf%"AA0etNA"AZAbAjArAzAAAR4@A;tA4T{@A;yŻA=A+I?A@?Ad2?A *A:?2A-Xֽ:A =BA:?JA-XֽRA =٘i)I9T{@YG JxJJJJPE&K Yg]~?yh\AE7)7+DK9/B)TBE[[Ŋ?[]~?[̡[[[[BZYY i) >;I Y]~?y\ABN?E{7j7GK9.B)XBE[[Z#?[]~?[[[[[BZYY i) kS^;IbH?i ~?))~?~?y?‰W֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035002.303165 s, next control iter: 1743035002.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 85012, header.stamp.nsec: 020 temperature: 13.5639892* salinity: 33.3754772, density: 1025.0000002* values[0]: 0.5826792F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035002.683165 s.lI~,c&AJ"J*J2J:J*?BJ*?nJi5vJA(\@Aލu@AH^~? AA%%"AAtNA"AZAbAjArAzAAAؒ4@A¦" tA;z@AWAp=AS?Al[@Ap^~? AAS%"AAtNA"AZAbAjArAzAAA?F&\&G5@AbtA/y@Axt;Aՙ=A|]?A=?A %?Ars*A:?2Axֽ:A=BA:?JAxֽRA=٘i)I9y@YG JJJJJZE&K Y]~?yT[AE777RK9)B)`BE[[5?[&]~?[[[[[BZYY i) (:IH?i!λ &?))&?&?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035003.563165 s, next control iter: 1743035003.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8502, header.stamp.nsec: 00 temperature: 13.564157* salinity: 33.375481, density: 1025.000000* values[0]: 0.582079F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035003.943165 s.YdI~,F]&AAq= #@A!@A^~? AAW%"AAttNA"AZAbAjArAzAAAnځ5@AKtAax@AڃB<Aɗ=Ab?AN?A`?A *A:?2A\ֽ:AE=BA:?JA\ֽRAE=٘i)I9x@Y@G JEB=JJJJ]E&K Y-]~?yxZAE)7ŧ7VK9)eB[[4:?[G ^~?[[[[[BZYY i) 6IH?i(Bػ H?))H?H? ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035003.983165 s, next control iter: 1743035004.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035004.363165 s.ŧI~,>&AJ"J*J2J:J?BJ?nJ,5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035004.363292F (some fields omitted in printout)AY@A6L@A^~? A#A%"AAuNA"AZAbAjArAzAAAq0z5@A۽sAw@Ay)a<A<=A"h?A?A E?Ac*A:?2A${ֽ:A=BA:?JA${ֽRA=Y%K0?ch?yO9=a<ٓH Ҥ?2?D'?2? ?𢲿 $?|?)%K0? I٘i)I9w@YG JC=JJJJ`E&Kx> Y]~?yqZAch?E{7j7YK9'B)hBE[[N@?[ ^~?[m[[[[BZYY i) ҝI H?i7c ?))??ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035004.383165 s, next control iter: 1743035004.763177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8503*, header.stamp.nsec: 0*0 temperature: 13.564314** salinity: 33.375481*, density: 1025.000000** values[0]: 0.581466*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035004.783165 s.W˧I~,2&AA(\@A&P@A^~? A{A/%"AA8uNA"AZAbAjArAzAAAoS5@AP+m?sA[w@A& <Aww=Avm?A?A?Aé*A:?2A&ֽ:A=BA:?JA&ֽRA=٘i)I9[w@YG JJJJEJbE&K Y^~?yj#ZAE77A]K9$B)iBE[[F?[5^~?[y[[[[BZYY i)  IH?iPC   ?)) ? ?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035004.823165 s, next control iter: 1743035005.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035005.203165 s.ӧI~,!M&AJ"J*J2J:JBJnJvJAQś@A؞Y@A׻^~? AA<%"AATuNA"AZAbAjArAzAAA5A]+6@AvJsAdv@A琼AЏ=Akr?A(L?A ?AAp*A:?2A2׽:Ar<BA:?JA2׽RAr<٘i)I9v@Y7G J;JJJJeE&K YP^~?ycYAE`K9#B)mBE[[NL?[J^~?[r[[[[BZYY i) XHIH?iMN R?))R?R?+ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035005.223165 s, next control iter: 1743035005.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035005.623165 s.W٧I~,]g&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035005.623283F (some fields omitted in printout)AG@Al@A^~? AҔA%"AAouNA"AZAbAjArAzAAATŌa6@Ae@ sAJv@A,A=A@x?A?A I?AU*AN:?2A+v׽:A<BAN:?JA+v׽RA<٘i)I9Jv@YG JJJJJhE&K Y+^~?y\ZYAEldK9)qB[[R?[P_^~?[k[[[[BZYY i) *IH?iU< ܩ?))ܩ?ܩ?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035005.643165 s, next control iter: 1743035006.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8504 , header.stamp.nsec: 0 0 temperature: 13.564498 * salinity: 33.375515 , density: 1025.000000 * values[0]: 0.580840 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035006.043165 s.I~,Â&AJ"J*J2J:JBJnJvJA= ף0@A *#@A3^~? AҎA%"AARuNA"AZAbAjArAzAAAK6@Ax7wsAu@ATfAC=A}?A@,?A`?A}Ҕ*A:?2Au}׽:A<BA:?JAu}׽RA<٘i)I9u@YG JBJJJJkE&K Y=^~?yUXAE777hK9"B)tB E[[X?[Ws^~?[d[[[[BZYY i) I.H?i[) ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035006.063165 s, next control iter: 1743035006.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035006.463165 s.VI~,褝&AAfffff@A'_[Y@AH^~? AA.%"AAuNA"AZAbAjArAzAAA c(8Z6@AaUsAyOu@AT'A I=AW?A@r?A?Aa*A:?2A(J׽:A*<BA:?JA(J׽RA* YL^~?yNXAA?E77kK9B)E[[^?[^~?[][[[[BZYY iv) IH?ih ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035006.483165 s, next control iter: 1743035006.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8505, header.stamp.nsec: 00 temperature: 13.564672* salinity: 33.375519, density: 1025.000000* values[0]: 0.580316F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035006.883165 s.yI~,M&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035006.883296F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A4 @A_~? A~Ass%"AA&uNA"AZAbAjArAzAAA$6@AhsAt@AA =AU߃?Am?A`u:?AX*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9t@YG JJJJJpE&K Y#[^~?y G&sA3r@A?b;AҊ=AvG?A@?A]^?A9g*A:?2AA׽:A#=BA:?JAA׽RA#=Yd?$O?yҊ=b;ٓHaJ?-?5?@s^?@M?@V Gl?`#?)d? I٘i)I9r@YG JJ%:JJJ{E&Kx> Y^~?y(VAO? E77j7}K9B)BE[[&AA\@A}雝@AN_~? AaAd%"AA4vNA"AZAbAjArAzAAAG'7@A6sAitr@AػA͌=AW?A?AI?Aj-*A)9?2Aj׽:A7O=BA)9?JAj׽RA7O=٘i)I9tr@YG J@JJJJ}E&K YA^~?y kVAEb77K9)B[[5?[^~?[[0[[[[BZYY i) =I/H?ibx6 m?))m?m?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035009.003165 s, next control iter: 1743035009.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035009.403165 s.&I~,Y&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743035009.403296F (some fields omitted in printout)J"J*J2J:JBJnJvJAQޝ@A$yѝ@A0\_~? A[A3n%"AAJvNA"AZAbAjArAzAAAψ{8@AsAq@AXWAI=A3?A?A?A*A9?2A׽:Ac=BA9?JA׽RAc=٘i)I9q@YIG JJJJJE&K Yƭ^~?yVAE7K9)B[[Fׄ?[_~?[=([[[[BZYY i) OLIH?i={0; p?))p?p?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035009.423165 s, next control iter: 1743035009.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8508", header.stamp.nsec: 0"0 temperature: 13.565081"* salinity: 33.375557", density: 1025.000000"* values[0]: 0.578775"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035009.823165 s.I~,!t&AAGz@AfJo@Ai_~? A;TA%"AA_vNA"AZAbAjArAzAAA3:8@Av sAq@ANQA=A??A5?A%?A8*A9?2Ac׽:AJ=BA9?JAc׽RAJ=٘i)I9q@YG JBJJJJE&K YJ^~?yUAEj7Z7BK9B)BE[[!?[_~?[[[[[BZYY i) 0[IH?i唿G> y?))y?y?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035009.843165 s, next control iter: 1743035010.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035010.243165 s.#I~,y&AJ"J*J2J:J?BJ?nJK5vJAףp=J@AD3=@A w_~? ABMAz%"AAsvNA"AZAbAjArAzAAAV|b8@A*wi;rsAi q@A¸AKٔ=Aʘ?Azb?Ab?AYv*AW9?2A ׽:A< =BAW9?JA ׽RA< =٘i)I9 q@YG JJJJJE&K Y^~?y2 TUAE77׋K9B)BE[[?[|_~?[[[[[BZYY i) ywkIG?i-@ W?))W?W?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035010.263165 s, next control iter: 1743035010.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035010.663165 s.*I~,q&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743035010.663278F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8509, header.stamp.nsec: 00 temperature: 13.565254* salinity: 33.375546, density: 1025.000000* values[0]: 0.578258F (some fields omitted in printout)A@A7r@Aǃ_~? A5FA%"AAvNA"AZAbAjArAzAAA/Aa8@Agwb$sAp@A ;AW^=AL?A?A d?A*A+9?2Aֽ:AU =BA+9?JAֽRAU =Y֖~?W?y]=[;ٓHP?`?`?ue?N?U粿^r?`?)֖~? I٘i)I9p@YfG J*Jn<JJJE&K8x> Y^~?yTAW?Eŧ7b7mK9B)BE[[?[\,_~?[ [[[[BZYY i) "zI G?is"F ?))??1ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035010.683165 s, next control iter: 1743035011.063178 s, wait time: 0.380013 s*^~?)* rAdjusting time to match Gazebo time: 1743035011.083165 s.E1I~,iSŠ&AJ"J*J2J:JBJnJvJA)\µ@Ad@A_~? A?A,%"AAvNA"AZAbAjArAzAAAtݻ8@A{osAp@A>I<AXn=AN՝?A ?A ?A*Ax9?2Atֽ:A=BAx9?JAtֽRA=٘i)I9p@YG JUJJJJE&K Y^~?yTAE)7K9)B[[9?[9_~?[[[[[BZYY i) ᄼIG?i[K ?))?? ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035011.103165 s, next control iter: 1743035011.483202 s, wait time: 0.380037 s rAdjusting time to match Gazebo time: 1743035011.503165 s.7I~,P4&AAR@Ayޞ@Aߛ_~? A7A %"AAvNA"AZAbAjArAzAAAߋ8@AxdsAso@AV#_<A=Am?A?A@ ?A몼*A:9?2Aֽ:AL=BA:9?JAֽRAL=٘i)I9so@YG J&JJJJE&K Yl^~?yt#TAEb77K9)B[[V?[JF_~?[[[[[BZYY iZ) TtIyG?i9YO ?))??2ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035011.523165 s, next control iter: 1743035011.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8510, header.stamp.nsec: 00 temperature: 13.565428* salinity: 33.375561, density: 1025.000000* values[0]: 0.577681F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035011.923165 s.8>I~,&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085934< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743035011.923328F (some fields omitted in printout)A{G!@Aףp=@A5_~? A0A[%"AA~vNA"AZAbAjArAzAAA%Ws8@A&sAn@A,7<Az-=A?A?A@:B?AJY*AF9?2Aiֽ:AS=BAF9?JAiֽRAS=٘i)I9n@YdG JqJJJJE&K YL^~?y4SA"E777-K9B)BE[[^u?[IR_~?[[[[[BZYY i) IֺG?i *Q Ү?))Ү?Ү?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035011.943165 s, next control iter: 1743035012.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035012.343165 s.KI~,<0&AJ"J*J2J:J?BJ?nJ5vJǍ@A@Al_~? A!A$%"AApvNA"AZAbAjArAzAAASe:59@A BsAm@A}1A=A?A:?A?A*A9?2Af׽:A^P=BA9?JAf׽RA^P=YW?c?yW=22ٓH#?˂? i? ?`? 4?)W? I٘i)I9m@YG JJ#<JJJE&Kx> YK^~?ypשRAc?'E)7b7WK9)B[[?[/h_~?[[[[[BZYY i) `IG?i쨿s8X ?))??yQ鯽۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035012.783165 s, next control iter: 1743035013.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035013.183165 s.RI~,xK&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085934< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743035013.183328F (some fields omitted in printout)A(\Ÿ@Aލ@AI_~? A\A{W%"AAvNA"AZAbAjArAzAAA!#S9@AuJ`sA;m@AťcAsۢ=A"?AU?A?A4ȩ*A69?2A_`׽:A=BA69?JA_`׽RA=٘i)I9;m@YbG JѧJJJJE&K Yl_~?yΩRA*E777K9 B)BE[[Ԡ?[r_~?[٩[[[[BZYY i) WIvG?i!\ Ho@))Ho@Ho@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035013.203165 s, next control iter: 1743035013.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035013.603165 s.J "J *J 2J :J ?BJ ?nJ 5vJ :4YI~,f&AAQ@AI@A_~? AA%"AAfvNA"AZAbAjArAzAAAߥuo9@AǥsAl@AlA9=A?AXq?A`?A*A9?2A׽:A=BA9?JA׽RA=٘i)I9l@Y G JiJJJJE&K Y _~?yhƩRA,E7K9)B[[?[P{_~?[Щ[[[[BZYY i) MIqG?i^ @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035013.623165 s, next control iter: 1743035014.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8512 , header.stamp.nsec: 0 0 temperature: 13.565840 * salinity: 33.375561 , density: 1025.000000 * values[0]: 0.576428 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035014.023165 s.Z`I~,|&AAHz.@A| !@A_~? A; A}%"AAC wNA"AZAbAjArAzAAA7ut9@ATm$sAnl@AfA=A4?A?A N'?AEĹ*A~9?2AGֽ:A=BA~9?JAGֽRA=٘i)I9l@YG JJJJJE&K Y_~?y佩QA/E{7j7K9 B)BE[[?[у_~?[Nǩ[[[[BZYY i) oI^G?i﮿8_ (@))(@(@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035014.043165 s, next control iter: 1743035014.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035014.443165 s.7fI~,>]&AJ"J*J2J:Jz?BJz?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085934< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035014.443296F (some fields omitted in printout)Aq= c@A3mV@A_~? AAo%"AA`wNA"AZAbAjArAzAAAݣ9@AKysAsk@A<A׫=A?A@P?A@WM?A¼*Aֹ9?2AYSֽ:AB!=BAֹ9?JAYSֽRAB!=٘i)I9sk@YMG J罼JJJJE&K Y_~?ya?QA2E7777K9)B[[A?[_~?[[[[[BZYY i) $I%LG?i֮_ @))@@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035014.463165 s, next control iter: 1743035014.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8513, header.stamp.nsec: 00 temperature: 13.566066* salinity: 33.375584, density: 1025.000000* values[0]: 0.575763F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035014.863165 s.+mI~,>&AA@A6@A_~? AA-%"AA$wNA"AZAbAjArAzAAAw @Ļ9@Ayz'ǗsAj@AQd<AB#=AaC?A|?A@\q?A1ɼ*A9?2A=<ֽ:A=BA9?JA=<ֽRA=Y]?Lj?y=q%e<ٓH`?`i*r?r?̷?`?'??)]? I٘i)I9j@YG JƼJ<JJJE&Kx> Y _~?yPAj?5EBK9B)BE[[d?[_~?[[[[[BZYY i) (ȼI9G?i 8c М@))М@М@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035014.903165 s, next control iter: 1743035015.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035015.283165 s.:RtI~,ҡ&AJ"J*J2J:JBJnJvJA(\Ϡ@AYvQ @A/_~? A%A>%"AAW0wNA"AZAbAjArAzAAAJ<$9@AR: sA"j@AN9<A=A?A`9?A`{?A̼*A9?2ADqֽ:A\=BA9?JADqֽRA\=٘i)I9"j@YG JX˼JJJJE&K Yn$_~?yUPA7E{7{7׶K9)B[[z?[_~?[ [[[[BZYY i) xmϼI%G?i4@f ' @))' @' @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035015.303165 s, next control iter: 1743035015.683180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 85142, header.stamp.nsec: 020 temperature: 13.5663352* salinity: 33.3755532, density: 1025.0000002* values[0]: 0.5749932F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035015.703165 s.ԺzI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085934< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035015.703275F (some fields omitted in printout)AQ@AfB@A _~? A[Az%"AA+;wNA"AZAbAjArAzAAA|9@ALsATvi@A%15;AA=A?A@?A?A{$ͼ*A9?2Aֽ:Az|=BA9?JAֽRAz|=٘i)I9vi@YG J ͼB=JJJJE&K Y(_~?yKOA:Eŧ7ŧ7nK9)B[[Q?[s_~?[z[[[[BZYY i) ּIG?iO7h  @)) @ @ YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743035015.743165 s, next control iter: 1743035016.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035016.123165 s.7ၨI~,]&AJ"J*J2J:J?BJ?nJ>5vJAG:@Ak^-@Af_~? AAn%"AA6EwNA"AZAbAjArAzAAA$xV49@AWsAh@AFA!=AR?A?AL?A4̼*A9?2AX,׽:A=BA9?JAX,׽RA=٘i)I9h@Y G JYͼC=JJJJE&K Y-_~?ykOA=E77j7K9)B[[/ٶ?[>_~?[㗩[[[[BZYY i) ݼIF?i["h D @))D @D @(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035016.143165 s, next control iter: 1743035016.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035016.543165 s.II~,"&AA= ףp@Aac@A9`~? AܪA(%"AAwNwNA"AZAbAjArAzAAAiY :@A/f DsAmh@A1[A|=A?A R ?A d?AJ<μ*A9?2AI׽:Ao=BA9?JAI׽RAo=٘i)I9h@YE G JiͼJJJJE&K Y^1_~?yꉩNA?E{7{7K9B)¯BE[[s?[G_~?[C[[[[BZYY i) ;I;F?iYf 0 @))0 @0 @GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035016.583165 s, next control iter: 1743035016.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8515, header.stamp.nsec: 00 temperature: 13.566613* salinity: 33.375591, density: 1025.000000* values[0]: 0.574221F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035016.963165 s.}I~,=&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.085934"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0005002J dt: 0.420022:J2 time: 1743035016.963305F (some fields omitted in printout)BJnJvJAffff@Al\@A`~? AԪA%"AAVwNA"AZAbAjArAzAAAeN{:@A[ msAng@ALAL:=A?A(?A?A_Ҽ*A9?2At׽:A=BA9?JAt׽RA=Y Y2_~?y"|NAs?BE7b7-K9)ȯB[[&?[_~?[[[[[ZZ¸BZYY i¸=) -ټIF?ibi _@))_@_@`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035016.983165 s, next control iter: 1743035017.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035017.383165 s.ؕI~,4X&AA(ܡ@Akϡ@AP `~? A̪A<&"AA^wNA"AZAbAjArAzAAA3Hs*:@AW {sAf@AqA2=A?AK?A@J?Aؼ*A9?2A$ֽ:A=BA9?JA$ֽRA=#I٘i)I9f@Ym G J1ռJJJJE&K YH4_~?yZxNAEE{7{7K9)ͯB[[N?[_~?[z[[[[ZZBZYY i)  ͼIF?i䷿pbk @))@@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035017.423165 s, next control iter: 1743035017.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8516&, header.stamp.nsec: 0&0 temperature: 13.566917&* salinity: 33.375549&, density: 1025.000000&* values[0]: 0.573408&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035017.803165 s.vAI~,wgs&AJ"J*J2J:J?BJ?nJ5vJA@AX@A`~? AĪA&"AAewNA"AZAbAjArAzAAA;d7:@A.q1vsAe@A+,;AmT=A?A<޼?A*?AX6*Af9?2AYֽ:A<BAf9?JAYֽRA<٘i)I9e@Y G JvJJJJE&K Y5_~?yoMAGEŧ7b7XK9B)үBE[[1w?[Ϯ_~?[9q[[[[ZZBZYY i) FI F?i`k {@)){@{@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035017.843165 s, next control iter: 1743035018.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035018.223165 s.gI~, I&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035018.223308F (some fields omitted in printout)AzG@Ar:@AV`~? A⼪Aas&"AAkwNA"AZAbAjArAzAAA'B:@ARqsAe@A-J<Aq=Aj"?A!?A#;?A8*AŴ9?2AD:ֽ:A"<BAŴ9?JAD:ֽRA"<٘i)I9e@Yh G JJJJJE&K Y17_~?yf MAJE77{7K9)ٯB[[n?[ʯ_~?[g[[[[ZZBZYY i) =IWF?i7j I @))I @I @yP={ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035018.243165 s, next control iter: 1743035018.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035018.643165 s.xЩI~,*&AJ"J*J2J:JBJnJvJA ףp}@A4fp@A`~? A⴪Ah&"AApwNA"AZAbAjArAzAAA8/L:@AĜolsAz2d@AQS<Av=A޼?A@Y?A@kJ?A*A,9?2APֽ:At<BA,9?JAPֽRAt<٘i)I92d@Y G JJJJJE&K Y8_~?y^LAMEŧ7b7K9)B[[?[_~?[][[[[ZZBZYY i) I׈F?iJ h p@))p@p@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8517, header.stamp.nsec: 00 temperature: 13.567278* salinity: 33.375584, density: 1025.000000* values[0]: 0.572456F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035018.663165 s, next control iter: 1743035019.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035019.063165 s.I~,_ Ģ&AA3333@AD(@AG`~? AܬAܫ&"AAuwNA"AZAbAjArAzAAAlT:@AZ?gsAtmc@A;AA1=Aa?AӐ?A2X?AӼ*A29?2ANnֽ:A;BA29?JANnֽRA;Y^?j?yW1= 2;ٓHc .q?6?qES?c1 y?"?)^? I٘i)I9mc@Yj G JJi޽JJJE&Kv> Y>7_~?y3UWLAj?OE777K9)B[[F?[p_~?[T[[[[ZZBZYY ibC=) &I4uF?i^i +@))+@+@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035019.103165 s, next control iter: 1743035019.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035019.483165 s.}_I~,ޢ&AJ"J*J2J:Jj?BJj?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743035019.483302F (some fields omitted in printout)A\@Aۢ@Av`~? AҤAH&"AA=ywNA"AZAbAjArAzAAAe[:@A`EbsAb@A~A<A?A %?A c?Aި*A9?2Ahnֽ:A :BA9?JAhnֽRA :٘i)I9b@Y G J¼JJJJE&K Y5_~?ydLLAREŧ7b7K9B)BE[[?[_~?[SJ[[[[ZZBZYY i) _YIaF?i.j @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035019.503165 s, next control iter: 1743035019.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8518, header.stamp.nsec: 00 temperature: 13.567654* salinity: 33.375568, density: 1025.000000* values[0]: 0.571485F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035019.903165 s.ȽI~,&AAQ@A'@A`~? AŜA&"AA0|wNA"AZAbAjArAzAAA]l`:@A手]sALb@Ab^KA*<AA?A`^?A?m?Ayu*A9?2AUֽ:AֶBA9?JAUֽRAֶ٘i)I9Lb@Y G JJJJJØE&K Yo4_~?yCKAUE77CK9)B[[3E?[_~?[@[[[[ZZBZYY i) 2IMF?i175i L@))L@L@BjYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035019.923165 s, next control iter: 1743035020.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035020.323165 s.ĨI~,ް&AJ"J*J2J:JBJnJvJAGzT@A&pG@AA `~? AA2&"AAW~wNA"AZAbAjArAzAAA4Jc:@AږekXsAa@ApAh۽AR5?A?A`s?A3"*A9?2AIֽ:AiBA9?JAIֽRAi٘i)I9a@Y G JRJJJJƘE&K Y3_~?y:KAWEb7K9)B[[n?[!_~?[6[[[[ZZBZYY i(|=) %~{I:F?i^f @))@@y=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035020.343165 s, next control iter: 1743035020.723179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8519&, header.stamp.nsec: 0&0 temperature: 13.567872&* salinity: 33.375576&, density: 1025.000000&* values[0]: 0.570879&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035020.743165 s.W˨I~,~/&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743035020.743346F (some fields omitted in printout)Aףp=@AiP4}@A `~? AA &"AAwNA"AZAbAjArAzAAAu}e:@A3SsAԼa@AAߞAh?Aǹ?Aw?A0*A9?2A+gֽ:A?BA9?JA+gֽRA?٘i)I9a@Yc G JJJJJɘE&K Y1_~?y1iKAZEb77mK9)B[[ ?[_~?[F-[[[[ZZBZYY i) eIw'F?i}/c 3q@))3q@3q@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035020.763165 s, next control iter: 1743035021.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035021.163165 s.t}ҨI~,qJ&AJ"J*J2J:JBJnJvJA@A@A `~? AAf&"AA Y\-_~?y>)KAq?]E77{7K9)BE[[Q?[_~?[#[[[[BZYY iAk=) lTIWF?i뱿c @))@@y=,*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743035021.183165 s, next control iter: 1743035021.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035021.583165 s.بI~,Se&AA)\@A<@Ax `~? A}|A\&"AAwNA"AZAbAjArAzAAAU~d:@AP"JsA(a@A!<Ak0An?A@rAQu?A;*A9?2Aֽ:ABA9?JAֽRA漙٘i)I9a@Y J JJJJΘE&K Y)_~?y KA_E77K9)[[?[_~?[[[[[BZYY i9=) HBIFF?iJb B @))B @B @yR=.l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035021.603165 s, next control iter: 1743035021.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8520, header.stamp.nsec: 00 temperature: 13.567965* salinity: 33.375584, density: 1025.000000* values[0]: 0.570667F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035022.003165 s.y I~,P4&AJ"J*J2J:J?BJ?nJ/5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067440< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743035022.003281F (some fields omitted in printout)AR+@Ahx@Ay`~? AktA&"AA~wNA"AZAbAjArAzAAAqya:@A:lEsAa@A_d<AVA?A dA`p?A=;*AΨ9?2Aֽ:A%xBAΨ9?JAֽRA%x٘i)I9a@Yc G JA;JJJJјE&K Y$_~?yKAbEb77-K9)B[[ ?[_~?[[[[[BZYY i) {1IfE?i7` F!"@))F!"@F!"@yzTd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035022.023165 s, next control iter: 1743035022.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035022.423165 s.uI~,&AA{Ga@Ap>;T@A`~? A\lA"&"AA}wNA"AZAbAjArAzAAA"oN\:@A*@sAga@Ac+<AGuAbP?AA@Wi?A'<*A9?2Alֽ:ABA9?JAlֽRA٘i)I9a@Y G Jx<JJJJӘE&K Y _~?yLAeE{7j7K9B)BE[[2?[k_~?[[[[[BZYY i)  IE?i۬A] #@))#@#@yƣ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035022.443165 s, next control iter: 1743035022.823184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8521, header.stamp.nsec: 00 temperature: 13.567912* salinity: 33.375576, density: 1025.000000* values[0]: 0.570760F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035022.843165 s.I~,&AJ"J*J2J:JBJnJvJAp= @AO@A`~? AOdAm4&"AAZzwNA"AZAbAjArAzAAAV:@A(HA;sAFb@A+:AA?A0°A`_?A<`<*Ḁ9?2Amjֽ:AdP BḀ9?JAmjֽRAdP ٘i)I9Fb@Y G JA<JJJJ֘E&K YI_~?yZCLAgEb77XK9)B[[mT?[_~?[[[[[BZYY i) ԉIE?ileX :D%@)):D%@:D%@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035022.863165 s, next control iter: 1743035023.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035023.263165 s.I~,,У&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067440< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035023.263336F (some fields omitted in printout)A̤@Aÿ@AU`~? AG\Ay&"AAvwNA"AZAbAjArAzAAAN:@A:ZY6sAb@A AvA[?AཱྀA`S?Am<*A}9?2Aֽ:ABA}9?JAֽRAYb?n?y=u ٓH@Ͽ^)??Ͽ ?@wT?)b? I٘i)I9b@Y G Jx<JMJJJ٘E&K_w> Y7_~?yLAn?jE7K9)B[[Hw?[_~?[a[[[[BZYY i{j=) lhIE?iW &@))&@&@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035023.283165 s, next control iter: 1743035023.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 85222, header.stamp.nsec: 020 temperature: 13.5677812* salinity: 33.3755842, density: 1025.0000002* values[0]: 0.5711522F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035023.683165 s.lI~,V&AJ"J*J2J:JBJnJvJA(\@A@A>`~? ABTA5n &"AArwNA"AZAbAjArAzAAAw0~{E:@A1u1sA)c@AfAA:?A ~CA`?E?A`<*A89?2Aֽ:AHBA89?JAֽRAH٘i)I9)c@YA G J<JJJJۘE&K Y'_~?yMMAmE7777K9B)BE[[?[+w_~?[#[[[[BZYY i) ߻IE?iU `(@))`(@`(@\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035023.683165 s, next control iter: 1743035024.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035024.103165 s.I~,&AAQ8@ANG+@A`~? ADLA &"AAmwNA"AZAbAjArAzAAA#z::@A/Lɓ,sAYc@A$LHAܚA?A o A4?A"<*AR9?2AO5ֽ:AxBAR9?JAO5ֽRAx٘i)I9c@Y G J<JJJJޘE&K  L9Y_~? L9yfMApE77L9B)BE[[߸?[m_~?[[[[[BZYY i) bIߓE?ipk{R )@)))@)@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035024.123165 s, next control iter: 1743035024.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035024.523165 s.I~,{!&AJ"J*J2J:JH?BJH?nJc5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035024.523291F (some fields omitted in printout)AHzn@A a@A`~? AKDA &"AAgwNA"AZAbAjArAzAAAB!-:@A#}'sAPCd@AJUA曽A7?AۿA!?A6I<*Aζ9?2AXֽ:Ar BAζ9?JAXֽRAr ٘i)I9Cd@Y G J<JJJJE&K Y_~?y@MArEZ7Z7L9)ޯB[[?[yc_~?[ب[[[[BZYY i) |gIE?iΠxM }+@))}+@}+@yj=Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035024.543165 s, next control iter: 1743035024.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8523, header.stamp.nsec: 00 temperature: 13.567569* salinity: 33.375580, density: 1025.000000* values[0]: 0.571740F (some fields omitted in printout)"_~?)"@ rAdjusting time to match Gazebo time: 1743035024.943165 s.YdI~,F]<&AAq= ף@A>̖@A `~? AY<AA &"AA#awNA"AZAbAjArAzAAA :@A$["sAzd@Aݷ;AA?A`QA ?Am<*Ad9?2A.ֽ:ANABAd9?JA.ֽRANA٘i)I9d@YF G J3<JJJJE&K Y^~?yۨ(NAuE777C L9)گB[[Z?[X_~?[Ш[[[[BZYY i) IqE?i#G D -@))D -@D -@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035024.963165 s, next control iter: 1743035025.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035025.363165 s.I~,u>W&AJ"J*J2J:JBJnJvJA٥@A 2̥@A`~? Ao4A &"AAYwNA"AZAbAjArAzAAAɪ:@A9sAhe@A5Z<A瘽A?AIÿA?A<*A9?2A#׽:ABA9?JA#׽RAYk?Mx?yg䘽Z<ٓH@:+ֿ`d?? Iֿ7?mF?@t?)k? I٘i)I9he@Y G J<J JJJE&Kax> Y%^~?yxӨNAx?xEj7j7 L9B)ׯB E[[8 ?[M_~?[&Ǩ[[[[BZYY i) KI'aE?i˚"F ×.@))×.@×.@l*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035025.383165 s, next control iter: 1743035025.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8524&, header.stamp.nsec: 0&0 temperature: 13.387780&* salinity: 33.391644&, density: 1025.000000&* values[0]: 0.691071&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035025.783165 s.WI~,r&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743035025.783312F (some fields omitted in printout)A(\@AXP@A_~? A,A w &"AAwQwNA"AZAbAjArAzAAA1mx9@AD"8sA5e@AZ<AE֕A3?A@ſA>?A<*A9?2A ׽:ABA9?JA ׽RA٘i)I9e@Y G J<JJJJE&K YV^~?y7˨NAzE77nL9)үB E[[%?[@_~?[c[[[[BZYY i =) ҤIPE?ihC #0@))#0@#0@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035025.803165 s, next control iter: 1743035026.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035026.203165 s.#I~,&AJ"J*J2J:JBJnJvJAQE@A-B8@A_~? A$A &"AAtHwNA"AZAbAjArAzAAAT^ 9@A#NosA~f@A;AA?ArǿA?A<*Ah9?2Aֽ:A BAh9?JAֽRA ٘i)I9f@YN G J<JJJJE&K Y^~?y¨\OA}E{7L9)ίB[[@[3_~?[[[[[BZYY i) @jI@E?i> O1@))O1@O1@9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035026.223165 s, next control iter: 1743035026.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035026.623165 s.Y)I~,e⧤&AAGz@Alm@A_~? AAh &"AA>wNA"AZAbAjArAzAAA=9z9@AVsAg@Ajo~A)@AGA?A FɿA@r?AH<*A9?2Atyֽ:A]BA9?JAtyֽRA]٘i)I9g@Y G JF<JJJJE&K Y^~?yOAEj7j7L9)ɯB[[ڨ@[&_~?[@[[[[BZYY i) iI41E?i9 &<3@))&<3@&<3@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035026.643165 s, next control iter: 1743035027.023181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8525 , header.stamp.nsec: 0 0 temperature: 13.387577 * salinity: 33.391640 , density: 1025.000000 * values[0]: 0.692056 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035027.043165 s.J "J *J 2J :J *1?BJ *1?nJ 95vJ 0I~,¤&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066426< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035027.043294F (some fields omitted in printout)A= ף@AƄ@A_~? A&AgA&"AA4wNA"AZAbAjArAzAAAhb9@A sAg@AbEA֊A@e@AR˿A{?A<*A&9?2AOֽ:A%BA&9?JAOֽRA%٘i)I9g@Y G J<JJJJE&K Y^~?ys)PA DE{7.L9B)ƯBE[[0@[|_~?[椨[[[[BZYY i) *:I@"E?i1 i4@))i4@i4@y=J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035027.083165 s, next control iter: 1743035027.443184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743035027.463165 s.X7I~,ݤ&AAffff@Af\٦@A_~? Ap A&"AA(wNA"AZAbAjArAzAAAp9@Ao^:sA&h@AcAAI@A ̿AX?A$<*A9?2A`ֽ:ABA9?JA`ֽRAY~t?f@y-0dٓH@k'ܿ ^??)ܿ`8ɰ ?u :?)~t? I٘i)I9&h@YJ G J<J<JJJE&K6x> Yt^~?yPA@Eŧ7ŧ7L9B)ïBE[[@[ _~?[[[[[BZYY i) :IE?i舿=/ P6@))P6@P6@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035027.503165 s, next control iter: 1743035027.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8526, header.stamp.nsec: 00 temperature: 13.387362* salinity: 33.391659, density: 1025.000000* values[0]: 0.692986F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035027.883165 s.y=I~,8&AJ"J*J2J:Jg1?BJg1?nJ:5vJA(@A @A_~? AAn&"AAwNA"AZAbAjArAzAAABpS@9@A[sAh@A2 A AB@A@οA a1?AP<*AU9?2Asֽ:A~BAU9?JAsֽRA~٘i)I9h@Y G J<JJJJE&K Y^~?yPAE7S7Y"L9B)BE[[C@[c^~?[u[[[[BZYY i) 4#;I&E?i++ 7@))7@7@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035027.923165 s, next control iter: 1743035028.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035028.303165 s.UDI~,sg&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066426< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743035028.303319F (some fields omitted in printout)AQ@AiQD@A_~? A*A&"AAwNA"AZAbAjArAzAAA_xv9@A,crA< i@A;:AA]@AGпA ?Az=<*AW9?2Aֽ:AOBAW9?JAֽRAO𼙘٘i)I9 i@Y G J4<JJJJE&K Y^~?y:QAE77%L9)B[[1@[}^~?[u[[[[BZYY i) |a;I9D?i=% 5c9@))5c9@5c9@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035028.323165 s, next control iter: 1743035028.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8527., header.stamp.nsec: 0.0 temperature: 13.387173.* salinity: 33.391659., density: 1025.000000.* values[0]: 0.693837.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035028.723165 s. KI~,H.&AJ"J*J2J:J1?BJ1?nJ@:5vJAz@A{Lz@A_~? AA&"AA8wNA"AZAbAjArAzAAAwfZ9@A KrA1i@A]/<A~AĴ@A.ѿA@"?Aʃ<*A9?2A5׽:ABA9?JA5׽RA뼙٘i)I9i@Y'G J<JJJJE&K Y^~?yҒQAEb77)L9B)B[[oP @[^~?[[[[[BZYY i) ;ID?ix :@)):@:@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035028.763165 s, next control iter: 1743035029.123185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743035029.143165 s.Y/RI~,*I&AA ףp@A/d@A_~? AA*&"AAvNA"AZAbAjArAzAAAt<9@A2LrAi@ACh<Aa A@A@ҿA?A{<*AM9?2A7׽:ABAM9?JA7׽RA꼙٘i)I9i@YjG J<JJJJE&K Y^~?y늨QAE{7{7-L9 B)BE[[ @[-^~?[|[[[[BZYY i9=)  ;I*D?i)l$ "s<@))"s<@"s<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035029.183165 s, next control iter: 1743035029.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035029.563165 s.XI~,[ d&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:JBJ< rudderAngleAction: -0.261799nJ> elevatorAngleAction: 0.076041vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743035029.563281F (some fields omitted in printout)A3333@A])@A_~? AA&"AAvNA"AZAbAjArAzAAA29@AQ0rA8jj@Au'<A뀽AO@AҿA}?A <*Aw9?2A׽:ABAw9?JA׽RAY|?sD@y;ꀽ"(<ٓH` @鄥??~`ʇ ??X?)|? I٘i)I9jj@YG J<J<JJJE&K-x> Yz^~?yrGRAD@E77770L9)B[[$X @[^~?[^u[[[[BZYY i) ;ID?i_fyp =@))=@=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035029.583165 s, next control iter: 1743035029.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8528, header.stamp.nsec: 00 temperature: 13.387033* salinity: 33.391666, density: 1025.000000* values[0]: 0.694584F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035029.983165 s._I~,~&AA\(@AO!W@A_~? AUAM&"AAvNA"AZAbAjArAzAAAV|&88@A)5rAj@AXh:AA @AVӿAwK?AA<*AM9?2A]ֽ:ABAM9?JA]ֽRA٘i)I9j@YG J<JJJJE&K Yk^~?y{RAE77D4L9 B)BE[[@[^~?[m[[[[BZYY i) ;ID?i^1p |~?@))|~?@|~?@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035030.003165 s, next control iter: 1743035030.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035030.403165 s.&fI~,͙&AJ"J*J2J:JBJnJvJAQ^@AլQ@AȞ_~? A ٩A7&"AADvNA"AZAbAjArAzAAAƧ%?8@AS>rABk@A}AuA @AVԿA@?AB<*Ak9?2Aiֽ:A}7BAk9?JAiֽRA}7٘i)I9Bk@Y/G Jȁ<JJJJE&K Y\^~?ytRAE{7j77L9)B[[n]@[^~?[f[[[[BZYY i)  elevatorAngleAction: 0.076041< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743035030.823306F (some fields omitted in printout)AGz@Ago@A_~? AѩAi&"AAvNA"AZAbAjArAzAAA,&ڷ8@A^~?yeSAE77?L9)B[[Y@[l^~?[X[[[[BZYY i) >A& Ys-^~?y^SA@E77BL9B)BE[[@[X^~?[Q[[[[BZYY i) 5 elevatorAngleAction: 0.076041< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035032.083289F (some fields omitted in printout)A)\5@A[Υ(@AHm_~? AAq &"AAzvNA"AZAbAjArAzAAA # *E8@ASrRrAm@An;AmA@AؿA g,?Ao<*A9?2A(׽:AQBA9?JA(׽RAQ٘i)I9m@YCG J<JJJJE&K Y ^~?yWZTAE77{7/FL9)B[[zV@[-D^~?[UK[[[[BZYY i) hIE@AQ_~? A让A&"AAQvNA"AZAbAjArAzAAAn57@AӻirAm@AQS<A8uAp@AܩٿA|?A <*A 9?2A"׽:ABA 9?JA"׽RA٘i)I9m@YG J9<JJJJE&K Yx]~?yIUAE7)7YML9B)BE[[J@[C^~?[>[[[[BZYY i) bQd elevatorAngleAction: 0.076041< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743035033.343286F (some fields omitted in printout)Ap= ש@Aɩ@AUC_~? A0A6&"AAR*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035033.363165 s, next control iter: 1743035033.743183 s, wait time: 0.380018 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8532*, header.stamp.nsec: 0*0 temperature: 13.386415** salinity: 33.391685*, density: 1025.000000** values[0]: 0.697522*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035033.763165 s.6I~,p&AJ"J*J2J:J2?BJ2?nJ=;5vJA @Ae@Ax4_~? AA&"AA(&vNA"AZAbAjArAzAAA}Y7@A=arA'n@A☻A˗AE@A79ۿAk ?Aغ<*A9?2A:lֽ:A"BA9?JA:lֽRA"YgE@K@yA˗NٓH(p?@?@ w?Zs`k?)gE@ I٘i)I9n@YiG J<JUJJJE&Kw> Y]~?yg<UAK@E77j7TL9)B[[9@[]~?[2[[[[BZYY i) { elevatorAngleAction: 0.085341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743035034.603309F (some fields omitted in printout)AQx@A;4,Fk@A{_~? AA&"AAuNA"AZAbAjArAzAAA*Y:7@A=vrAo@AaAĜA@A@>ܿA`?A<*A~9?2ADֽ:AJ9BA~9?JADֽRAJ9٘i)I9o@YG J<JJJJ!E&K Y]~?y/VAEb77[L9B)BE[[]%@[]~?[r'[[[[BZYY i) f&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035035.863292F (some fields omitted in printout)A@Ay @A^~? A偩AQ&"AAuNA"AZAbAjArAzAAA=B6@A rAq@A?4<AlA@A@ ޿A@?Aɬ<*A9?2A4׽:A.BA9?JA4׽RA.YX @}@y&jg5<ٓH:@< ?ķ?X???)X @ I٘i)I9q@YG J<B=JJJJ)E&KKx> Y:q]~?y6WA@Eŧ7b7ofL9)B[[x#@[x|]~?[[[[[BZYY i) # elevatorAngleAction: 0.085341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743035037.123285F (some fields omitted in printout)AGẫ@Ab'֭@A^~? A0pA&"AA^uNA"AZAbAjArAzAAAdթA6@A_'?rAvs@A59AnA@A\A ?A<*A9?2Atֽ:A'BA9?JAtֽRA'٘i)I9vs@Y.G J<C=JJJJ1E&K Y0]~?y )YAØEŧ7b7/qL9 B)BݹE[[a'@[4]~?[ [[[[BZYY i) K"@A,At?A><*A9?2Aֽ:AjBA9?JAֽRAjY;L@`R"@yEΕgٓH6;=`=?`#?J FA?k֌*?);L@ I٘i)I9t@YG J5<JtJJJ7E&Kw> Y4]~?yXZAR"@ȘE77ZxL9$B)}B׹E[[*@[]~?[[[[[BZYY i) p elevatorAngleAction: 0.085341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035038.383287F (some fields omitted in printout)A(\@Ab!O@A&v^~? A_A4&"AAP uNA"AZAbAjArAzAAALyW5@A*|~rA@~u@A':A%iA؏#@A~AIA$@A@A"?A=<*A͈9?2A ֽ:ABA͈9?JA ֽRA٘i)I90v@YG J<JJJJ: Z#2))Z#2[_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035039.243165 s, next control iter: 1743035039.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035039.643165 s.vI~,*&AJ"J*J2J:J14?BJ14?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743035039.643291F (some fields omitted in printout)A ףp@A.e@As:^~? AOAh&"AAtNA"AZAbAjArAzAAAej#ܢ4@Aԇ#rA3w@AC4^<A嵽A'@A 4lA`?A<*A9?2A ׽:AIBA9?JA ׽RAI٘i)I9w@YG Jo<JJJJBE&K Yl\~?yT[AӘE7L9*B)nB͹E[[ )0@[\~?[[[[[[BZYY i) +"; c0))c0Ria@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035039.663165 s, next control iter: 1743035040.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8538, header.stamp.nsec: 00 temperature: 13.385101* salinity: 33.391731, density: 1025.000000* values[0]: 0.703877F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035040.063165 s.I~,k &AA33333@A)&@A%^~? AKAG&"AAǐtNA"AZAbAjArAzAAAL~d4@AhrAEx@A*N<AƶAb(@A`A @?A<*A9?2ALֽ:ALBA9?JALֽRALY@(@yövO<ٓH` ޿ఋ?D?  fVж?8ԉ??)@ I٘i)I9Ex@YG J<JJJJDE&Kx> Y\~?yi\A(@՘E)7ŧ7EL9,B)iBʹE[[f1@[\~?[1[[[[ZZZZ¸>BZYY i¸>aǩ) =; -J/))-J/b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035040.103165 s, next control iter: 1743035040.463186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743035040.483165 s.r_I~,&AJ"J*J2J:JX4?BJX4?nJ=5vJA\h@Ai5$[@A^~? A^; -))-@d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035040.503165 s, next control iter: 1743035040.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8539, header.stamp.nsec: 00 temperature: 13.384826* salinity: 33.391720, density: 1025.000000* values[0]: 0.705106F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035040.903165 s. I~,9&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082900< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035040.903292F (some fields omitted in printout)AQ@A򖫑@A]~? AAA݅&"AAQtNA"AZAbAjArAzAAA3@AZsʉrA(y@A[A:Ah+@A@A`j?AS=*Aˌ9?2A3ֽ:ABAˌ9?JA3ֽRA٘i)I9y@YG J<JJJJJE&K YS]\~?y_]AۘEj7SI7oL9-B)_BǹE[[8O4@[R\~?[p[[[[ZZZZBZYY i) l; t,))t,e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035040.923165 s, next control iter: 1743035041.303175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035041.323165 s.{I~,:T&AJ"J*J2J:J4?BJ4?nJt=5vJAGzԭ@Atpǭ@AU]~? A =A&"AA<1tNA"AZAbAjArAzAAA;&fң3@AphrA˪z@A=LAAȬ,@A=A ?A=*A9?2Aֽ:A1BA9?JAֽRA1٘i)I9z@YG J=JJJJLE&K YD\~?y[ܧ]AݘE77{7L9/B)YBĹE[[L5@[9\~?[[[[[ZZZZBZYY i) 1{!;  +)) +g@y^v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035041.343165 s, next control iter: 1743035041.723181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8540*, header.stamp.nsec: 0*0 temperature: 13.384520** salinity: 33.391731*, density: 1025.000000** values[0]: 0.706559*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035041.743165 s.WI~,uo&AAףp= @ACr2@A]~? A8A7&"AA}tNA"AZAbAjArAzAAAsa3@A'VWrA{@ATArA-@AAW!?A1<*A39?2Ac/ֽ:A2(jBA39?JAc/ֽRA2(j٘i)I9{@YG Jg=JJJJOE&K Y+\~?yاT^AEŧ7b7L90B)TBE[[c7@[\~?[s[[[[ZZZZBZYY i) i Y\~?yԧ^AP/@E/L9/B)LB[[e8@[y\~?[0[[[[ZZZZBZYY i"h) b5vJAR@Ay@A]~? AJ,A, &"AAsNA"AZAbAjArAzAAAmC2@A8w|rAe}@A M<AMAW1@A2A,?Ao<*AA9?2A-5ֽ:Am"<BAA9?JA-5ֽRAm"<٘i)I9e}@Y:G JŒ<JJJJWE&K Y[~?yͧ_AEj7Z7ZL93B)GBE[[;@[i[~?[;ߧ[[[[ZZZZBZYY i) v5vJAp= @AT2 @A_]~? A$A &"AAafsNA"AZAbAjArAzAAAGHV 2@AR'5xrAD}@A+<AQ<A?4@ACA`?Ar;*A9?2AJֽ:A2<BA9?JAJֽRA2<٘i)I9}@YG J>;JJJJ\E&K Yĩ[~?yƧv_AEb77L95B)EBE[[=@[[~?[ܧ[[[[ZZZZBZYY i) %mJJJ_E&Kx> Y[~?y<ħJ_A5@Ej7Z7L96B)FBE[[?@[}[~?[ڧ[[[[BZYY iQi) [5WI~vJ, |a&AAHz@Ad9 @A]~? A|Ar!&"AArNA"AZAbAjArAzAAAq 0@A8:xprAn}@A,AӇu=Av9@A A ?A-^(*A9?2AŬֽ:A=BA9?JAŬֽRA=٘i)I9}@YhG J7JJJJgE&K Y=[~?yf^AE77ڸL98B)JBE[[C@[5[~?[ק[[[[BZYY i) I_'&AJ"J*J2J:JBJnJvJAY@AIcL@A>\~? AA?"&"AA(rNA"AZAbAjArAzAAA}]WX0@AE%ͦlrA`|@AI<A=AzG<@AAK?A܈*A19?2Aֽ:AY$=BA19?JAֽRAY$=YZK.@~Q<@y^=<ٓHQJ eɿ-`A?\?`,Ɂ?y?)ZK.@ I٘i)I9|@YG JAxJ=JJJmE&KUw> Y[~?y 8^AQ<@E77L9:B)RBE[[E@[[~?[o֧[[[[BZYY iDi) 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035047.203282F (some fields omitted in printout)AQŰ@AP@A\~? A A"&"AACrNA"AZAbAjArAzAAAt( 6`/@AU_zirA{@AQI<A=A>@AHfAZ?AN*Am9?2A"ֽ:A3=BAm9?JA"ֽRA3=٘i)I9{@YZG J롼JJJJrE&K YZ~?yw]AE7{70L9 Y|Z~?y9O\AB@ Eb7b7L9)kBE[[2L@[Z~?[_֧[[[[BZYY i) 1h;IXE?i?42n< ))v~@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035048.483165 s, next control iter: 1743035048.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8547, header.stamp.nsec: 00 temperature: 13.384701* salinity: 33.391735, density: 1025.000000* values[0]: 0.706459F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035048.883165 s.yI~,+8&AJ"J*J2J:JBJnJvJA(@AҦ@Ax:\~? AHAP#&"AAqNA"AZAbAjArAzAAAn]4J1%-@ALKbdrAy@A7\A=AM3D@AAT|?A%֨*A9?2A$ֽ:A0<BA9?JA$ֽRA0<٘i)I9y@YG JJJJJ}E&K Y_Z~?y^[AE7L9?B)rBE[[{M@[hZ~?[֧[[[[BZYY io) +;ImE?i?v< _))_ȿ@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035048.903165 s, next control iter: 1743035049.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035049.303165 s.TI~,ogS&AAѱ@Aı@A!\~? AAMs#&"AAvqNA"AZAbAjArAzAAAJ,@AEZcrA$'y@AлAې=A@xE@A@A?Aԧ*A9?2A8ֽ:At<BA9?JA8ֽRAt<!I٘i)I9'y@YG JJJJJE&K YCZ~?y[AE7L9@B)wBE[[N@[OZ~?[vק[[[[BZYY i) z1:I?E?iK?50< ))N@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035049.323165 s, next control iter: 1743035049.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8548., header.stamp.nsec: 0.0 temperature: 13.385119.* salinity: 33.391735., density: 1025.000000.* values[0]: 0.704810.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035049.723165 s.I~,Hn&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743035049.723308F (some fields omitted in printout)Az@Af3@A{\~? AAҒ#&"AA^qNA"AZAbAjArAzAAA!a+@A blbrAx@A;A=A۹F@A"A@?A4*A9?2A_iֽ:At<BA9?JA_iֽRAt<٘i)I9x@YOG J!JJJJE&K Y'Z~?y[AEb7b7L9AB)|BE[[P@[6Z~?[;ا[[[[BZYY i) .J:IE?i?< ))%@rªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035049.743165 s, next control iter: 1743035050.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035050.143165 s.X/I~,*&AA ףp=@Ae0@A[~? AA9#&"AA 8qNA"AZAbAjArAzAAAuT+@AޖarAx@AH<A=AoG@A-A`ѽ?A닠*AT9?2A?ֽ:A<<BAT9?JA?ֽRA<<٘i)I9x@YG JJJJJE&K Y Z~?yͬZAEj7j7FL9)BE[[HQ@[ Z~?[&٧[[[[BZYY i) E IE?i?_l< ))hƁ@ybeɽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035050.163165 s, next control iter: 1743035050.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035050.563165 s.I~,V &AJ"J*J2J:Jn4?BJn4?nJ2=5vJA3333s@AҊo(f@A[~? AA~#&"AA qNA"AZAbAjArAzAAAb*@AЩ |`rAWw@Ae<A=A=HA p@A`S?AQ*A~9?2A]Rֽ:Ah<BA~9?JA]RֽRAhNNm?Ұcr$Q&?rΰ _??)qS;@ I٘i)I9w@YG JJ4JJJE&K1x> YjY~?y׬^ZAHEZ7L9BB)BE[[]R@[,Z~?[:ڧ[[[[BZYY i) 0ӐI%E?i?0< aM ))aM *i@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035050.583165 s, next control iter: 1743035050.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8549, header.stamp.nsec: 00 temperature: 13.385236* salinity: 33.391720, density: 1025.000000* values[0]: 0.704294F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035050.983165 s.I~,쾪&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743035050.983307F (some fields omitted in printout)A\@A,@AO[~? AtA#&"AApNA"AZAbAjArAzAAAE`*@Au(a7`rAw@A' <A_=AEGA`PA@A?A:/*AH9?2AVֽ:A=<BAH9?JAVֽRA=<٘i)I9w@Y^G JۖB=JJJJE&K Y(Y~?yᬧZAE77qL9)B[[S@[Y~?[uۧ[[[[BZYY i) tIE?i'?0L<  ))  @絪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035051.003165 s, next control iter: 1743035051.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035051.403165 s.&I~,٪&AJ"J*J2J:J,4?BJ,4?nJ<5vJAQ޲@A(Ѳ@Aq[~? AA~#&"AApNA"AZAbAjArAzAAAl8)@A._rA_rA(v@A$2A=ADA ~iA"?A-*A9?2A)׽:A*<BA9?JA)׽RA*<٘i)I9(v@YG JJJJJE&K YY~?yOYA!EL9CB)BE[[RV@[Y~?[Uާ[[[[BZYY i) |ЁIF?i?M< ߈ ))߈ kK@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035051.843165 s, next control iter: 1743035052.223181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035052.243165 s.êI~,m&AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035052.243274F (some fields omitted in printout)Aףp=J@Ae1=@Al[~? APA $&"AA^tpNA"AZAbAjArAzAAAieD(@AH^rAu@A jAQ=ACAqAt?A{*AV9?2A+׽:A<BAV9?JA+׽RA<٘i)I9u@YG J>JJJJE&K Yi~Y~?yXA#EZ7SI70L9)BE[[vW@[Y~?[ߧ[[[[BZYY i%) I@1F?i?< IL))IL@pYFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743035052.263165 s, next control iter: 1743035052.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035052.663165 s.ʪI~,q*&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8551, header.stamp.nsec: 00 temperature: 13.385703* salinity: 33.391708, density: 1025.000000* values[0]: 0.702469F (some fields omitted in printout)A@Au:r@AR[~? AA$&"AALpNA"AZAbAjArAzAAA s'@AxB^rAmSu@A2(A=A7BA wAѨ?AAD|*A9?2Alֽ:A<BA9?JAlֽRA YNbY~?yﭧXABB&E77L9DB)B|E[[X@[Y~?[[[[[BZYY i)  IBMF?i3@<  )) ݉@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035052.683165 s, next control iter: 1743035053.063177 s, wait time: 0.380012 s:NbY~?):ﭧ rAdjusting time to match Gazebo time: 1743035053.083165 s.DѪI~,RE&AJ"J*J2J:JBJnJvJA)\µ@AXq@A8[~? AA$&"AA%pNA"AZAbAjArAzAAA/S9 '@A!^rAt@AYOAC=Ab@AzA?A}*A9?2Aֽ:AN<BA9?JAֽRAN<٘i)I9t@YG J{JJJJE&K Y6FY~?yޮIXA)E77{7[L9)ByE[[,Z@[MtY~?[[[[[BZYY i) JIiF?ie@$< )))@YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743035053.103165 s, next control iter: 1743035053.483175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035053.503165 s.תI~,L4`&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075755< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743035053.503290F (some fields omitted in printout)AR@A)x޳@A[~? AA$&"AA'oNA"AZAbAjArAzAAA`ֹnk&@AG+^rA)~t@A;<AL'=AC?A@/{A#dA?T*A9?2A]ֽ:AQ<BA9?JA]ֽRAQ<٘i)I9~t@YG JJJJJE&K Y*Y~?yίWA+ES77L9)BvE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #47q//^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) ()y 5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035053.523165 s, next control iter: 1743035053.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8552, header.stamp.nsec: 00 temperature: 13.385912* salinity: 33.391724, density: 1025.000000* values[0]: 0.701689F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035053.923165 s.7ުI~,{&AJ"J*J2J:JBJnJvJA{G!@A3<@A[~? AAm$&"AAoNA"AZAbAjArAzAAA9|%@Alp^rAt@Ax"i<A? =Ai>ANyA ÑA^+*A9?2AJֽ:Al=BA9?JAJֽRAl=٘i)I9t@YG JmJJJJE&K  M9YY~? M9yWA.E77M9)BtE[[\@[EY~?[[[[[BZYY i) ICF?i @< V)) Vd@ᵪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035053.943165 s, next control iter: 1743035054.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035054.343165 s. Y0X~?y`VA<3Eŧ77M9)BqE[[^@[Y~?[[[[[BZYY i) .ItF?id@T< 9))9@Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035054.803165 s, next control iter: 1743035055.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035055.183165 s.I~,g˫&AA(\´@A+f@AeZ~? AAE $&"AAG`oNA"AZAbAjArAzAAAM#@Aae_rAr@AڷAR=AA;AzAKAS_*Ay:?2A ƽ:A,(=BAy:?JA ƽRA,(=٘i)I9r@YG JJJJJE&K YyX~?yVA6Eb7b7F M9)BnE[[E0`@[Y~?[Z[[[[BZYY i) p>IF?i@k?< V))V:@Y"sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035055.203165 s, next control iter: 1743035055.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035055.603165 s.54I~,&AJ"J*J2J:J53?BJ53?nJ;5vJAQ@A1ZG@AcZ~? AA^#&"AA8oNA"AZAbAjArAzAAA/NVV#@Ay_rAJr@AZA=Ad:AEsAN鱿A *A:?2AȽ:Ay=BA:?JAȽRAy=٘i)I9Jr@YvG JXJJJJE&K YX~?yǶ2VA9ESI7Z7M9)BkE[[ga@[X~?[[[[[BZYY i) !MI G?i@t< o))oՉ@DŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035055.623165 s, next control iter: 1743035056.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8554 , header.stamp.nsec: 0 0 temperature: 13.386346 * salinity: 33.391701 , density: 1025.000000 * values[0]: 0.700029 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035056.023165 s.ZI~,{&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075755< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743035056.023309F (some fields omitted in printout)AHz.@A\W!@AkZ~? AA#&"AAooNA"AZAbAjArAzAAA/߸"@A)U`rAq@AHA8Ғ=A(9AhA`3As*A:?2A9˽:A/ =BA:?JA9˽RA/ =٘i)I9q@Y.G JJJJJE&K Y X~?y{UA;E7j7qM9EB)BhE[[b@[X~?[[[[[BZYY i) ]I+G?i@f< W))Wo@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035056.063165 s, next control iter: 1743035056.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035056.443165 s.3I~,-]&AJ"J*J2J:JBJnJvJAq= c@A]V@AhZ~? AA_#&"AAnNA"AZAbAjArAzAAAr1|"@AW`rAXq@A0A&ە=A7A[AA*A~:?2Aͽ:Al =BA~:?JAͽRAl =٘i)I9Xq@YG JJJJJE&K YRgX~?y.zUA>EZ7SI7M9)BeE[[c@[X~?[[[[[BZYY i) fmI,OG?i>$@;<  )) @ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035056.463165 s, next control iter: 1743035056.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8555, header.stamp.nsec: 00 temperature: 13.386575* salinity: 33.391701, density: 1025.000000* values[0]: 0.699143F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035056.863165 s.+ I~,y>7&AA@AP@ANZ~? AA #&"AAnNA"AZAbAjArAzAAA95~!@AarAkp@A0;AYi=Aa6AKA#A^*A:?2AOϽ:A=BA:?JAOϽRA=Y|M@6yh=mf;ٓH3+?(@6%ҿ`Ȯ`5.@v? 3?)|M@ I٘i)I9p@YG JB=JΏ<JJJE&Kd> Y=LX~?yUA6AE77M9)BbE[[e@[]X~?[[[[[BZYY i) }$|I'sG?i7'@ < ))v@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035056.903165 s, next control iter: 1743035057.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035057.283165 s.9RI~,R&AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035057.283288F (some fields omitted in printout)A(\ϵ@A1Pµ@A4Z~? A A#&"AAnNA"AZAbAjArAzAAA 8 @A0hbrAJp@A`$Q<A͚=AX5A8A`sA*Az:?2A-Eѽ:Ag=BAz:?JA-EѽRAg=٘i)I9Jp@Y?G J棼C=JJJJE&K Y-1X~?y0TACE77771M9DB)¯B[[76f@[X~?[[[[[BZYY i) IҗG?i*@Y< K))K=@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035057.303165 s, next control iter: 1743035057.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8556., header.stamp.nsec: 0.0 temperature: 13.386804.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.698189.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035057.703165 s.ֺI~,m&AAQ@A]P@A-Z~? AyA^#&"AAtnNA"AZAbAjArAzAAATF @AHcrAXo@AY<A,l=A4A"AAX*Al:?2Aeҽ:A=BAl:?JAeҽRA=٘i)I9o@YG JRB=JJJJE&K YX~?yGTAFE)7ŧ7 M9)ƯB_E[[gg@[~X~?[_[[[[BZYY i) 0IVG?iZ.@,< ))Ռ@y魽UتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035057.723165 s, next control iter: 1743035058.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035058.123165 s.5!I~,T⇬&AJ"J*J2J:JBJnJvJAG:@A-@AZ~? AAz#&"AAMnNA"AZAbAjArAzAAA]W@A3y|BdrA-o@A;A=A2A AÿA᫼*A%`:?2A.3Խ:AV=BA%`:?JA.3ԽRAV=٘i)I9-o@YG J8C=JJJJE&K Y W~?y1ħSAIE7{7\$M9)˯B\E[[h@[3jX~?[[[[[BZYY i) IG?i2@}< ))sm@ ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035058.163165 s, next control iter: 1743035058.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035058.543165 s.I(I~,â&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743035058.543297F (some fields omitted in printout)A= ףp@Azؘc@AY~? AAKZ#&"AA''nNA"AZAbAjArAzAAAg"@A))UerA֜n@AMA=AF1AFAhlſAC*AS:?2Akս:A}=BAS:?JAkսRA}=٘i)I9n@Y9G JFJJJJE&K YW~?yƧzSAKE)7b7'M9)ϯBYE[[i@[UX~?[>[[[[BZYY i) bNI H?i 7@O< /))/쿩@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035058.563165 s, next control iter: 1743035058.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8557, header.stamp.nsec: 00 temperature: 13.387064* salinity: 33.391689, density: 1025.000000* values[0]: 0.697163F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035058.963165 s.J "J *J 2J :J y2?BJ y2?nJ $;5vJ .I~, &AAffff@A/N[@AY~? AA6#&"AAnNA"AZAbAjArAzAAA@Ay frA n@A_;A=A/AAKǿAѮ*A{H:?2AGֽ:A-=BA{H:?JAGֽRA-=Yb!T@2/y=v<ٓH y? L_ؿHM@z@?)b!T@ I٘i)I9 n@YG JJv<JJJE&K|> YW~?yʧ SA/NEŧ7+M9)ӯBVE[[`j@[vAX~?[ [[[[BZYY i) I3H?i9@`< ))鿩+@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035059.003165 s, next control iter: 1743035059.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743035059.383165 s.5I~,+ج&AA(ܶ@AE϶@AY~? A A#&"AAPmNA"AZAbAjArAzAAAY,@AgrAvm@AA aA-"=A.A`%A&ɿAٳ*A=:?2Aưֽ:A}=BA=:?JAưֽRA}=٘i)I9vm@YG JհJJJJE&K YΫW~?ykͧRAQESI7SI7/M9)دBSE[[#l@[j-X~?[[[[[BZYY i) I[H?i<@/< Kq))Kq翩3@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035059.403165 s, next control iter: 1743035059.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8558", header.stamp.nsec: 0"0 temperature: 13.387343"* salinity: 33.391689", density: 1025.000000"* values[0]: 0.696088"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035059.803165 s.wAAU=AI-A,A@WʿAK㻼*A3:?2Aֽ:A=BA3:?JAֽRA=٘i)I9l@Y(G J:JJJJÙE&K YW~?yЧ,RASEb772M9CB)ݯBTE[[&Pm@[X~?[s[[[[BZYY i) xpI H?it@@W< 3))3忩ʏ@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035059.823165 s, next control iter: 1743035060.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035060.223165 s.gCI~,H&AAzG@AL:@AY~? AvA"&"AARmNA"AZAbAjArAzAAA< _@AzFjrA>;l@AAZ:A=A,A@gA̿Amż*Ai*:?2Aֽ:A=BAi*:?JAֽRA=٘i)I9;l@YG J%JJJJřE&K YwW~?y%ԧQAVEj7j7F6M9)BQE[[*{n@[ZX~?[][[[[BZYY i) ϹI?H?i\D@>X< +))+⿩_@YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743035060.243165 s, next control iter: 1743035060.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035060.643165 s.zII~,*)&AJ"J*J2J:JBJnJvJA ףp}@Az5@ip@AjY~? AAj"&"AAhmNA"AZAbAjArAzAAAP2@A2(lrAk@Aj#<A5ڰ=A*A ?AοAμ*A!:?2A`ֽ:Aر=BA!:?JA`ֽRAر=٘i)I9k@Y_G JfɼB=JJJJșE&K Y]W~?yקMQAYE{79M9)BNE[[>o@[[W~?[\[[[[BZYY i) 1IiH?iH@k= o))o࿩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035060.663165 s, next control iter: 1743035061.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8559, header.stamp.nsec: 00 temperature: 13.387616* salinity: 33.391670, density: 1025.000000* values[0]: 0.694956F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035061.063165 s.PI~,R D&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035061.063288F (some fields omitted in printout)A3333@A77'@A>RY~? AALU"&"AALCmNA"AZAbAjArAzAAA1 @@A7}mrA~j@Askd<Ay\=Ay)A )A-пAӰӼ*A):?2Apֽ:A=BA):?JApֽRA=YZ@e)yX=Ie<ٓHN/Q?CK F޿-@C1?(?)Z@ I٘i)I9j@YG JѼC=Jk<JJJ˙E&Ksz> YDW~?yۧPAe)[E77q=M9)BKE[[,p@[jW~?[[[[[BZYY i) fȼII?i)K@ = '޿))'޿@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035061.083165 s, next control iter: 1743035061.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035061.483165 s.y_WI~,^&AJ"J*J2J:JBJnJvJA\@A۷@A9Y~? AA*"&"AA0mNA"AZAbAjArAzAAAkz.@A֌orA/j@AJ-<A"b=A5%(AA ^ѿAռ*A:?2A0ֽ:A=BA:?JA0ֽRA=٘i)I9/j@YG JԼJJJJ͙E&K Y+W~?yߧ^PA^Eb7b7AM9BB)BHE[[q@[W~?[#[[[[BZYY i) ϼII?iN@4= ۿ))ۿd@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035061.523165 s, next control iter: 1743035061.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8560, header.stamp.nsec: 00 temperature: 13.387927* salinity: 33.391670, density: 1025.000000* values[0]: 0.693715F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035061.903165 s.]I~,y&AAQ@A]@A!Y~? AA!&"AA^lNA"AZAbAjArAzAAA}ӻ@A8McqrAM|i@A&:A&=A&A@A &ѿAԼ*A/ :?2A4׽:A=BA/ :?JA4׽RA=٘i)I9|i@YG JrռJJJJЙE&K YW~?yOAaE777DM9)B[[#s@[W~?[([[[[BZYY i) ּIiUQ@n= oٿ))oٿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035061.923165 s, next control iter: 1743035062.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035062.323165 s.ydI~,2&AJ"J*J2J:Jk1?BJk1?nJ :5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035062.323274F (some fields omitted in printout)AGzT@A/XnG@A Y~? AAѩ!&"AAlNA"AZAbAjArAzAAA]N e@A yQsrA"h@AA=Ak%AZAҿA-Ӽ*A:?2A׽:A[=BA:?JA׽RA[=٘i)I9h@Y G J&ԼJJJJәE&K YFV~?y5nOAdE{7Z71HM9)BEE[[Kt@[W~?[r,[[[[BZYY i) ޼IiT@Q= K!׿))K!׿G@YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035062.343165 s, next control iter: 1743035062.723179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8561&, header.stamp.nsec: 0&0 temperature: 13.388250&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.692402&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035062.743165 s.WkI~,&AAףp=@A.;1}@AX~? A Aj!&"AAlNA"AZAbAjArAzAAA3#x@AFXurAh@A_A{=Ay$AUA?ӿA!yӼ*Az9?2A!׽:Aް=BAz9?JA!׽RAް=٘i)I9h@YB G J;ӼJJJJՙE&K YsV~?ybNAfE77KM9)BBE[[vpu@[W~?[0[[[[ZZ¸BZYY i¸̪=) !ҼIiY@ = Կ))Կ6ړ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035062.763165 s, next control iter: 1743035063.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035063.163165 s.}rI~,qʭ&AJ"J*J2J:J1?BJ1?nJ95vJA@A,-#@AdX~? A#A(!&"AAҌlNA"AZAbAjArAzAAAV sp[@A-pk-vwrAfg@ACAV=A"A  A ^ԿAּ*A9?2Acx׽:A=BA9?JAcx׽RA=Y]>a@6"y=mDٓHE\@?`;q&dɶx?)]>a@ I٘i)I9fg@Y G JԼJ;JJJؙE&K(y> YV~?yT|NA"iE\OM9AB)B@E[[v@[W~?[5[[[[ZZBZYY i) #żIiJ[@_X = #ҿ))#ҿRn@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035063.183165 s, next control iter: 1743035063.563189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743035063.583165 s.xI~,R&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743035063.583275F (some fields omitted in printout)A)\@A g@AX~? A$'A &"AASilNA"AZAbAjArAzAAAkP@@At[yrAĝf@ApA=A!AAGqտA]*Aj:?2A׽:A<BAj:?JA׽RA<٘i)I9f@Y[ G JeJJJJۙE&K Y̲V~?yENAlERM9) B[[w@[uW~?[1:[[[[ZZBZYY i) G繼Ii]@= 8п))8п@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035063.603165 s, next control iter: 1743035063.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8562, header.stamp.nsec: 00 temperature: 13.388552* salinity: 33.391659, density: 1025.000000* values[0]: 0.691119F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035064.003165 s.y I~,P4&AJ"J*J2J:JBJnJvJAR+@Aݵ|@A X~? A*A &"AA3FlNA"AZAbAjArAzAAAfR@AC{rAe@A$;A=AE AAGֿAr*Ad :?2Aֽ:A2ܹ<BAd :?JAֽRA2ܹ<٘i)I9e@Y G JJJJJݙE&K YxV~?y7MAnE)7ŧ7VM9)B=E[[Px@[dW~?[>[[[[ZZBZYY i) ֭Ii`@= Ϳ))Ϳ@yR(=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035064.023165 s, next control iter: 1743035064.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035064.423165 s.uI~,&AA{Ga@Aq>?T@ABX~? A.AQ &"AAt#lNA"AZAbAjArAzAAAV$0* @A:eW~rAHd@AOrK<ADt=A AqAB׿Ao4*A:?2Atֽ:A0 o<BA:?JAtֽRA0 o<٘i)I9d@YN G JJJJJE&K Y&V~?y( MAqE{7j7ZM9@B)B:E[[C z@[jTW~?[C[[[[ZZBZYY i) ǡIiYd@$= ˿))˿&@0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035064.443165 s, next control iter: 1743035064.823178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8563", header.stamp.nsec: 0"0 temperature: 13.388934"* salinity: 33.391655", density: 1025.000000"* values[0]: 0.689553"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035064.843165 s.݌I~,5&AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035064.843281F (some fields omitted in printout)Ap= @A@A~X~? A2A &"AAlNA"AZAbAjArAzAAAiwP @AE8πrA0d@AF<A~.=ASA!5A ׿AԼ*Aj:?2Aֽ:A!;BAj:?JAֽRA!;٘i)I9d@Y G JJJJJE&K YlV~?yLAtE7{7]M9)B7E[[w+{@[hDW~?[H[[[[ZZBZYY i) Iih@ώ= `ɿ))`ɿ@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035064.863165 s, next control iter: 1743035065.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035065.263165 s.I~,P&AA̹@A'@AvhX~? A7Ak&"AAkNA"AZAbAjArAzAAAٸz@A9]rAzc@A;Ap<A^A`A@yؿADǪ*A:?2Aֽ:ABA:?JAֽRAYg@[y< ;ٓH `?#@83@9`ԙ@t?`I?)g@ I٘i)I9zc@Yr G JļJJJJE&Kw> Y&WV~?y oLA[vEb7b7GaM9)$B[[dQ|@[z4W~?[M[[[[ZZBZYY i4=) bjIi j@l= ǿ))ǿJ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035065.283165 s, next control iter: 1743035065.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8564., header.stamp.nsec: 0.0 temperature: 13.389268.* salinity: 33.391644., density: 1025.000000.* values[0]: 0.688178.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035065.683165 s.lI~,xk&AJ"J*J2J:JBJnJvJA(\@A@AxRX~? AY;Ap`&"AAkNA"AZAbAjArAzAAA߇Yv8@Aҟ rAb@AgA>n<AIA A@QٿAf{*A :?2Aֽ:AÀ!BA :?JAֽRAÀ! I٘i)I9b@Y$ G JvJJJJE&K YzAV~?yrMLAyEj7j7dM9?B)(B5E[[$v}@[$W~?[R[[[[ZZBZYY i\=) Iil@^= 7Ŀ))7Ŀ ݗ@ RYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035065.683165 s, next control iter: 1743035066.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035066.103165 s.I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077812< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743035066.103327F (some fields omitted in printout)AQ8@A{E+@AB).E[[Bn@[ZV~?[pb[[[[BZYY i) hDIiu@=i= w))w=@'5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035066.963165 s, next control iter: 1743035067.343185 s, wait time: 0.380020 spV~?)y! rAdjusting time to match Gazebo time: 1743035067.363165 s.I~,>׮&AJ"J*J2J:J/?BJ/?nJ}85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077812< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743035067.363301F (some fields omitted in printout)Aٺ@A̺@AqW~? ANA&"AA;kNA"AZAbAjArAzAAA8?AU_frA_b@A+:AL4A A`A<ܿAzD;*Ak9?2A׽:ABAk9?JA׽RAYRCn@AyL4h:ٓH`C8?'?H@eà?`?DP[? ?)RCn@ I٘i)I9_b@Y G Jt:C=J(JJJE&Kyx> YU~?y'!LAE72sM9)+E[[@[V~?[g[[[[BZYY ii=) 3Iiw@=  )) !@,r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035067.403165 s, next control iter: 1743035067.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8566", header.stamp.nsec: 0"0 temperature: 13.389532"* salinity: 33.391609", density: 1025.000000"* values[0]: 0.687271"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035067.783165 s.\I~,&AA(\@AfR@AW~? ASAi&"AAlkNA"AZAbAjArAzAAAD89?AzcsrAr~b@A!+<A*[AANA#vݿA;*A9?2AA׽:AWBA9?JAA׽RAW٘i)I9~b@Y G JQ;JJJJE&K Y U~?y".^LAEj7j7vM9)*B[[@[&V~?[Im[[[[BZYY iԇ=) "Iiy@v= Ou))Ou@֓*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035067.823165 s, next control iter: 1743035068.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035068.203165 s.J "J *J 2J :J /?BJ /?nJ 85vJ ëI~,6 &AAQE@A!8@AW~? A%XA6&"AAjNA"AZAbAjArAzAAAs͛?A֔rA,b@AX_<AzA.A?A3޿A|-<*Au9?2ACE׽:ABAu9?JACE׽RA٘i)I9b@Y G J <JJJJE&K YXU~?yu4LAE{7{7]zM9=B)(B)E[[ @[V~?[r[[[[BZYY i)  IiC|@r!= +4))+4B@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035068.223165 s, next control iter: 1743035068.603187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743035068.623165 s.VɫI~,X'&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066324< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743035068.623305F (some fields omitted in printout)AGz@A 4m@AW~? Af]AX&"AA`jNA"AZAbAjArAzAAAw?A>hɚrAQ c@A<A`QAA@A޿A b<*A9?2A ׽:A BA9?JA ׽RA ٘i)I9 c@Y. G JE<JJJEJE&K YU~?y:LAE77}M9)%B[[@[fV~?[Yx[[[[BZYY i)  >Ii@F#= ?))?қ@yD=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035068.643165 s, next control iter: 1743035069.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8567 , header.stamp.nsec: 0 0 temperature: 13.389486 * salinity: 33.391598 , density: 1025.000000 * values[0]: 0.687610 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035069.043165 s.ЫI~,B&AJ"J*J2J:JBJnJvJA= ף@A@AW~? AbAi&"AAjNA"AZAbAjArAzAAA1 :?AiIrAsc@A[9AmA)A_A߿AY<*An9?2Aֽ:ABAn9?JAֽRA٘i)I9sc@Yn G J'y<JJJJE&K YU~?yAMAE77M9.B)B&E[[?@[V~?[}[[[[BZYY i)  Ii,@MW%= G))Ga@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035069.083165 s, next control iter: 1743035069.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035069.463165 s.Y׫I~,]&AAffff@A1JZٻ@AW~? AFhA&"AAhjNA"AZAbAjArAzAAAÕ?AuWVmrAc@A A}̘A `A [ A(A<*A9?2A^ֽ:A;BA9?JA^ֽRA;٘i)I9c@Y G J@<JJJJE&K Y?U~?yrGPMAEZ7SI7M9)B#E[[̓@[(V~?[[[[[BZYY i) cKIi@'= o))o@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035069.503165 s, next control iter: 1743035069.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8568, header.stamp.nsec: 00 temperature: 13.389333* salinity: 33.391590, density: 1025.000000* values[0]: 0.688397F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035069.883165 s.yݫI~, elevatorAngleAction: 0.066324< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743035069.883289F (some fields omitted in printout)A(@A!@AЇW~? AmA3&"AAjNA"AZAbAjArAzAAAjh?ALڤrAyd@A!bAAAθAA?><*Aq9?2ANֽ:ABAq9?JANֽRA٘i)I9yd@Y G J<B=JJJJE&K YvU~?yMMAE77{7M9) B[[#[@[V~?[B[[[[BZYY i) Ii@.*= J))J}@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035069.903165 s, next control iter: 1743035070.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035070.303165 s.ZI~,g&AAQ@AlЗD@AuuW~? AsA$&"AAkjNA"AZAbAjArAzAAA?A\ZrA e@A 7AA A`aArA%<*A{9?2A@ֽ:A!UBA{9?JA@ֽRA!U٘i)I9 e@Yg G JR<C=JJJJE&K YbU~?yTMAE777GM9)B!E[[r@[yV~?[[[[[BZYY i) HxIi@a,= ))m @ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035070.323165 s, next control iter: 1743035070.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8569., header.stamp.nsec: 0.0 temperature: 13.389109.* salinity: 33.391575., density: 1025.000000.* values[0]: 0.689458.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035070.723165 s.I~,H&AJ"J*J2J:J0?BJ0?nJ95vJAz@Az@A|cW~? AxyA&"AAPjNA"AZAbAjArAzAAA}jQ|¹A CrAe@A1AAm AnA+Ad<*A9?2Aֽ:ABA9?JAֽRA٘i)I9e@Y G J~<JJJJE&K Y&OU~?yoZNAE)7ŧ7ݏM9)BE[[r@[9V~?[[[[[BZYY i) 5Iit@/= 7쩿))7쩿͔@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035070.763165 s, next control iter: 1743035071.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035071.143165 s.W/I~, *ɯ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066324< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035071.143285F (some fields omitted in printout)A ףp@Ay@e@AQW~? AnAR@&"AA5jNA"AZAbAjArAzAAAhw2ӿAsʏrA:f@A;AAH AY߿A A<*A>9?2A>׽:AN BA>9?JA>׽RAN ٘i)I9:f@Y G JQ<JJJJ E&K Yr;U~?y`BNAEj7j7rM9-B)B[[@[^zV~?[c[[[[BZYY i) Ii@n+3= +ç))+ç@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035071.163165 s, next control iter: 1743035071.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035071.563165 s.I~, &AJ"J*J2J:J0?BJ0?nJ=95vJA3333@AP)@A@W~? AA&"AAjNA"AZAbAjArAzAAA趥GdAӼDrAf@AqZ<AjSAA޿A`YA5<*A9?2Ac^׽:A0BA9?JAc^׽RA0YK{@yO_[<ٓH@!`??@*'@h??` N?@?)K{@ I٘i)I9f@Yy G Ja<J埽JJJE&K)> YI,U~?y0hNAE77{7M9)BE[[@[oV~?[N[[[[BZYY i) 3WIi@3= o))o@k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035071.603165 s, next control iter: 1743035071.963192 s, wait time: 0.360027 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8570, header.stamp.nsec: 00 temperature: 13.388879* salinity: 33.391567, density: 1025.000000* values[0]: 0.690686F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035071.983165 s.I~,&AA\(@A?l@A/W~? AAWS&"AAjNA"AZAbAjArAzAAAK_A‘ rAvcg@AYL<A⯛A=qA6ݿAv A<*A9?2Ax;׽:ABA9?JAx;׽RA٘i)I9cg@Y G J!<JJJJE&K Y"U~?yoOAEM9)B[[@[*eV~?[C[[[[BZYY i)  ݾ8Ii<@i4= Y))Y9@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035072.003165 s, next control iter: 1743035072.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035072.403165 s.&I~,&AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066324< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035072.403288F (some fields omitted in printout)AQ^@AQ@AW~? AA&"AAiNA"AZAbAjArAzAAAφֽAYNrAg@AA;A#A,A&ݿA lA<*A 9?2Aֽ:ABA 9?JAֽRA٘i)I9g@Y- G Ja<JJJJE&K Y U~?y wOAEj7Z72M9)BE[[\@[[V~?[C[[[[BZYY i) Ѓ:Ii$@g5= &))&WƠ@|*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035072.423165 s, next control iter: 1743035072.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8571", header.stamp.nsec: 0"0 temperature: 13.388610"* salinity: 33.391552", density: 1025.000000"* values[0]: 0.691856"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035072.823165 s. I~,>4&AAGz@A ˟o@AW~? A[A^&"AALiNA"AZAbAjArAzAAAxY7PAƾrAh@AZӢAAAZAzgܿA`5A<*A39?2Aoֽ:ABA39?JAoֽRA٘i)I9h@Y G J<JJJJE&K YT~?yv~OAE77ȡM9)B[[0@[cQV~?[K[[[[BZYY i) X:Ii;@oV7= ))R@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035072.843165 s, next control iter: 1743035073.223182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035073.243165 s.I~,mO&AJ"J*J2J:JD1?BJD1?nJ95vJAףp=ʽ@Az2@AW~? AמA{&"AAfiNA"AZAbAjArAzAAA=rAe;rA"i@AJAgA<AۿAA9ٰ<*A'9?2Apֽ:ABA'9?JApֽRA٘i)I9"i@Y G J<JJJJE&K YT~?yㅨRPAE77j7]M9)BE[[z@[ HV~?[[[[[[BZYY i) 9;Ii@78= Ŝ))Ŝuޡ@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035073.263165 s, next control iter: 1743035073.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035073.663165 s.I~,qj&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066324< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743035073.663324F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8572, header.stamp.nsec: 00 temperature: 13.388380* salinity: 33.391525, density: 1025.000000* values[0]: 0.693045F (some fields omitted in printout)A@AC@AV~? AlA`&"AA#iNA"AZAbAjArAzAAA<)nQOARrA&i@AXAIAYAmڿA@FAnP<*A9?2A.ֽ:ABA9?JA.ֽRAY@IyYٓH ܿF?_?Wܿ|q?@5-?[?)@ I٘i)I9i@Y=G J"<JL`<JJJE&KVx> YT~?yPAIE77M9)߯B[[ I@[>V~?[[[[[BZYY i)  w;Iiސ@3o9= O))Ok@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035073.683165 s, next control iter: 1743035074.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035074.083165 s.D!I~,R&AJ"J*J2J:Jk1?BJk1?nJ :5vJA)\5@AND(@AHV~? AA&"AAiNA"AZAbAjArAzAAA~PwrA[\rA?Cj@AhAAA]ڿAEA<*A_9?2AQֽ:A BA_9?JAQֽRA ٘i)I9Cj@YG J6<JJJJE&K YUT~?yQAEb77M9.B)ܯBE[[]Չ@[H6V~?[Ĩ[[[[BZYY i) 0;Iik@S#:=  b)) bX@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035074.103165 s, next control iter: 1743035074.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035074.503165 s.'I~,H4&AARk@Ay^@A V~? A޲Ae\&"AAsiNA"AZAbAjArAzAAAgsw A[rAMj@AM5;AA=UA 4DٿA@#Aś<*Av9?2A&׽:A!BAv9?JA&׽RA!٘i)I9j@YG Jà<JJJJ!E&K YT~?ywQAE7)7M9-B)ׯBE[[sa@[-V~?[ʨ[[[[BZYY i9=) ;Ii'@;= 1))1n@۾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035074.523165 s, next control iter: 1743035074.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8573, header.stamp.nsec: 00 temperature: 13.388143* salinity: 33.391510, density: 1025.000000* values[0]: 0.694199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035074.923165 s.7.I~,&AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJnJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075139< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035074.923302F (some fields omitted in printout)A{G@Aۋh;@ABV~? AAf&"AAT^iNA"AZAbAjArAzAAA}fA;s%rA'Jk@A7<AAArؿA`A"<*A*9?2AbZ׽:A4BA*9?JAbZ׽RA4󼙘٘i)I9Jk@Y3G J8<JJJJ#E&K YT~?y_QAE77{7M9)ӯB[["@[%V~?[$Ѩ[[[[BZYY i) V;Ii@?<= ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035074.943165 s, next control iter: 1743035075.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035075.343165 s.<5I~,հ&AAp= ׾@AXmɾ@AV~? AAP&"AAIiNA"AZAbAjArAzAAAB/A5brAk@AZa<AՈA2A׿A@PA<*A9?2AS׽:ANBA9?JAS׽RAN٘i)I9k@Y}G J<JJJJ&E&K YWT~?y>;RAE77HM9)ϯB[[ix@[UV~?[hר[[[[BZYY i) u;Ii*@D== Ց))Ցd@d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035075.363165 s, next control iter: 1743035075.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8574&, header.stamp.nsec: 0&0 temperature: 13.387913&* salinity: 33.391491&, density: 1025.000000&* values[0]: 0.695239&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035075.763165 s.A;I~,I&AJ"J*J2J:JBJnJvJA @AY@AV~? AǩAR&"AA5iNA"AZAbAjArAzAAAg.A(rA9l@A&<ADAuA(ֿAADߌ<*A89?2A׽:AjBA89?JA׽RAjYh*@y򈽙|<ٓH`ֿ_?4"?@hֿ Ѱ???Z?)h*@ I٘i)I99l@YG J<B=J|#<JJJ)E&K;x> YMT~?y{RAEŧ7b7޺M9.B)̯BE[[V@[V~?[ݨ[[[[BZYY i)  elevatorAngleAction: 0.075139< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743035076.183273F (some fields omitted in printout)A(\B@A5@AV~? AΩAd>&"AA"iNA"AZAbAjArAzAAAL[AvnrAl@A)A?ˉAqA uտA AϢ<*Az9?2ARֽ:ABAz9?JARֽRA٘i)I9l@YG J<C=JJJJ+E&K YFT~?yRAE77sM9)ȯB[[@[V~?[[[[[BZYY i)  = w))w@*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743035076.203165 s, next control iter: 1743035076.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035076.603165 s.94II~,&&AJ"J*J2J:JBJnJvJAQx@AM Jk@AV~? AթA&"AA5iNA"AZAbAjArAzAAAH>}Af:erA*m@A#AAhA`տA2A+s<*A9?2Ak|ֽ:AYsBA9?JAk|ֽRAYs٘i)I9*m@YXG J<B=JJJJ.E&K YݩA &&"AAnhNA"AZAbAjArAzAAAAArAom@A@cA"\AA[AԿAt2Ae<*Ae9?2Aoֽ:ABAe9?JAoֽRA٘i)I9m@YG J<C=JJJJ1E&K Y5T~?y-ΨSAE{7{7M9-B)BE[[Ħ@[?V~?[[[[[BZYY i) 9 elevatorAngleAction: 0.075139< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035077.443290F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= @A,ֿ@A>}V~? AA&"AA_hNA"AZAbAjArAzAAAm^0AaJ=LrA~%n@A1A9ōA3AbӿA@eA<*A%9?2Aֽ:A2BA%9?JAֽRA2٘i)I9%n@YG J<B=JJJJ3E&K Y+~T~?yj֨TAęE773M9.B)BE[[1@[aU~?[T[[[[BZYY i) ?Hw&AA@A2 @ArV~? AA&"AA hNA"AZAbAjArAzAAAFNAn]rAn@AJAPAȃAҿAALW<*A 9?2ASֽ:ABA 9?JASֽRAY m@ysPٓH|п`?b?@@`п'?`P? O a?) m@ I٘i)I9n@Y=G J_<C=JJJJ6E&Kwx> YvT~?yިgTAǙEj7SI7M9)B[[@[U~?[[[[[BZYY i) X elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743035078.703329F (some fields omitted in printout)AQ@ANqx@A2_V~? AA&"AAhNA"AZAbAjArAzAAAev AvrAo@A!\<AA(A`пAA<*A@9?2AE&K Y`T~?yqUAϙE77{7M9/B)BE[[&^@[gU~?[[[[[[BZYY i)  elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743035079.963280F (some fields omitted in printout)Affff&@A[@AEV~? AA'&"AAhNA"AZAbAjArAzAAA AisA-q@AKA-A;ݿA@̿A@iA˝<*A9?2AKtֽ:ABA9?JAKtֽRAY@xݿyg,}׻ٓH@CĿ_?.?@`Ŀ?@?@oiw?)@ I٘i)I9q@YG J<JtJJJDE&Kx> Y8UT~?y PVAxݿԙE7M9)B[[s@[U~?[z[[[[BZYY i) >V~? AA &"AAԊhNA"AZAbAjArAzAAA{KL Aͦ sACq@AWeQAWAڿA`4ʿA`XAl<*A9?2ABֽ:Af2BA9?JABֽRAf2٘i)I9q@YG J+<JJJJFE&K YPT~?yTVAיEŧ7b7HM91B)BE[[U@[1U~?[%[[[[BZYY i)  elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035081.223292F (some fields omitted in printout)Az@AUס@A0V~? A+)Aka &"AA}uhNA"AZAbAjArAzAAAcKЋ A޸+sAr@AٻAҤA¶տAƿAAѴ<*A9?2Aֽ:ASBA9?JAֽRAS٘i)I9r@YG J׳<JJJJLE&K YGT~?y#WAܙEsM9)B[[@[U~?[L2[[[[BZYY i) vŨ YAT~?y05fXAnпEM92B)B E[[(@[EU~?[?[[[[BZYY i)  elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035082.483305F (some fields omitted in printout)A\h@AEk[@A0 V~? A@A) &"AA`[hNA"AZAbAjArAzAAA5AoAIR %sAt@A]_<AJA:ͿA@kA`AD<*Ay9?2Aq3׽:A7>BAy9?JAq3׽RA7>٘i)I9t@YG J}<C=JJJJTE&K Y @T~?y=XAE{7Z73M9+B)B[[H@[U~?[4F[[[[BZYY i) <*A9?2Aֽ:A&BA9?JAֽRA&٘i)I9Eu@YGG J<JJJJVE&K Yk>T~?yFJYAE7777M9)B[[=@[yU~?[L[[[[BZYY i) B elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743035083.743307F (some fields omitted in printout)Aףp= @Al3@A~V~? AXA &"AA[HhNA"AZAbAjArAzAAA+$ PEA 2<4sAv@A$%AűA[!ƿAuqAJA<*A.9?2A'ֽ:ABA.9?JA'ֽRA٘i)I9v@YG J<JJJJ\E&K Y+;T~?yQX.ZAEŧ7b7M9)vBE[[R@[U~?[.Z[[[[BZYY i) XsAx@A)AtA7A{AbA6<*A9?2A\ֽ:AfBA9?JA\ֽRAf٘i)I9x@YG J<JJJJaE&K Y=T~?yi[AE7{7N9)kB[[Sƿ[6U~?[g[[[[ZZZZ¸>BZYY i¸> U) AU.hBsAx@AػAb!A5A@A@fjAd<*Aǖ9?2A ֽ:AABAǖ9?JA ֽRAA٘i)I9x@Y`G J<JJJJdE&K Y>T~?yr[AEb77 N9)eBE[[uĿ[U~?[*n[[[[ZZZZBZYY i) \\AEŧ7b7N9)XB[[i [U~?[}{[[[[ZZZZBZYY i) | YET~?y\AYE77tN9)RB[[[U~?[$[[[[ZZZZBZYY i) zBA9?JAQֽRA>z٘i)I9{@YFG J<JJJJoE&K YIT~?y%]AEb7b7 N9)LBE[[ɻ[U~?[ˈ[[[[ZZZZBZYY i) 9?2A/ֽ:AI<BA>9?JA/ֽRAI<٘i)I9|@YG J<JJJJtE&K YQT~?y]AE{7j74N9,B)DBE[[o[U~?[[[[[ZZZZBZYY i) 3~&AJ"J*J2J:JBJnJvJAY@A&L@A(V~? AWA&"AA @hNA"AZAbAjArAzAAAGyaAs6JjsA'}@AMA鿹<AYA`B?A>TA;*A%9?2Aֽ:A<BA%9?JAֽRAJJJyE&KFw> Y\T~?ye]A^ Ej7Z7_&N9)@BE[[[U~?[T[[[[ZZZZBZYY iLAq) VA<?A6A.਻*A 9?2Aֽ:A<BA 9?JAֽRA<٘i)I9}@YYG J JJJJE&K YjT~?yɩ]AE77-N9)@B[[ո[U~?[[[[[BZYY i) *2= a))aaYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035089.223165 s, next control iter: 1743035089.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035089.623165 s.[I~,mg&AAG@An@AV~? AUɪAh+&"AANhNA"AZAbAjArAzAAAF3A٩nxsAi}@Ao]<Ab=AAϾ?A@$A$*A+9?2Axֽ:A'K=BA+9?JAxֽRA'K=٘i)I9i}@Y<G J6B=JJJJE&K YqT~?yҩ]AEj71N9.B)BBE[[È[>U~?[[[[[BZYY i) O1 = ))y3*VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035089.643165 s, next control iter: 1743035090.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8588 , header.stamp.nsec: 0 0 temperature: 13.567574 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.580959 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035090.043165 s. I~,Â&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035090.043293F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף0@A噗#@A!V~? AHѪA&"AAThNA"AZAbAjArAzAAA& iqXAu?f}sAe!}@A<Ai =AA+K?A`AVHF*A9?2AjGֽ:AA =BA9?JAjGֽRAA =٘i)I9!}@YG J+C=JJJJE&K YxT~?yکy]AE4N9)EB[[X[3U~?[[[[[BZYY i) ; YVT~?y]AYEb77I8N9)HB[[s+[|U~?[)ĩ[[[[BZYY i|Zj) ~;IiK@Ɖ<=  G)) G GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035090.483165 s, next control iter: 1743035090.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8589, header.stamp.nsec: 00 temperature: 13.567684* salinity: 33.375004, density: 1025.000000* values[0]: 0.580706F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035090.883165 s.y-I~,I&AJ"J*J2J:J?BJ?nJ5vJA(@A9@A+V~? AAZ%"AA.dhNA"AZAbAjArAzAAARzYR6WA1nsA\|@A^#A=AA r?A7AA*AX9?2A,ֽ:AH=BAX9?JA,ֽRAH=٘i)I9\|@YG J|JJJJE&K YT~?y+\AE77;N9)KB[[[$U~?[ʩ[[[[BZYY i) ;Iie@c;= ))ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035090.903165 s, next control iter: 1743035091.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035091.303165 s.T4I~,ogӴ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057215< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035091.303281F (some fields omitted in printout)A@A@A1V~? AA %"AAlhNA"AZAbAjArAzAAA}8 ARr8sA{@A?ZA:=A`A?AA쯘*Aܙ9?2Aֽ:A] =BAܙ9?JAֽRA] =٘i)I9{@YOG JvJJJJE&K YT~?yrb\AEŧ7ŧ7t?N9/B)PBE[[}̣[*V~?[ѩ[[[[BZYY i) ;Ii@y:= >))>>ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035091.323165 s, next control iter: 1743035091.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8590., header.stamp.nsec: 0.0 temperature: 13.567841.* salinity: 33.375000., density: 1025.000000.* values[0]: 0.580203.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035091.723165 s.;I~J,H&A"J*J2J:J?BJ?nJ5vJAz@Aqq@Ac8V~? AA((%"AAvhNA"AZAbAjArAzAAA`m# A{SsAU]{@AiA>=ArAe?A At*AQ9?2A ֽ:A =BAQ9?JA ֽRA =٘i)I9]{@YG JɟB=JJJJE&K YXT~?y\AE777 CN9)TB[[㚡[ V~?[ש[[[[BZYY i) Y;Ii&@9= K))KKyjYتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035091.743165 s, next control iter: 1743035092.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035092.143165 s.V/BI~,* &AA ףp=@AYd0@A~?V~? AA%"AAhNA"AZAbAjArAzAAAEfU)w A8sA z@A klAx =AA[?ABA?*Ac9?2Alֽ:A9 =BAc9?JAlֽRA9 =٘i)I9z@YG J C=JJJJE&K YT~?y[A"E{7{7FN9)YB[[h[QV~?[ݩ[[[[BZYY iqꇽ) ;Ii͐@X9= ))뾩٪YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035092.163165 s, next control iter: 1743035092.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035092.563165 s.HI~,R $&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743035092.563296F (some fields omitted in printout)A3333s@AZ_&f@AGV~? A8A%"AAhNA"AZAbAjArAzAAApʘ Ag(psA2z@A<A=AkAh?A^]A{*A9?2Aa*ֽ:A_Z =BA9?JAa*ֽRA_Z =YA7@ Vy=E <ٓH ?`?e?b=?@@^??)A7@ I٘i)I92z@YGG JJ<JJJE&Kw> YPT~?y >[AV%Eb7b74JN90B)_B E[[9[bV~?[W[[[[BZYY i) 7G;Ii@O7= F))F⾩FתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035092.583165 s, next control iter: 1743035092.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8591, header.stamp.nsec: 00 temperature: 13.568088* salinity: 33.375011, density: 1025.000000* values[0]: 0.579592F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035092.983165 s.OI~,>&AA\@A[@A6OV~? AAb%"AAhNA"AZAbAjArAzAAAH} A0sAy@An;X<A3%=AیA6?A7A*A͵9?2Aֽ:AC0 =BA͵9?JAֽRAC0 =٘i)I9y@YG JJJJJE&K YT~?yZA'E7MN91B)dB!E[[[ V~?[[[[[BZYY i) 4 ;Iiz@_6= ھ))ھھTԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035093.003165 s, next control iter: 1743035093.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035093.403165 s.&VI~,Y&AJ"J*J2J:JBJnJvJAQ@Am@AWV~? AA,%"AAhNA"AZAbAjArAzAAA/` ) A MţsAx@A6~5<A+=A:A?A`A 峼*A 9?2A:Tֽ:AuO=BA 9?JA:TֽRAuO=٘i)I9x@YG J鶼JJJJE&K YT~?ylZA*E777_QN9)iB[[՘[(V~?[[[[[BZYY i) x[:Ii@=5= F8Ѿ))F8ѾF8ѾJЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035093.443165 s, next control iter: 1743035093.803181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8592, header.stamp.nsec: 00 temperature: 13.568352* salinity: 33.375023, density: 1025.000000* values[0]: 0.578879F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035093.823165 s.\I~,)t&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743035093.823288F (some fields omitted in printout)AGz@AHN&n@A`V~? AA8%"AAhNA"AZAbAjArAzAAA#`6L A#Vx$csAhx@AʅK;AT=A A@?A5A*A˽9?2Awֽ:AV=BA˽9?JAwֽRAV=٘i)I9hx@Y0G JJJJJE&K Y:T~?y#ZA-Eb77TN92B)nB$E[[ᡖ[0V~?[H[[[[BZYY i) dw9Ii@V4= gȾ))gȾgȾy#ۇ ̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035093.843165 s, next control iter: 1743035094.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035094.243165 s.cI~,&AJ"J*J2J:J?BJ?nJL5vJAףp=J@Av1=@AjV~? AA%"AAhNA"AZAbAjArAzAAAp*.cA\sAVw@AջA-=A@ڄA@?A A/d*A9?2Anֽ:AI<BA9?JAnֽRAI<٘i)I9w@YG J<JJJJE&K YT~?y+YA/E77{7XN9)sB[[}l[]9V~?[[[[[BZYY i) X#Ii_@3= >))>>ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035094.263165 s, next control iter: 1743035094.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035094.663165 s.jI~,q&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8593, header.stamp.nsec: 00 temperature: 13.568572* salinity: 33.375015, density: 1025.000000* values[0]: 0.578220F (some fields omitted in printout)A@A|r@AtV~? A&A%"AAhNA"AZAbAjArAzAAAw\HnAl*sATw@A!PA=A31A?AAA*A9?2A׽:A.<BA9?JA׽RA. Y_T~?y39YAN2E77 \N93B)yB(E[[9[5BV~?[[[[[BZYY i) 7̺Ii@1= 6ȶ))6ȶ6ȶĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035094.683165 s, next control iter: 1743035095.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035095.083165 s.DqI~, Sŵ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743035095.083306F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\µ@A!o@A:V~? Ae-A%"AAhNA"AZAbAjArAzAAA Ge,mAD?sAv@A$AIA =A/A&?AVAŘ*AZ9?2A׽:A,<BAZ9?JA׽RA,<٘i)I9v@Y9G JC=JJJJE&K Y2U~?y:XA5E_N9)}B[[[lKV~?[ [[[[BZYY i) #Ii@D0= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035095.123165 s, next control iter: 1743035095.483178 s, wait time: 0.360013 s2U~?): rAdjusting time to match Gazebo time: 1743035095.503165 s.wI~,e4&AAR@As|@AMV~? A4A%"AAhNA"AZAbAjArAzAAA[Ca`A8o=ysA8Sv@APA=AzA fo?A"A*Ar9?2Aֽ:A<BAr9?JAֽRA<٘i)I9Sv@YG JJJJJE&K YU~?yBzXA7ES77JcN94B)B+E[[΍[UV~?[[[[[BZYY i) laIi@4.= ))kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035095.523165 s, next control iter: 1743035095.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8594, header.stamp.nsec: 00 temperature: 13.568790* salinity: 33.375011, density: 1025.000000* values[0]: 0.577637F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035095.923165 s.8~I~,&AJ"J*J2J:JBJnJvJA{G!@AnB<@AٕV~? A;Are%"AA iNA"AZAbAjArAzAAAӶwHAC.}1sAu@A;AL=A uAuH?AAAzg*AV9?2Aqֽ:A&<BAV9?JAqֽRA&<٘i)I9u@YG J JJJJE&K Y!U~?yIXA:E77fN9)B[[s[^V~?[[[[[BZYY i) kxIiɇ@8-= :)):::YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035095.943165 s, next control iter: 1743035096.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035096.343165 s.GCsASu@A@<AN=AoA?AyAܗ*A9?2AJֽ:A~<BA9?JAJֽRA~<٘i)I9Su@YPG J1JJJJE&K Y0U~?yQWA=Eb77ujN96B)B/E[[\[NiV~?[![[[[BZYY i) ?Ii@,= nR))nRnRYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035096.383165 s, next control iter: 1743035096.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8595&, header.stamp.nsec: 0&0 temperature: 13.568952&* salinity: 33.375023&, density: 1025.000000&* values[0]: 0.577087&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035096.763165 s.7I~,0&AJ"J*J2J:J?BJ?nJ5vJǍ@AvQ@AWV~? A1JAM%"AAy$iNA"AZAbAjArAzAAA-XA'6sAt@AT<A-=AjA?A>{Apє*A9?2Az]ֽ:A[<BA9?JAz]ֽRA[ YAU~?yX`WAj?E{7Z7 nN9)B[[&[sV~?["[[[[BZYY i) ^rͻIi@*= ^z))^z^zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035096.783165 s, next control iter: 1743035097.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035097.183165 s.˒I~,ZK&AA(\@A@@AHV~? A3QA%"AA7iNA"AZAbAjArAzAAATrA=sA [t@A;A7=AweA ?A'>AP.*A:9?2A^ֽ:A<BA:9?JA^ֽRA<٘i)I9[t@YG JXJJJJE&K YSU~?y_WABE77qN97B)B2E[[턿[~V~?[([[[[BZYY i) Ii@)= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035097.223165 s, next control iter: 1743035097.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035097.603165 s.74I~,f&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035097.603297F (some fields omitted in printout)AQ@A;4,F@AV~? A XA;%"AAKiNA"AZAbAjArAzAAAaA6,sAs@AQr Af=A`A@F?AqAˆ*A9?2Aֽ:A<BA9?JAֽRA<I٘i)I9s@YrG JJJJJE&K YIdU~?y fVAEE)7ŧ75uN9)B[[{[6V~?[-[[[[BZYY i) Ii@\'= lTq))lTqlTqyGיYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035097.643165 s, next control iter: 1743035098.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8596 , header.stamp.nsec: 0 0 temperature: 13.569139 * salinity: 33.375023 , density: 1025.000000 * values[0]: 0.576545 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035098.023165 s.ZI~,|&AAHz.@A !@AV~? A^AM%"AAD`iNA"AZAbAjArAzAAAo_NA=K{DsAws@Az+A=AZA do?AiAꂼ*A9?2A'׽:Am<BA9?JA'׽RAm<٘i)I9ws@Y.G JJJJJE&K Y}uU~?y mRVAGE777xN9)B5E[[#u[V~?[3[[[[BZYY i) ֎Iiށ@<&= i_))i_i_&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035098.863322F (some fields omitted in printout)A@A:ZՒ@AV~? A]lA%"AAiNA"AZAbAjArAzAAADA,rsAr@A3A=AYPA1?A3A*AZ9?2Aֽ:Ae=BAZ9?JAֽRAe=Y@2Pyߊ=ٓH@? B?@m4?8%?@@zX l`?)@ I٘i)I9r@YG JJ!;JJJE&K x> YU~?ynzUAPME777N99B)B9E[[w[RV~?[;?[[[[BZYY i) M4Ii~@,"= `;))`;`;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035098.883165 s, next control iter: 1743035099.263185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035099.283165 s.5RI~,Ҷ&AJ"J*J2J:JBJnJvJA(\@A4O@AW~? ArA,%"AA6iNA"AZAbAjArAzAAAH@Ag5ssA\&r@AϸA f=AbMKA }?A@$A*A׽9?2AĒֽ:A=BA׽9?JAĒֽRA=٘i)I9&r@YaG JmJJJJE&K YuU~?yր=UAPEN9)B[[|s[V~?[D[[[[BZYY i)  DIix{@' = в)))в)в)ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035099.303165 s, next control iter: 1743035099.683176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 85986, header.stamp.nsec: 060 temperature: 13.5694446* salinity: 33.3750616, density: 1025.0000006* values[0]: 0.5755946F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035099.703165 s.غI~,&AAQ@At@A\W~? AcyAP%"AAiNA"AZAbAjArAzAAAdVAJesAq@A!<A!=AAFA?A@oA*A9?2ALֽ:Ar =BA9?JALֽRAr =٘i)I9q@YG JB=JJJJšE&K YU~?y>TARE77 N9:B)B@r6yj=U";ٓH%??g?A!5?`]`Ld?.?)p>@ I٘i)I9&p@Y)G JJH<JJJʚE&K)x> YU~?yЙSAr6ZEj7j7N9)BCE[[na[KV~?[Z[[[[BZYY i) 〼Iip@= @½))@½@½ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035100.983165 s, next control iter: 1743035101.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035101.383165 s.խI~,DX&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035101.383321F (some fields omitted in printout)A(@Aq6@ATW~? A8A%"AAjNA"AZAbAjArAzAAA^ɤyѿA@|ݍsAo@AA)=A1AM{?A`hAn*A9?2AE׽:A+* =BA9?JAE׽RA+* =٘i)I9o@YG JJJJJ͚E&K YYV~?y]SA]E77uN9=B)BFE[[\[V~?[?`[[[[BZYY i) }Ii:m@:= ɞ))ɞɞyJ8ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035101.403165 s, next control iter: 1743035101.783181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8600", header.stamp.nsec: 0"0 temperature: 13.569785"* salinity: 33.375053", density: 1025.000000"* values[0]: 0.574497"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035101.803165 s.wAܭI~,{gs&AJ"J*J2J:J?BJ?nJ75vJA@A)@A~fW~? A'AN%"AAT7jNA"AZAbAjArAzAAAqA4\-sA*$o@A8/RALt=A]+A@?A`wA*A9?2AU-׽:AO=BA9?JAU-׽RAO=٘i)I9$o@YG JJJJJϚE&K Y'V~?ySRA`E777 N9)įB[[c]X[gW~?[e[[[[BZYY i) tIi4j@%= t))ttժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035101.823165 s, next control iter: 1743035102.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035102.223165 s.gI~,H&AAzG@A(:@AxW~? AA%"AAQRjNA"AZAbAjArAzAAAc8A??AXcsAsn@ARAAZ =A@&Ao?A@+A*A9?2A׽:A =BA9?JA׽RA =٘i)I9n@Y;G JJJJJҚE&K Y=V~?yRAbEj7j7N9>B)ɯBIE[[S[W~?[j[[[[BZYY i) Iig@3= +))++ڪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035102.243165 s, next control iter: 1743035102.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035102.643165 s.uI~,*&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743035102.643275F (some fields omitted in printout)A ףp}@Abodp@AW~? AA]k%"AAmjNA"AZAbAjArAzAAA:l|?Asɾ6sAin@AXAŝ=A(!A?AhAϪ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9n@YG JJJJJ՚E&K YqRV~?yְ0RAeE{75N9@B)ϯBME[[5O[,W~?[o[[[[BZYY i) vIIiLe@Y= ļ))ļļ~ߪYFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743035102.663165 s, next control iter: 1743035103.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8601, header.stamp.nsec: 00 temperature: 13.569934* salinity: 33.375061, density: 1025.000000* values[0]: 0.573954F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035103.063165 s.I~,R ķ&AA3333@A'@AW~? AFA%"AAjNA"AZAbAjArAzAAA?A3tA9m@A;A=AA?A@qAn˴*A9?2AHֽ:A=BA9?JAHֽRA=YU@ky5=;ٓH?x^?@6? YL`3?驿`Yt?` ?)U@ I٘i)I9m@YG J3JĜ<JJJךE&Kw> YiV~?y㵪QAkhEb77ˣN9)ԯB[[߫J[rλλYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035103.103165 s, next control iter: 1743035103.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035103.483165 s.u_I~,޷&AJ"J*J2J:JBJnJvJA\@A*U@AŰW~? AAؐ%"AAjNA"AZAbAjArAzAAAC-?A"tAl@AF<A¥=AJwAci?A}p߿A5*A 9?2Aqֽ:AZ=BA 9?JAqֽRAZ=٘i)I9l@Y.G JJJJJښE&K YV~?yﺪQQAjE`N9)ٯBPE[[CF[LW~?[y[[[[BZYY i) [ Ii]@] = f=<)) f=<f=<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035103.503165 s, next control iter: 1743035103.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8602, header.stamp.nsec: 00 temperature: 13.570114* salinity: 33.375072, density: 1025.000000* values[0]: 0.573355F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035103.903165 s.I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035103.903291F (some fields omitted in printout)AQ@A(@A=W~? AA'%"AAjNA"AZAbAjArAzAAAWs?A:tADl@ARQ<A=ASA`ӻ?A ޿Az¼*A 9?2A5^ս:AE=BA 9?JA5^սRAE=٘i)I9Dl@YG JJJJJݚE&K YʗV~?yPAmE777N9AB)߯BSE[[ A[\W~?[~[[[[BZYY i) lIiOZ@M = <))<<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035103.923165 s, next control iter: 1743035104.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035104.323165 s.yI~,2&AJ"J*J2J:J?BJ?nJ5vJAGzT@AOoG@A W~? ARA%"AAjNA"AZAbAjArAzAAA܆}?Ak tAik@AZ;Aв=AG A ?A`TݿAHhļ*A9?2Aս:A]=BA9?JAսRA]=٘i)I9k@YhG JüJJJJE&K YV~?yŪrPApE77N9)B[[{<[mW~?[[[[[BZYY i) kͼIihW@ = B=))B=B=_YvYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035104.343165 s, next control iter: 1743035104.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8603*, header.stamp.nsec: 0*0 temperature: 13.570335** salinity: 33.375084*, density: 1025.000000** values[0]: 0.572647*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035104.743165 s.W I~,q/&AAףp=@A_D1}@A3W~? AkAZ%"AAjNA"AZAbAjArAzAAAB~yO?A!ktA*j@A7AO=AAV?A`:AݿAļ*A9?2A:ֽ:A=BA9?JA:ֽRA=٘i)I9j@YG JļJJJJE&K YV~?yʪPArEb77 N9BB)BVE[[o?8[~W~?[[[[[[BZYY i) .ļIiT@@= `=))`=`=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035104.783165 s, next control iter: 1743035105.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035105.163165 s.x}I~,qJ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743035105.163288F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ar@AX~? AdëA^%"AAkNA"AZAbAjArAzAAARt0?AFtAUj@A,1A߯=AOAO?A7ܿA_Bż*AW9?2A9ֽ:A=BAW9?JA9ֽRA=Y>@Ky ݯ=2ٓH]?/?@?( ߿?@-`h=T?)>@ I٘i)I9Uj@YG JļJ><JJJE&KXv> YV~?y_ΪOAuEj7Z7N9)BZE[[3[W~?[[[[[BZYY i) m˼IiP@= @?=))l~@?=@?=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035105.203165 s, next control iter: 1743035105.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035105.583165 s.&I~,?Se&AA)\@A5@A{X~? A;ȫAz%"AA=kNA"AZAbAjArAzAAA @AQtAi@AXAd=AaAI?AۿA'ȼ*A9?2Aֽ:AC=BA9?JAֽRAC=٘i)I9i@Y9G J|ƼJJJJE&K YBV~?yҪOAxEŧ7b7KN9DB)B^E[[/[W~?[[[[[BZYY i) ̫ҼIiL@= 9=)) 9=9=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035105.623165 s, next control iter: 1743035105.983193 s, wait time: 0.360028 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8604, header.stamp.nsec: 00 temperature: 13.570572* salinity: 33.375095, density: 1025.000000* values[0]: 0.571938F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035106.003165 s.w I~,H4&AJ"J*J2J:Jj?BJj?nJ5vJAR+@A=y@A*X~? A̫A.;%"AA]kNA"AZAbAjArAzAAAR@A/#dtAi@A. A=AA`4?AڿA/ͼ*A59?2A&Iս:A=BA59?JA&IսRA=٘i)I9i@Y G JʼJJJJE&K YW~?y֪NAzE77N9)B[[a*[yW~?[[[[[BZYY i) >ټIi5I@@= q=))q=q=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035106.023165 s, next control iter: 1743035106.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035106.423165 s.u&I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035106.423290F (some fields omitted in printout)A{Ga@A~!))o >o >&Y7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035106.463165 s, next control iter: 1743035106.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8605, header.stamp.nsec: 00 temperature: 13.570778* salinity: 33.375122, density: 1025.000000* values[0]: 0.571221F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035106.843165 s.,I~,&AJ"J*J2J:J;?BJ;?nJU5vJAp= @AA}@AUX~? AիAC%"AAkNA"AZAbAjArAzAAAXJf''@Aӯ?tAƠg@A|<A|=AdܾAŷ?A`iٿA/Tڼ*A9?2A.Խ:AN=BA9?JA.ԽRAN=٘i)I9g@Y G J7׼JJJJE&K Y AW~?yߪMAE77 N9EB)BdE[[ [nW~?[[[[[ZZ¸BZYY i¸c=) 0ռIiXC@ < p@ >))p@ >p@ >YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035106.863165 s, next control iter: 1743035107.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035107.263165 s..4I~,и&AA@A'hÿ@AkX~? ABګA2%"AAkNA"AZAbAjArAzAAA"ߐY<@ABtAf@AcZ<A(=AR3ҾA#?A`ΞؿALۼ*Av9?2Aս:A9=BAv9?JAսRA9=YB@`Ѿy$=S?[<ٓH =?v?.a?@_ٿV?H HL? ??)B@ I٘i)I9f@Y G JڼJ ;JJJE&K4u> Y[W~?y ;MAѾEŧ7ŧ7N9)BgE[[X[!W~?[ۢ[[[[ZZBZYY i) #ɼIi>@wO<  2>))@z 2> 2>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035107.283165 s, next control iter: 1743035107.663199 s, wait time: 0.380034 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 86062, header.stamp.nsec: 020 temperature: 13.5710052* salinity: 33.3751372, density: 1025.0000002* values[0]: 0.5704532F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035107.683165 s.l:I~,^&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J*J< rudderAngleAction: -0.2447292J> elevatorAngleAction: 0.082710:JBJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4199922 time: 1743035107.683297F (some fields omitted in printout)A(\@A4Y@AX~? AmޫA%"AAkNA"AZAbAjArAzAAA,pX @AI "tA%f@Ax(<Aح=AʧǾA@'3?A@׿A}*AT9?2A؇ս:A`<BAT9?JA؇սRA`<٘i)I9f@Y G J~JJJJE&K YtW~?yLAE7776N9FB)BjE[['[0W~?[寧[[[[ZZBZYY i) {Ii:@< ЖE>)) ЖE>ЖE>y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035107.683165 s, next control iter: 1743035108.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035108.103165 s.AI~,&AAQ8@AeQE+@A{X~? AsA%"AAlNA"AZAbAjArAzAAAXp;z @AzE$tAAe@A:A=AA7s?A@-ֿAj:*A9?2AJvԽ:A <BA9?JAJvԽRA <٘i)I9Ae@Y G JJJJJE&K YW~?y HLAE77N9)B[[g[X~?[着[[[[ZZBZYY i) 0Ii7@SU< uX>))uX>uX>yfӧ=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035108.123165 s, next control iter: 1743035108.503175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035108.523165 s.GI~,{!&AJ"J*J2J:J?BJ?nJ5vJAHzn@AzS a@ABX~? AUAgB%"AAQ%lNA"AZAbAjArAzAAAD)|ɢ@A%&tA4nd@AvAs=AA?A*$ֿA*A.9?2AԽ:A`<BA.9?JAԽRA`<٘i)I9nd@Y G JJJJJE&K YW~?yKAEZ7Z7aN9)#BmE[[73[n%X~?[خ[[[[ZZBZYY i) Ii3@< rk>))rk>rk>٩Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035108.543165 s, next control iter: 1743035108.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8607, header.stamp.nsec: 00 temperature: 13.571319* salinity: 33.375149, density: 1025.000000* values[0]: 0.569545F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035108.943165 s.WdNI~,>]<&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035108.943291F (some fields omitted in printout)Aq= ף@A ʖ@AJX~? AA%"AAHlNA"AZAbAjArAzAAAEXh@A=-)tAc@AXcA0=ASA` ?A2QտAɼ*A9?2A"ս:A+Z;BA9?JA"սRA+Z;٘i)I9c@Y G J޼JJJJE&K Y|W~?y UKAE77j7N9HB)*BqE[[m [9X~?[[[[[ZZBZYY i) 2Ii0@Y< @~>))@~>@~>wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035108.963165 s, next control iter: 1743035109.343179 s, wait time: 0.380014 s"|W~?)"  rAdjusting time to match Gazebo time: 1743035109.363165 s.UI~,u>W&AJ"J*J2J:J?BJ?nJ5vJA@A)@AX~? AA%"AAklNA"AZAbAjArAzAAA>&܂@A|_+tAc@AOA5<A A`?AxzԿAX*An9?2AM^ս:Aܽ"BAn9?JAM^սRAܽ"YQ)@k7yʫ<TOٓHJy?%q?@?uӿ+|?@lp?Ԛ`?)Q)@ I٘i)I9c@Y5 G JXJJJJE&Kt> YuW~?y1KA7EN9RB)9BtE[[[MX~?[U[[[[ZZBZYY iN=) EIi,,@b< >))jw>>2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035109.383165 s, next control iter: 1743035109.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8608&, header.stamp.nsec: 0&0 temperature: 13.571553&* salinity: 33.375134&, density: 1025.000000&* values[0]: 0.568751&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035109.783165 s.e[I~, r&AA(\@AO7P@AX~? A Aj%"AAlNA"AZAbAjArAzAAAC@AB@c{-tAb@ApA<AAP?A ՟ӿA3*As9?2Aս:ABAs9?JAսRA٘i)I9b@Y G JȖJJJJE&K YjW~?yi KAEb77!N9)>BwE[[[XbX~?[鹪[[[[ZZBZYY i) OIi'@< H>))1H>H>qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035109.823165 s, next control iter: 1743035110.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035110.203165 s.cI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261034> elevatorAngleAction: 0.068997< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035110.203294F (some fields omitted in printout)J"J*J2J:JBJnJvJAQE@A0*8@A Y~? AmA(%"AAMlNA"AZAbAjArAzAAAFFÿ@Al^/tA8b@A/A;AA>A@߇?AҿA93*A9?2A1Խ:AnBA9?JA1ԽRAn٘i)I98b@Y G JaJJJJE&K YaX~?yJAEb7N9)ABzE[[U9[IwX~?[e[[[[ZZBZYY iE=) sIi$@< a>)) a>a>(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035110.223165 s, next control iter: 1743035110.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035110.623165 s.WiI~,]⧹&AAGz@Aõm@A$Y~? AA%"AAplNA"AZAbAjArAzAAAдT@A#l1tAa@AۥC<AA~A-?AAѿATϻ*A9?2AԽ:ADBA9?JAԽRAD٘i)I9a@Y G JB=JJJJE&K YY.X~?yJAE7LN9)CB[[%[X~?[[[[[ZZBZYY i) PO_Ii @a< >))>>yJё=)Y\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035110.643165 s, next control iter: 1743035111.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8609 , header.stamp.nsec: 0 0 temperature: 13.571682 * salinity: 33.375141 , density: 1025.000000 * values[0]: 0.568253 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035111.043165 s.pI~,¹&AJ"J*J2J:Jy?BJy?nJ5vJA= ף@A@A))O>O>yI=-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035111.083165 s, next control iter: 1743035111.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035111.463165 s.ZwI~,ݹ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035111.463296F (some fields omitted in printout)Affff@A,V]@ABUY~? ArAs%"AAmNA"AZAbAjArAzAAAc.@AeB5tAa@AiL;Ap0AUA ?Al(пA(*;*AP9?2A= ս:ABAP9?JA= սRAY%[@J4Vyp0|;ٓHE?? :WʿM?R?g?C ?@y?=?)%[@ I٘i)I9a@Y J[J(JJJ E&K\s> YdX~?yKJA4VEvN9)E[[]1پ[X~?[*Ǫ[[[[BZYY ii=) 9Ii@{s< Y>)),uY>Y>l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035111.483165 s, next control iter: 1743035111.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8610, header.stamp.nsec: 00 temperature: 13.571644* salinity: 33.375164, density: 1025.000000* values[0]: 0.568132F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035111.883165 s.y}I~,Q&AJ"J*J2J:JBJnJvJA(@A@AmY~? A'Ak=%"AADmNA"AZAbAjArAzAAA _W@A)6tAXa@AIfAqXAWAAq5?A}οAk;*A9?2Ajս:ABA9?JAjսRA٘i)I9a@Y G J^;JJJJE&K YX~?y KAE{7{7 N9)CBE[[Ͼ[X~?[,ʪ[[[[BZYY i=) (IiO@ֽ<  >)) > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035111.903165 s, next control iter: 1743035112.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035112.303165 s.ZI~,g&AAQ@A:zD@A|Y~? AA %"AAimNA"AZAbAjArAzAAAU:3@A$68tA:b@AG=A6xA-A#_?A̿AF3?<*A9?2A2+ӽ:A} BA9?JA2+ӽRA} ٘i)I9:b@Y G J<JJJJE&K YPX~?ySKAE77N9)ABE[[už[X~?[ͪ[[[[BZYY i)  IiS@&< Ae>)) Ae>Ae>*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035112.323165 s, next control iter: 1743035112.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8611., header.stamp.nsec: 0.0 temperature: 13.571458.* salinity: 33.375183., density: 1025.000000.* values[0]: 0.568351.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035112.723165 s.I~,H.&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743035112.723280F (some fields omitted in printout)Az@AEz@AYY~? AAf%"AA|mNA"AZAbAjArAzAAAڭ4@AVv9tAb@A)#_A-AK A2?A@ʿAap<*A9?2AWӽ:ABA9?JAWӽRA٘i)I9b@Y G J-W<JJJJE&K YX~?yKAE76N9)>BE[[㻾[{X~?[Ϫ[[[[BZYY i) GIi @'<  <>)) <> <>*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035112.763165 s, next control iter: 1743035113.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035113.143165 s.U/I~,*I&AA ףp@Ag@A]Y~? A[Aϫ%"AAEmNA"AZAbAjArAzAAACo@A ;tAc@A) ABJAPA^?A 4ɿA"<*Am9?2AԽ:AScBAm9?JAԽRASc٘i)I9c@Y( G J,<JJJJE&K YX~?yKAEŧ7b7N9);BE[[u[`Y~?[Ҫ[[[[BZYY i) eIi @< A">))A">A">y=*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035113.163165 s, next control iter: 1743035113.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035113.563165 s.I~,R d&AJ"J*J2J:JBJnJvJA3333@An,(@AY~? As A<%"AAFmNA"AZAbAjArAzAAA"$݄{@A<&&TzA߽A?A/bǿA<*A9?2AԽ:A)vBA9?JAԽRA)vY@;y;z*$N:ٓH@??`ѳ0߻`?}?ʲ?I??)@ II٘i)I9zc@Yr G JD<JAJJJE&KYs> YX~?y.LAE{7{7aN9)7B[[9[(Y~?[ժ[[[[BZYY i) λIi@ߩ< >))s>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035113.583165 s, next control iter: 1743035113.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8612, header.stamp.nsec: 00 temperature: 13.571147* salinity: 33.375206, density: 1025.000000* values[0]: 0.568889F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035113.983165 s.I~,~&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237801> elevatorAngleAction: 0.066184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743035113.983325F (some fields omitted in printout)A\(@A;1@AY~? Ac AY%"AA|nNA"AZAbAjArAzAAAd~BD@Ak$}=tAwc@Ak<AÚA贽A`?A ſA<*A9?2Aս:A BA9?JAսRA ٘i)I9c@Y G Jg<JJJJE&K  O9Y Y~? O9y LAE77O9)3BE[[9`[5?Y~?[dת[[[[BZYY i) /Ii@@)< }>))Ƀ}>}>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035114.003165 s, next control iter: 1743035114.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035114.403165 s.&I~,͙&AJ"J*J2J:J?BJ?nJ5vJAQ^@A)Q@A7Z~? A( An5%"AA'nNA"AZAbAjArAzAAA5ӇYx@AC^>tAd@A,^<A~Ao͋A?A ÿA䆦<*A~:?2Aӽ:A BA~:?JAӽRA ٘i)I9d@Y G J<JJJJ E&K Y'Y~?y LAEŧ7b7O9RB).BE[[es[VY~?[٪[[[[BZYY i) ؑIid?< Q>)) Q>Q>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035114.423165 s, next control iter: 1743035114.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8613, header.stamp.nsec: 00 temperature: 13.570823* salinity: 33.375214, density: 1025.000000* values[0]: 0.569573F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035114.823165 s.I~,y&AAGz@A&p@AZ~? AA:%"AANnNA"AZAbAjArAzAAAiW @A e^?tAe@AN=(<A AHA@x?A`A/<*A:?2Aӽ:A, BA:?JAӽRA, ٘i)I9e@Yk G J3<JJJJ#E&K YCY~?yw ]MAEZ7Z7!O9)*BE[[ t[VnY~?[۪[[[[BZYY i) gIi?0N< ?))??]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035114.843165 s, next control iter: 1743035115.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035115.243165 s.I~J"J*J2J,Ϻ&A:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035115.243314F (some fields omitted in printout)Aףp=@Aj4@Ab7Z~? A;A%"AAEunNA"AZAbAjArAzAAAfk @AW`w@tA0e@A:AAlzA+?A`AdQ<*A:?2A^ӽ:A< BA:?JA^ӽRA< ٘i)I9e@Y G J<JJJJ%E&K Y`Y~?ym MAE77 O9)%BE[[c[XY~?[ݪ[[[[BZYY i) mN*Ii?R+< ?))??*YNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035115.263165 s, next control iter: 1743035115.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035115.663165 s.I~,q&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8614, header.stamp.nsec: 00 temperature: 13.570405* salinity: 33.375221, density: 1025.000000* values[0]: 0.570341F (some fields omitted in printout)A@A a@AQZ~? AA%"AA,nNA"AZAbAjArAzAAAr]!@Ar6CAtACf@A'A_A.*A >?ASmAJ<*A:?2AAԽ:AKC BA:?JAAԽRAKC Yk@ϸ y ٓH9?_[? J?`??dZ?)k@ I٘i)I9Cf@Y$ G J<J@JJJ(E&Kr> Y>|Y~?y ,NA E{7LO9) BE[[Kl[-Y~?[ߪ[[[[BZYY i) ܺIi?<  ?))Er ? ?v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035115.683165 s, next control iter: 1743035116.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035116.083165 s.DI~,R&AJ"J*J2J:J?BJ?nJ5vJA)\5@A仔(@AjZ~? AA%"AA4nNA"AZAbAjArAzAAA9I*"@A AtAf@AưZAWA<AO?A`AZ<*A:?2AcԽ:A. BA:?JAcԽRA. ٘i)I9f@Y G JE<JJJJ+E&K YxY~?y NAE7777O9)BE[[X[UY~?[K[[[[BZYY i) {:JIi?d< :?))e:?:?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035116.103165 s, next control iter: 1743035116.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035116.503165 s.ǮI~,j4 &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256637> elevatorAngleAction: 0.066184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743035116.503289F (some fields omitted in printout)ARk@A-z^@AńZ~? AA%"AA\nNA"AZAbAjArAzAAAC4"@A}BtA}g@A '>AA<AKb?AҴA <*AC:?2Aҽ:A[lBAC:?JAҽRA[l٘i)I9}g@Y G Jw<JJJJ-E&K YY~?y OAE{7wO9QB)BE[[ßD[Y~?[[[[[BZYY i) 9Ii?߄< ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035116.523165 s, next control iter: 1743035116.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8615, header.stamp.nsec: 00 temperature: 13.569998* salinity: 33.375225, density: 1025.000000* values[0]: 0.571172F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035116.923165 s.GήI~,;&AJ"J*J2J:J8?BJ8?nJR5vJA{G@A<@AZ~? A}A%"AAoNA"AZAbAjArAzAAAA elevatorAngleAction: 0.066184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035117.763294F (some fields omitted in printout)A @Al$ @AZ~? AA%"AAg`oNA"AZAbAjArAzAAA2Nr$@AwAjvCtA2i@A]P<A.KAÿ=A?AmAV<*AJ:?2Aս:ADBAJ:?JAսRADY\@F=y)H0Q<ٓHz?W/Ʊ`??r %?`??)\@ I٘i)I92i@Y G J<J0s<JJJ6E&Kr> YG Z~?y 6PA=ƚE7{77!O9)BE[[z[@Z~?[[[[[BZYY i) H>;Ii?ak< ,1'?))mr,1'?,1'?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035117.783165 s, next control iter: 1743035118.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035118.183165 s.I~,k&AA(\B@Ab5@AZ~? AAPy%"AA߇oNA"AZAbAjArAzAAAqt|!v>%@A.CtAZi@AXO<A"#AS=A?A^ɗA6<*AnI:?2Aս:ABAnI:?JAսRA٘i)I9i@Y?G J<JJJJ8E&K Yg%Z~?yG PAȚE77$O9PB)BE[[ [O2Z~?[[[[[BZYY i) ԇ{;Iiܮ?_< (N,?))b(N,?(N,? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035118.203165 s, next control iter: 1743035118.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035118.603165 s.84I~,&AJ"J*J2J:J?BJ?nJ5vJAQx@A,IEk@A[~? A+A*t%"AAdoNA"AZAbAjArAzAAANqI%@A DtA=j@A;Aq9Aj>A`?A A%<*Ai:?2A9vӽ:AUBAi:?JA9vӽRAU٘i)I9=j@YG J<JJJJ;E&K YAZ~?y} PA˚E7a(O9)BE[[μ[KZ~?[l[[[[BZYY i) d;Ii?WU< v1?)) v1?v1?2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035118.643165 s, next control iter: 1743035119.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8617 , header.stamp.nsec: 0 0 temperature: 13.569198 * salinity: 33.375259 , density: 1025.000000 * values[0]: 0.572705 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035119.023165 s.ZI~,{&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743035119.023287F (some fields omitted in printout)AHz@A\W@A [~? A.A,r%"AAoNA"AZAbAjArAzAAAMlz&@AVDtAj@A:xAoA<>Az?A y?Ac<*Ao:?2AAӽ:ABAo:?JAAӽRA٘i)I9j@YG Jv<JJJJ>E&K Y]Z~?y [QAΚE77{7+O9OB)BE[[6>[3eZ~?[[[[[BZYY i=) ;IiV?K< 6?))6?6?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035119.043165 s, next control iter: 1743035119.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035119.443165 s.EI~,y]ܻ&AJ"J*J2J:JBJnJvJAq= @A@A;[~? A A6s%"AA|oNA"AZAbAjArAzAAA'@AZbcDtAXFk@A=AA z,>A}?AB?Ak <*Am:?2Aӽ:A BAm:?JAӽRA ٘i)I9Fk@Y1G Js<JJJJ@E&K YyZ~?yQAКEb77/O9)BE[[R[~Z~?[[[[[BZYY i) ;Iiܘ?ةC< ;?));?;?*Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035119.463165 s, next control iter: 1743035119.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8618, header.stamp.nsec: 00 temperature: 13.568816* salinity: 33.375263, density: 1025.000000* values[0]: 0.573402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035119.863165 s.+I~,>&AA@AkGq @A&U[~? AATw%"AA&pNA"AZAbAjArAzAAA]d;'@ATkCtA8k@AYAd]A< A>A@̅?Aߡ?AĽ<*Af:?2A`Խ:A~BAf:?JA`ԽRA~Y]@A>yLZbZٓH`[?6ǿ+^` ?'n?zB??<?)]@ I٘i)I9k@YG J<J*<JJJCE&Kr> YZ~?y@RAA>ӚE{7Z7"3O9NB)BE[[[|Z~?[[[[[BZYY i) û;Ii ?7< A?))gsA?A?Թ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035119.883165 s, next control iter: 1743035120.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035120.283165 s.9RI~,&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237363> elevatorAngleAction: 0.075239< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035120.283302F (some fields omitted in printout)A(\O@ABOB@A4o[~? AGA~%"AAMpNA"AZAbAjArAzAAAg8U(@A>_CtAzEl@AtdAsA"CV>A~?Ah?A"<*A>_:?2A1ս:ASBA>_:?JA1սRAS٘i)I9El@YG J%<JJJJFE&K YHZ~?ytRA֚Ej76O9)BE[[N2[>Z~?[[[[[BZYY i) $ Aw?A@1?Aތ<*Ax:?2ALӽ:ABAx:?JALӽRA٘i)I9l@YG J<B=JJJJHE&K Y Z~?yRAؚE7)7M:O9)B[[љ<[A`k?A`:d?Aɣ<*Ax:?2A_*Խ:ABAx:?JA_*ԽRA٘i)I92m@Y]G J<C=JJJJKE&K YZ~?yG+SAۚE77{7=O9MB)BE[[)<[fZ~?[[[[[BZYY i) + elevatorAngleAction: 0.075239< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035121.543305F (some fields omitted in printout)A= ף@A×@A#[~? AA%"AApNA"AZAbAjArAzAAAZ^)-*@AڢMBtAVm@AC ^<AY싽A7>A,]?A?A%<*Aq:?2A7Խ:ABAq:?JA7ԽRA٘i)I9m@YG Jf<JJJJNE&K Y[~?ySAޚE77wAO9)BE[[tQ=[[~?[[[[[BZYY i) :A`5L?A@d?A<*Aj:?2ADս:A$BAj:?JADսRA$Yp}=>yZQ+<ٓH@?`JҿS@5?`?sϝ Ʊ?ك??)p}= I٘i)I9n@YG J<J7JJJPE&KCs> Y[~?ySA>Ej7Z7 EO9LB)ۯB¹E[['=[[~?[[[[[BZYY i) IA8?Al?A~Õ<*A@b:?2AGս:ABA@b:?JAGսRA٘i)I9n@Y5G J<JJJJSE&K Y:[~?yETAE7777HO9KB)ׯBŹE[[j=[4[~?[h[[[[BZYY i) XYY elevatorAngleAction: 0.075239vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743035122.803306F (some fields omitted in printout)A@A \@Ax \~? AA%"AA'9qNA"AZAbAjArAzAAA,@A:?tAo@AN AwApO>A$?A?A:<*Ay:?2Ax`ӽ:A_c BAy:?JAx`ӽRA_c ٘i)I9o@YG J <JJJJVE&K YU[~?yTAEj7j77LO9)үBȹE[[=[TO[~?[[[[[BZYY iI<=) htAo@A29\AO┽A.>A ?A k?A \<*Aw:?2Ayӽ:A{ BAw:?JAyӽRA{ ٘i)I9o@YG J<JJJJXE&K Yp[~?yUAEb7b7OO9JB)ͯB˹E[[ >[i[~?[[[[[BZYY i) %xA?A 8?A0<*AIm:?2A0OԽ:AZBAIm:?JA0OԽRAZ٘i)I9%p@Y(G Jd<JJJJ[E&K Y[~?ydUAE777bSO9)ɯB[[>[q[~?[O[[[[BZYY i) ƒ elevatorAngleAction: 0.084099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035124.063290F (some fields omitted in printout)A33333@AQKs+&@AV\~? A AM%"AASqNA"AZAbAjArAzAAAh-@AA Z?A ?Aù<*AAb:?2A4ս:ABAAb:?JA4սRAY9.>9N>y^\"CNٓH?RFؿ@i`8?@ӛ?@&?@i?)9.> I٘i)I9p@Y{G Jޡ<B=J@RJJJ^E&Ks> Y[~?yUAN>E{7j7VO9IB)įBιE[[EX5>[[~?[[[[[BZYY i) Pp; ev?))vev?ev?yW=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035124.103165 s, next control iter: 1743035124.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035124.483165 s.J "J *J 2J :J ?BJ ?nJ 5vJ _GI~,&AA\h@Ag[@A1p\~? AArt%"AAqNA"AZAbAjArAzAAAj{k.@AwQ;tA4q@A;A[A>A O?A?A=ݡ<*AV:?2Aֽ:ABAV:?JAֽRA٘i)I94q@YG J<C=JJJJaE&K Y![~?ya2VAE77ZO9FB)BйE[[K>[ [~?[_[[[[BZYY i) ے}; {?))3{?{?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035124.503165 s, next control iter: 1743035124.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8623, header.stamp.nsec: 00 temperature: 13.566992* salinity: 33.375366, density: 1025.000000* values[0]: 0.576847F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035124.903165 s.MI~,9&AAQ@AX%@AK\~? AA!%"AAqNA"AZAbAjArAzAAA2`"/@A\9tAȽq@AzQ<A+A:r>A ?AN?A<*Ah:?2AڨԽ:AqBAh:?JAڨԽRAq٘i)I9q@Y!G J<JJJJcE&K Y@[~?y VAEb77"^O9)BӹE[[`>[[~?[[[[[BZYY i) fp; 㧀?)) 㧀?㧀?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035124.923165 s, next control iter: 1743035125.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035125.323165 s.vTI~,%T&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743035125.323268F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@An@A?\~? A4A%"AArNA"AZAbAjArAzAAA;/@AЩ8tARJr@ARI<ADA>AFq?A?A <*A]`:?2AԽ:AO.BA]`:?JAԽRAO.٘i)I9Jr@YvG JO<JJJJfE&K Y_[~?yWAEaO9EB)BֹE[[w>[ [~?[ު[[[[BZYY i) 5GM; j?))j?j?O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035125.343165 s, next control iter: 1743035125.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8624*, header.stamp.nsec: 0*0 temperature: 13.566630** salinity: 33.375366*, density: 1025.000000** values[0]: 0.577583*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035125.743165 s.W[I~,o&AAףp= @Aiq0@A \~? AA%"AAErNA"AZAbAjArAzAAA}iW0@Ao6tA2r@A%̬;AAN>A@YK?AR?A<*AV:?2A/ս:ABAV:?JA/սRA٘i)I9r@YG Jخ<JJJJiE&K Y\~?y[gWAE77MeO9)B[[>[\~?[ܪ[[[[BZYY i) ~/; 1?))1?1?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035125.763165 s, next control iter: 1743035126.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035126.163165 s.x}bI~,q&AJ"J*J2J:JBJnJvJA@@A2@A\~? AAG-%"AAjrNA"AZAbAjArAzAAAJTc0@A$vT5tA2xs@A?A4ũA#|>A#?Aq?A<*AL:?2A#ս:A@BAL:?JA#սRA@Y||>>yĩeÕٓH$?@޿A`? >?ߡ_2?r?)||> I٘i)I9xs@Y.G J<J@JJJkE&Kt> Yf'\~?y8ߪWA>Eb7b7hO9DB)BٹE[[s>["\~?[Bڪ[[[[BZYY i) Ұ6; ?))y}y???*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035126.183165 s, next control iter: 1743035126.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035126.583165 s.hI~,S&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243643> elevatorAngleAction: 0.084099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035126.583293F (some fields omitted in printout)A)\u@A=Gh@A\~? A+Ab%"AA)rNA"AZAbAjArAzAAAFkq0@A%3tA,t@AEAHAsM?A+?A?Ao<*AxC:?2AUս:ABAxC:?JAUսRA٘i)I9t@YG J<B=JJJJnE&K YO@\~?y۪KXAE777xlO9CB)BܹE[[;>[<\~?[ת[[[[BZYY i) &: ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035126.603165 s, next control iter: 1743035126.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8625, header.stamp.nsec: 00 temperature: 13.566214* salinity: 33.375366, density: 1025.000000* values[0]: 0.578374F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035127.003165 s.x pI~,L4&AJ"J*J2J:JBJnJvJAR@ATȕz@A]]~? A/A%"AArNA"AZAbAjArAzAAA%0@AtJY1tA't@AIWA;Aec?A ?A?AM<*A?T:?2A,Խ:AעBA?T:?JA,ԽRAע٘i)I9t@YG J:<C=JJJJqE&K Y4Y\~?y֪XAE pO9BB)B߹E[[>[.W\~?[ժ[[[[BZYY i) y[hq\~?[5Ҫ[[[[BZYY i)  elevatorAngleAction: 0.084099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200832 time: 1743035127.843375F (some fields omitted in printout)Ap= @Azo  @AF4]~? AA%"AArNA"AZAbAjArAzAAA991@Ax-tAv@A;AW A?Aj?A ?Ar<*AD:?2A{ս:AyBAD:?JA{սRAy٘i)I9v@YG J^<JJJJvE&K Y\~?yΪYAEZ78wO9?B)BE[[/>[\~?[ Ϫ[[[[BZYY i)  !?yG.<ٓH{?1 ?Ґ?)PA? ?`?) > I٘i)I9v@Y3G J<B=J"JJJyE&Ku> Ys\~?yɪZA!? EZ7SI7zO9>B)BE[[k>[H\~?[˪[[[[BZYY i) W[\~?[vȪ[[[[BZYY i) 8 elevatorAngleAction: 0.084099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743035129.103299F (some fields omitted in printout)AQ@ANG@Asz]~? AA%"AAhsNA"AZAbAjArAzAAAé\2@ASܽO'tAh%x@A{<A~Aׯ!?A E?A?A<*A2B:?2A5ս:A &BA2B:?JA5սRA &٘i)I9%x@YG J3<JJJJ~E&K YN\~?y[AEb77O9[\~?[Ī[[[[ZZZZ¸>BZYY i¸>') M[\~?[[[[[ZZZZBZYY i) [ ]~?[[[[[ZZZZBZYY i)  ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035129.963165 s, next control iter: 1743035130.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035130.363165 s.I~,}>&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743035130.363286F (some fields omitted in printout)AY@A L@Ac]~? A۫A%"AAsNA"AZAbAjArAzAAA-0?yZٓH ?^@Դ@IW?٬?̢xݲ? -?)> I٘i)I9z@YzG J=B=J=JJJE&Ku> Y]~?y\\A0?E{7Z7O9:B)eBE[[}?[s$]~?[[[[[ZZZZBZYY i) ^:?2A*Dս:ABA>^:?JA*DսRA٘i)I9!|@YtG J<JJJJE&K YrA]~?y\']AE7777O95B)TBE[[ ?[U]~?[[[[[ZZZZBZYY i) eY1\Y@A*^~? A;īAK~%"AAttNA"AZAbAjArAzAAAe\yKq4@Ax9MtA_}@AR<A;AηJ?A@ ?A@q?Ae$<*AG:?2Aս:AB<BAG:?JAսRABJJJE&Ku> Yـ]~?yړ]AJ?#Eŧ77O93B)FBE[[?[e]~?[ [[[[ZZZZBZYY ilK{) i^~? AFA%"AAgtNA"AZAbAjArAzAAAm[ͯ4@A}^! tAK}@A1;A<AO?A@r?A3?A X;*A9:?2ALֽ:A<BA9:?JALֽRA<٘i)I9}@YxG J$<C=JJJEJE&K Y]~?y]A&E778O9/B)@BE[[P$?[]~?[c[[[[ZZZZBZYY i ݓ) lWBE[[0?[C]~?[[[[[BZYY i) f1JJJE&Kx> Y]~?ysh]Ad?1E77O9)@B[[BE[[B?[&^~?[}[[[[BZYY i) c.;IdH?i|` Ur?))Ur?Ur?8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035135.003165 s, next control iter: 1743035135.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035135.403165 s.&I~,ٿ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743035135.403286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AQ5@A!^~? A螫AM%"AAFuNA"AZAbAjArAzAAA"[!6@Ay\OIsA|@Az?<Au=Aho?Av?A?AS*AH:?2Afֽ:A=BAH:?JAfֽRA=٘i)I9|@YG JB=JJJJE&K Y^~?yf\A6E7O9)BB[[PH?[<^~?[2w[[[[BZYY i) ;IH?ij_ Jd?))Jd?Jd?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035135.443165 s, next control iter: 1743035135.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8634", header.stamp.nsec: 0"0 temperature: 13.563300"* salinity: 33.375511", density: 1025.000000"* values[0]: 0.583928"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035135.823165 s.I~,-&AAGz@A6Ko@AF^~? AA%"AAzbuNA"AZAbAjArAzAAAoL G6@AաsA9|@Aub<Am=A?t?A`0?A?Aˢ*AB:?2Axֽ:A7=BAB:?JAxֽRA7=٘i)I99|@YG JC=JJJJE&K Y5^~?y?_j\A9E{7NO9&B)DBE[[N?[Q^~?[p[[[[BZYY i=J) ݾ;IH?igsG 8\?))8\?8\?yhѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035135.863165 s, next control iter: 1743035136.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035136.243165 s.I~,d&AJ"J*J2J:Jk?BJk?nJ5vJAףp=J@A~31=@A^~? A-Ax0%"AA}uNA"AZAbAjArAzAAA \}6@AP* sA{@A<ABĚ=Ay?A(?A b?A/*A:?2AEֽ:Aj%=BA:?JAEֽRAj%=٘i)I9{@Y-G JJJJJE&K Y(^~?yaX\A;E77O9#B)FB[[?T?[e^~?[i[[[[BZYY i)  5;I>tH?iy7 Y?))Y?Y?yqhժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035136.263165 s, next control iter: 1743035136.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035136.663165 s. I~,q*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743035136.663300F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8635, header.stamp.nsec: 00 temperature: 13.563456* salinity: 33.375519, density: 1025.000000* values[0]: 0.583385F (some fields omitted in printout)A@Aѭr@Ae^~? A%A %"AAYuNA"AZAbAjArAzAAA>Afp6@Aq:qsA{@APnA=A~?A?A@R?A|*A:?2A4׽:Ao =BA:?JA4׽RAo =YF?Y~?y=oٓHY? Ϫ??``e?a?]M@?)F? I٘i)I9{@YG JLJk =JJJE&Kx> YB8^~?yP[A~?>E77yO9"B)IB E[[Z?[y^~?[b[[[[BZYY i) t;IfH?isA( fI?))fI?fI?yKqժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035136.683165 s, next control iter: 1743035137.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035137.083165 s.DI~,SE&AJ"J*J2J:JBJnJvJA)\µ@AIh˹@A[^~? AA%"AA`uNA"AZAbAjArAzAAAZ6@AW!sAz@A{%AƱ=A1?A`7?A ?A'*Ah:?2Am~׽:AN=BAh:?JAm~׽RAN=٘i)I9z@Y}G J?JJJJE&K YG^~?yIE[AAESI7SI7O9B)JBE[[s`?[^~?[[[[[[BZYY i) F;IaWH?iV/ <@?))<@?<@?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035137.103165 s, next control iter: 1743035137.483177 s, wait time: 0.380012 s2G^~?)2I rAdjusting time to match Gazebo time: 1743035137.503165 s.I~,D4`&AAR@AF}@A _~? AA%"AAuNA"AZAbAjArAzAAAw8a.7@A55NsA[y@A"eA™=Aׄ?Aw?A`gT?AY*A:?2A׽:A=BA:?JA׽RA=٘i)I9y@Y'G JݩJJJJE&K YV^~?y6BZADE777O9B)MB E[[:g?[^~?[6T[[[[BZYY i)  ;I*HH?i5 =?))=?=?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035137.523165 s, next control iter: 1743035137.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8636, header.stamp.nsec: 00 temperature: 13.563624* salinity: 33.375515, density: 1025.000000* values[0]: 0.582777F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035137.923165 s.7I~,{&AJ"J*J2J:J0?BJ0?nJp5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035137.923298F (some fields omitted in printout)A{G!@A[<@A_~? AezA%"AAuNA"AZAbAjArAzAAA1 tH7@AHsAny@Ah,Arg=AAk?A@?A?AK*AP:?2A3T׽:A =BAP:?JA3T׽RA =٘i)I9ny@YG JͩJJJJE&K YOf^~?y:uZAFE779O9)RB[[e0m?[^~?[L[[[[BZYY i) K:I8H?ig9 PA?))PA?PA?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035137.943165 s, next control iter: 1743035138.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035138.343165 s.<%I~,&AAp= W@AuI@A)_~? AsA%"AAuNA"AZAbAjArAzAAAx7@A HsAx@A˺Ar=Aj?A?A>?AC*A:?2Awֽ:A]=BA:?JAwֽRA]=٘i)I9x@YxG J.JJJJE&K Yu^~?yp3 ZAIE)7ŧ7O9B)UBE[[_^s?[^~?[E[[[[BZYY i) :9I(H?is< J?))J?J?yϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035138.363165 s, next control iter: 1743035138.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8637*, header.stamp.nsec: 0*0 temperature: 13.563812** salinity: 33.375538*, density: 1025.000000** values[0]: 0.582172*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035138.763165 s.>+I~,<ذ&AJ"J*J2J:J ?BJ ?nJF5vJǍ@A@A9_~? AcmA %"AAAvNA"AZAbAjArAzAAAu7@AAsAMx@Aȡ<AKv=APv?A/?AE0?Ab*A=:?2A:ֽ:A9=BA=:?JA:ֽRA9=Y`?މ?yu=<ٓH? z@z? j?-?@G?w,Ԁ?5?)`? I٘i)I9Mx@Y G J䬼JnJJJE&Kx> Y^~?y+YA?LEj7j7dO9B)WB E[[y?[^~?[B=[[[[BZYY i) -I?H?i<$D F?))F?F?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035138.783165 s, next control iter: 1743035139.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035139.183165 s.2I~,V&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743035139.183255F (some fields omitted in printout)A(\@A_@AG_~? AfA%"AA"+vNA"AZAbAjArAzAAA7@Aʻ~FsAtw@A_<A=AJ?A`g?A u?Aֺ*A:?2Aֽ:AM=BA:?JAֽRAM=٘i)I9w@YG J쬼JJJJE&K Ya^~?y#FYANE77O9)[B[[*?[^~?[P5[[[[BZYY i) DкIBH?i7&AA@A@A~_~? ABKA%"AAvNA"AZAbAjArAzAAAnwТz8@A45`9sA!u@A?UA哈=A?A@1 ?AEz?Aݏ*A:?2A׽:A?<BA:?JA׽RA?<٘i)I9u@YG J&JJJJɛE&K Y^~?yhWAYEj7j7OO9)fB[[U?[j$_~?[[[[[BZYY i) IlG?iMU ?))??2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035140.883165 s, next control iter: 1743035141.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035141.283165 s.3RTI~,R&AJ"J*J2J:JBJnJvJA(\@AR@Aw_~? A,DA+%"AAfvNA"AZAbAjArAzAAA/Р8@AKsA/u@AUAN=A{O?AzH?A@?A!*A@:?2AOq׽:Ar<BA@:?JAOq׽RAr<٘i)I9/u@Y:G JAJJJJ̛E&K Y^~?ySWA\E7{7O9)jB[[sw?[32_~?[h [[[[BZYY ibb) m̻IG?i/T J?))J?J?oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035141.303165 s, next control iter: 1743035141.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8640., header.stamp.nsec: 0.0 temperature: 13.564369.* salinity: 33.375568., density: 1025.000000.* values[0]: 0.580423.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035141.703165 s.ҺZI~,m&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075383< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035141.703276F (some fields omitted in printout)AQ@AP@A_~? A=A%"AA(vNA"AZAbAjArAzAAA8@Ac{sAWt@AȻAZ=Aܞ?A,p?A%?Ac*AB:?2A(׽:A9<BAB:?JA(׽RA9<٘i)I9t@YG JՌJJJJϛE&K Y^~?yVA^E77yO9B)lBE[[?[K?_~?[[[[[BZYY i) oIٜG?iR ?))??!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035141.723165 s, next control iter: 1743035142.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743035142.123165 s.5aI~,T&AJ"J*J2J:JBJnJvJAG:@AY8-@A?_~? A5AB%"AA6vNA"AZAbAjArAzAAAb8@A :sACt@A;A'=A b?A`?A`#?A*A:?2Axֽ:Ab+<BA:?JAxֽRAb+<٘i)I9Ct@YG JԌJJJJћE&K Yg^~?yVAaE7{7O9B)mBE[[ƶ?[K_~?[[[[[BZYY i) IkG?i!!O m?))m?m?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035142.143165 s, next control iter: 1743035142.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035142.543165 s.IhI~,â&AA= ףp@Ac@An_~? Ax.An%"AAvNA"AZAbAjArAzAAAdm 9@A#sAhs@A3C<Aq=A?A?AW?AZ$*A- :?2Aֽ:A=BA- :?JAֽRA=٘i)I9s@YbG JBJJJJԛE&K YD^~?y(VAdE77O9B)oBE[[Ҙ?[PW_~?[[[[[BZYY i) I_zG?i)J ?))??yKYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035142.563165 s, next control iter: 1743035142.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8641, header.stamp.nsec: 00 temperature: 13.564529* salinity: 33.375549, density: 1025.000000* values[0]: 0.579916F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035142.963165 s.nI~J, &A"J*J2J:Ju?BJu?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075383< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743035142.963304F (some fields omitted in printout)Affff@AM]@A"_~? A'A_%"AA,vNA"AZAbAjArAzAAAC+9@AI&sA#Us@AV`<A0`=An?A?AL?A*A3:?2Aֽ:A=BA3:?JAֽRA=Yɖ??y\=`<ٓH?@`? E?@W??v谿?@X?)ɖ? I٘i)I9Us@YG JJZyJJJכE&K> Y^~?yܩUA?fEZ7Z79O9)sB[[?[Cb_~?[[[[[BZYY i) w#IhG?iY/P ?))??^YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035142.983165 s, next control iter: 1743035143.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035143.383165 s.uI~,I&AA(@A @AZ_~? AAJ%"AAvNA"AZAbAjArAzAAAC=J9@A .sAr@AC<A=A-?A?A`1?A*A\:?2A ֽ:AH=BA\:?JA ֽRAH=٘i)I9r@YG J(JJJJٛE&K YG_~?yԩrUAiE7{7O9)wB[[G ?[l_~?[ߩ[[[[BZYY i)  3IWG?i)T L@))L@L@/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035143.403165 s, next control iter: 1743035143.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8642", header.stamp.nsec: 0"0 temperature: 13.564683"* salinity: 33.375576", density: 1025.000000"* values[0]: 0.579382"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035143.803165 s.wA|I~,{g&AJ"J*J2J:JR?BJR?nJ5vJA@Ax@A_~? A'A%%"AA3vNA"AZAbAjArAzAAAƷg9@A ߷sAir@Ah˺Ay=A߫?A?A@ ?A*A9?2AB׽:A{=BA9?JAB׽RA{=٘i)I9ir@YG JJJJJܛE&K Y _~?y˩UAlEb77dO9 B)xBE[[[.?['v_~?[թ[[[[BZYY i) BI EG?iTV @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035143.823165 s, next control iter: 1743035144.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035144.223165 s.gI~,H&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075383< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743035144.223288F (some fields omitted in printout)AzG@A/L:@AL_~? AA4%"AAwNA"AZAbAjArAzAAAW欃9@AogisAq@Av+A =A?A<*?A?A눼*A 9?2A!|׽:A=BA 9?JA!|׽RA=٘i)I9q@YDG JB=JJJJߛE&K  P9YK_~? P9yéTAnE77{7P9 B)zBE[[)Q?[ _~?[̩[[[[BZYY i) >4RI2G?iW `@))`@`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035144.243165 s, next control iter: 1743035144.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035144.643165 s.uЉI~,*)&AJ"J*J2J:JBJnJvJA ףp}@Adp@A_~? AAh%"AA4wNA"AZAbAjArAzAAA$ƫ9@Ax!ßsAq@AcA<5=A3?A m?A`D;?AJ*A9?2Ay׽:A͓=BA9?JAy׽RA͓=٘i)I9q@YG JC=JJJJE&K Y_~?ybTAqEb77P9)}B[[s?[8_~?[Qé[[[[BZYY ia) aI G?iW J*@))J*@J*@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035144.663165 s, next control iter: 1743035145.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8643, header.stamp.nsec: 00 temperature: 13.564857* salinity: 33.375572, density: 1025.000000* values[0]: 0.578873F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035145.063165 s.I~,_ D&AA3333@A@)@A;_~? ALA>%"AA"wNA"AZAbAjArAzAAA3C&9@A3sA q@A*"ABԑ=A4ų?Ae?A?a?Ay'*A9?2A9׽:A}%=BA9?JA9׽RA}%=Y??yjґ=%#ٓH@:? v`?@y?H1?a? \6`oW?)? II٘i)I9 q@YG JJ+G<JJJE&K_x> Y _~?y鱩TA?tE77$ P9)B[["?[_~?[[[[[BZYY i) )qIHG?iث[ ,@)),@,@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035145.083165 s, next control iter: 1743035145.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035145.483165 s.|_I~,^&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035145.483294F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A,I@A_~? AA%"AA+.wNA"AZAbAjArAzAAATN?a9@Am]sAHp@A.FA=AJ?A?A`=?A"*AT9?2Aֽ:A_ =BAT9?JAֽRA_ =٘i)I9p@YiG JZJJJJE&K Y1%_~?y:SAvE{7j7 P9B)BE[[?[Y_~?[[[[[BZYY i) 0IF?i^ v<@))v<@v<@}̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035145.523165 s, next control iter: 1743035145.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8644, header.stamp.nsec: 00 temperature: 13.565022* salinity: 33.375595, density: 1025.000000* values[0]: 0.578343F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035145.903165 s.ȝI~,y&AAQ@A:d@A&_~? AA"l%"AA9wNA"AZAbAjArAzAAA:9@AmEsAp@AU<A=Aθ?A)?Aդ?AR枼*A9?2Aֽ:Au[=BA9?JAֽRAu[=٘i)I9p@YG J<B=JJJJE&K Y)_~?y Y5_~?yf RA?E7777P9)B[[L?[_~?[J[[[[BZYY i) I-F?ib dp@))dp@dp@@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035147.183165 s, next control iter: 1743035147.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035147.583165 s.渰I~, S&AA)\@A@A `~? AWҪA%"AA"_wNA"AZAbAjArAzAAASt,:@A.j~sA{m@AyۻAӤ=Af?AБ?A`?A*Af9?2ACH׽:A?=BAf9?JACH׽RA?=٘i)I9m@YG JJJJJE&K Y6_~?y}QAEj7Z7P9)B[[r?[_~?[[[[[BZYY i) I F?i籿%c @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035147.603165 s, next control iter: 1743035147.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8646, header.stamp.nsec: 00 temperature: 13.565443* salinity: 33.375610, density: 1025.000000* values[0]: 0.577099F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035148.003165 s. I~,z4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743035148.003320F (some fields omitted in printout)J"J*J2J:JBJnJvJAR+@AHJz@Ay`~? AdʪAk&"AAfwNA"AZAbAjArAzAAACt::@A&QysA|Fm@AWA=A?A`S?A&?AT*A9?2Ag׽:A=BA9?JAg׽RA=٘i)I9Fm@YiG JJJJJE&K Y8_~?yt3QAEb77:#P9)B[[?[߭_~?[v[[[[BZYY i) oIF?i$&d @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035148.023165 s, next control iter: 1743035148.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035148.423165 s.uưI~,&AA{Ga@A}$%=T@A`~? AjªA\&"AA0mwNA"AZAbAjArAzAAAf~F:@Az5ȱtsA{l@ANA& =AT?A?A`Y9?A *A9?2AY<׽:AZ6=BA9?JAY<׽RAZ6=٘i)I9l@Y G J³JJJJE&K Y:_~?ylPAE7&P9B)BE[[Z?[M_~?[Hm[[[[BZYY i)  ߴIvF?iRYb i@))i@i@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035148.443165 s, next control iter: 1743035148.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8647, header.stamp.nsec: 00 temperature: 13.565701* salinity: 33.375603, density: 1025.000000* values[0]: 0.576437F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035148.843165 s.̰I~,5&AJ"J*J2J:J?BJ?nJ5vJAp= @AEu@A"`~? AjAV&"AAswNA"AZAbAjArAzAAAq],NQ:@A]osAl@A3A˭=A84?AƷ?A"I?Ag*A9?2Avֽ:A=BA9?JAvֽRA=٘i)I9l@YG J^JJJJE&K Yw<_~?yEcYPAEb7e*P9)B[[Y?[_~?[c[[[[BZYY i)  Yo;_~?y{ZOA?E77-P9)B[[ ?[ޯ_~?[Y[[[[BZYY i) "üIPF?i᰿Phb Y6@))Y6@Y6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035149.283165 s, next control iter: 1743035149.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 86482, header.stamp.nsec: 020 temperature: 13.5659862* salinity: 33.3755952, density: 1025.0000002* values[0]: 0.5757272F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035149.683165 s.lڰI~,ck&AJ"J*J2J:JBJnJvJA(\@Aލ@A`~? A[Ay&"AAW|wNA"AZAbAjArAzAAAzs3b:@Ao5fsAdj@AH<A =A(8?A@D?A~a?Ab8Ѽ*A9?2A84ֽ:A0=BA9?JA84ֽRA0=٘i)I9j@YG J`ͼJJJJE&K Yg:_~?yQmOAEZ7Z71P9)B[[.?[_~?[=P[[[[BZYY i) ʼI=F?iCeb @))@@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035149.683165 s, next control iter: 1743035150.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743035150.103165 s.I~,&AAQ8@A&E+@A!`~? ANAy&"AAwNA"AZAbAjArAzAAALFh:@AJ"asAj@A$\<AҲ=AG?A '?A@Rj?A#ռ*A˫9?2AZDֽ:Ad=BA˫9?JAZDֽRAd=٘i)I9j@YsG JgӼJJJJE&K Y^9_~?yHNAEj7j7$5P9B)BE[[S?[b_~?[F[[[[BZYY i) <ҼI*F?i\ b R@))R@R@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035150.143165 s, next control iter: 1743035150.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035150.523165 s.J I~"J*J2J,|&A:JH?BJH?nJo5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035150.523301F (some fields omitted in printout)AHzn@Aua@A0#`~? A?A&"AA|wNA"AZAbAjArAzAAADl:@AuG-\sA`[i@AE;A}=A|?A@\F?Ap?AZռ*AΨ9?2ALֽ:A5=BAΨ9?JALֽRA5=٘i)I9[i@YG JռJJJJE&K YV8_~?y@NAE7778P9)B[[Wx?[_~?[<[[[[BZYY i) EټIF?iޮ_ ]@))]@]@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035150.543165 s, next control iter: 1743035150.923184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8649, header.stamp.nsec: 00 temperature: 13.566296* salinity: 33.375591, density: 1025.000000* values[0]: 0.574899F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035150.943165 s.ZdI~,J]&AAq= ף@AB˖@A!$`~? A.AC&"AAZwNA"AZAbAjArAzAAAMo:@Aģ¦@WsAh@AgWAp=A5?A?A`t?AAӼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9h@Y G JԼJJJJ E&K YM7_~?yS7 NAEb77O&AJ"J*J2J:JBJnJvJA@Ard@A$`~? AAQ&"AAgwNA"AZAbAjArAzAAANp:@A<{kSRsAag@AG*2A|=A?A@fl?Atv?A)Ҽ*AM9?2A:׽:A@U=BAM9?JA:׽RA@U=Y??y=2ٓH@/?`c? ,E@?)? I٘i)I9g@Y- G M7_~?)S7JҼJ1;JJJ E&KYx> Yh3_~?y.MA?E7?P9B)BE[[?[_~?[)[[[[ZZ¸BZYY i¸D=) WzԼIE?i\ @))@@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035151.403165 s, next control iter: 1743035151.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8650&, header.stamp.nsec: 0&0 temperature: 13.566608&* salinity: 33.375595&, density: 1025.000000&* values[0]: 0.574071&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035151.783165 s.[I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743035151.783295F (some fields omitted in printout)A(\@AO@Ah$`~? A As&"AAwNA"AZAbAjArAzAAAzpp:@A #fMsAFg@AbA=.=A?A ȢA@Su?AwӼ*A9?2A%4׽:AU=BA9?JA%4׽RAU=٘i)I9Fg@Y G JҼJJJJE&K Y/_~?y%MAEŧ7b7zCP9B)ƯBE[[?[W_~?[0 [[[[ZZBZYY i) qȼIE?i %R\ V@))V@V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035151.823165 s, next control iter: 1743035152.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035152.203165 s.I~, &AJ"J*J2J:JBJnJvJAQE@A8@A#`~? AyA&"AAwNA"AZAbAjArAzAAApn:@AysyHsAf@A5A=A5?A \A@n?A|t*A.9?2Aֽ:A&<BA.9?JAֽRA&<٘i)I9f@YJ G JJJJJE&K Y+_~?y2LAE)7ŧ7GP9)̯B[[i?[_~?[[[[[ZZBZYY i) IiI-E?igSZ !@))!@!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035152.223165 s, next control iter: 1743035152.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035152.623165 s.W I~,]'&AAGz@Afm@A"`~? AqAi*&"AAwNA"AZAbAjArAzAAAHj^j:@A0CsAie@ADǹAR=Ar?AbAOh?A*A9?2Aֽ:A&e<BA9?JAֽRA&e<٘i)I9e@Y G JJJJJE&K Y'_~?y|&LAE{7{7JP9)ӯB[[#?[ד_~?[? [[[[ZZBZYY i) _IE?iV "@))"@"@y=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035152.643165 s, next control iter: 1743035153.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8651 , header.stamp.nsec: 0 0 temperature: 13.566957 * salinity: 33.375599 , density: 1025.000000 * values[0]: 0.573201 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035153.043165 s.I~,B&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035153.043304F (some fields omitted in printout)A= ף@A헣@A `~? AiA&"AAwNA"AZAbAjArAzAAA>e:@A|>sAGd@AI<A2r=A&?A AB`?AC*A%9?2Aֽ:AXi<BA%9?JAֽRAXi<٘i)I9d@YC G JJJJJE&K Y#_~?y KAE)7b7:NP9B)ٯBE[[CA?[_~?[[[[[ZZBZYY i)  XItE?iPRR 8$@))8$@8$@ɨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035153.063165 s, next control iter: 1743035153.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035153.463165 s.SI~,ۤ]&AAffff@A[@A`~? AaAd&"AA~wNA"AZAbAjArAzAAA!*.^:@A:9sAd@A-S<AE-=A5?A AV?A:EӼ*A_9?2A'ֽ:A1;BA_9?JA'ֽRA1;Y?#?yA-=T<ٓHkο?d? ?`ο~?`@z??)? I٘i)I9d@Y G JJ߽JJJE&Kw> Y_~?y6sKA?E77QP9)߯B[[:c?[k_~?[[[[[ZZBZYY iΖ=) ^IӘE?iQ %@))%@%@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035153.483165 s, next control iter: 1743035153.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8652, header.stamp.nsec: 00 temperature: 13.567379* salinity: 33.375561, density: 1025.000000* values[0]: 0.572171F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035153.883165 s.yI~,Qx&AJ"J*J2J:Jy?BJy?nJ5vJA(@AL!@A`~? AYA &"AAzwNA"AZAbAjArAzAAA>V:@Aš4sARjc@Aކ#<A<AZ?A`g䵿AJ?A]ת*A9?2Aֽ:ABA9?JAֽRA溙٘i)I9jc@Yh G JüB=JJJJE&K Y__~?y8KAEb777eUP9)B[[?[}_~?[D[[[[ZZBZYY i) ˎIVE?iP  T'@)) T'@ T'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035153.923165 s, next control iter: 1743035154.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035154.303165 s.U$I~,sg&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073636< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743035154.303271F (some fields omitted in printout)AQ@AMID@A`~? AQA &"AAWvwNA"AZAbAjArAzAAAhY]'L:@A /sAb@A:Ae<A?AA/=?Azw*A9?2Aevֽ:AëBA9?JAevֽRAë٘i)I9b@Y G JC=JJJJE&K Y_~?yJAE77{7XP9B)BE[[?[t_~?[[[[[ZZBZYY i) IvE?i$>L h(@))h(@h(@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035154.323165 s, next control iter: 1743035154.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8653., header.stamp.nsec: 0.0 temperature: 13.567682.* salinity: 33.375572., density: 1025.000000.* values[0]: 0.571144.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035154.723165 s.+I~,H&AJ"J*J2J:JBJnJvJAz@A{\z@A`~? AIA=: &"AAqwNA"AZAbAjArAzAAAXA:@AZ"+sAHb@AIA2,A?A @nA`,?An*A9?2AUOֽ:A]BA9?JAUOֽRA]٘i)I9b@Y G J QJJJJ"E&K Y_~?yJAEŧ7b7\P9B)BE[[?[^j_~?[ި[[[[ZZBZYY i.=) ~rIDeE?iH q*@))q*@q*@yl=Z )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035154.763165 s, next control iter: 1743035155.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035155.143165 s.W/2I~, *&AA ףp@AjN^d@Aw`~? AAA &"AAjwNA"AZAbAjArAzAAA%3:@AZ(9&sAs`b@AaA% AV"?A bA P?A읔*A9?2A3ֽ:A&BA9?JA3ֽRA&٘i)I9`b@Y G J"JJJJ%E&K Y0_~?yJAE77%`P9)B[[Z?[`_~?[֨[[[[BZYY i) \ITE?i"ɻB ,+@)),+@,+@y =v)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035155.163165 s, next control iter: 1743035155.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035155.563165 s.8I~,_ &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083041< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035155.563278F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A`U,@A `~? A9A1q &"AAcwNA"AZAbAjArAzAAAp>E%:@Aa!sAMb@AUJAgAL?AUw¿A?A*A9?2ADֽ:AӼBA9?JADֽRAӼYe??yqJٓH8mտA'B ~"?`~iտ m?xJ`?)e? I٘i)I9Mb@Y G J4B=J7JJJ'E&Kw> Y^~?yبJA?E7cP9)B[[?[T_~?[ͨ[[[[BZYY ik=) KIDE?i떿;-A -@))-@-@yp&=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035155.583165 s, next control iter: 1743035155.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8654, header.stamp.nsec: 00 temperature: 13.567836* salinity: 33.375603, density: 1025.000000* values[0]: 0.571035F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035155.983165 s.?I~,&AA\(@A@AB`~? A2A &"AAF\wNA"AZAbAjArAzAAA:@A˖sAUb@ABA 4A^?AXĿA?AȄV;*A 9?2Aֽ:ABA 9?JAֽRA9٘i)I9Ub@Y G Jœ:C=JJJJ*E&K Y;^~?yRШJAE{7j7PgP9B)B E[[?["I_~?[CĨ[[[[BZYY i~=) /.:I4E?i~I> /@))/@/@y=r*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035156.003165 s, next control iter: 1743035156.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035156.403165 s.&FI~,&AJ"J*J2J:JT0?BJT0?nJ85vJAQ^@AQ@A``~? A(*Aå &"AASwNA"AZAbAjArAzAAA2@*:@A(4sA~yb@A;AaZA ?A :ƿA?A;;*Aǧ9?2Aֽ:AZBAǧ9?JAֽRAZ٘i)I9yb@Y G J;JJJJ-E&K Y^~?yȨKAE7777jP9)B E[[@[<_~?[[[[[BZYY i) a(I%E?i].: R0@))R0@R0@yd=Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035156.423165 s, next control iter: 1743035156.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8655, header.stamp.nsec: 00 temperature: 13.388305* salinity: 33.391647, density: 1025.000000* values[0]: 0.688814F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035156.823165 s.LI~,:4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067625< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743035156.823295F (some fields omitted in printout)AGz@AfJo@A_~? AU"A> &"AAJwNA"AZAbAjArAzAAA-"9@ArsAVb@AyH<AwA?A@ȿAp?A;+<*Aؤ9?2A׽:AFBAؤ9?JA׽RAF٘i)I9b@Y G J<JJJJ0E&K YE^~?y@KAE77{nP9)B[[@[/_~?[[[[[BZYY i) 4dIE?iD4 x/2@))x/2@x/2@yo=˧*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035156.843165 s, next control iter: 1743035157.223182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035157.243165 s.J "J *J 2J :J ^0?BJ ^0?nJ 85vJ SI~,O&AAףp=@A^2@A _~? AAi &"AAo@wNA"AZAbAjArAzAAAZb͝9@AzQ;sAc@APmO<AAN?AɿA@Ǎ?A]<*A9?2A/ֽ:A'BA9?JA/ֽRA'٘i)I9c@Y, G JWB<JJJJ2E&K Y^~?yanKA›E7ŧ7rP9)B[[&@["_~?[[[[[BZYY i) aITE?i- 3@))3@3@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035157.263165 s, next control iter: 1743035157.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035157.663165 s.ZI~,qj&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8656, header.stamp.nsec: 00 temperature: 13.388222* salinity: 33.391651, density: 1025.000000* values[0]: 0.689178F (some fields omitted in printout)A@A@A_~? AAn&"AA5wNA"AZAbAjArAzAAAP# ]@9@A*E sAmc@A;A(A@A˿Aj?Aƺ<*A9?2Aֽ:A BA9?JAֽRA Y ?,@yj;ٓHaۿ @z??@Dyۿ 9s@-?@y?)?) ? I٘i)I9mc@Yj G Jr<J JJJ5E&Kw> Y^~?ylKA@ěEŧ7b7uP9B)BE[[@[_~?[6[[[[BZYY iPl=) cID?i`+ #C5@))#C5@#C5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035157.683165 s, next control iter: 1743035158.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035158.083165 s.DaI~,S&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057740< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035158.083293F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\5@Aq{(@A_~? A A&"AA*wNA"AZAbAjArAzAAAf79@A_sAMc@A`aA8nA.@A`ͿAE?A~@<*A\9?2AHֽ:AUBA\9?JAHֽRAU٘i)I9c@Y G Jh<JJJJ8E&K Y^~?yx1LAǛE;yP9)B[[88@[_~?[[[[[BZYY i) λID?i,' 6@))6@6@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035158.103165 s, next control iter: 1743035158.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035158.503165 s.gI~,j4&AARk@Axy^@AG_~? A|A^&"AAwNA"AZAbAjArAzAAA~l9@A-0'sAod@A(;A+sAKr@A VϿA?A^<*A9?2Aֽ:AsBA9?JAֽRAs٘i)I9od@Y G Jy<JJJJ:E&K Yt^~?yLAʛE{7{7|P9B)BE[[@[v^~?[[[[[BZYY i) *IPD?i}! T8@))T8@T8@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035158.543165 s, next control iter: 1743035158.903185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8657, header.stamp.nsec: 00 temperature: 13.388067* salinity: 33.391647, density: 1025.000000* values[0]: 0.689905F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035158.923165 s.8nI~,&AJ"J*J2J:J0?BJ0?nJ195vJA{G@A;@A]_~? AA0&"AAwNA"AZAbAjArAzAAA:_w9@A>TrAe@A[A<AP@AݏпA?Ax<*A9?2Aj"ֽ:ABA9?JAj"ֽRA٘i)I9e@Yb G J<B=JJJJ=E&K YV^~?yLA̛E77fP9)ݯB[[tC @[z^~?[[[[[BZYY i) zI?D?irVs 9@))9@9@yl=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035158.963165 s, next control iter: 1743035159.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035159.343165 s. elevatorAngleAction: 0.057740< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035159.343282F (some fields omitted in printout)Ap= @A@A_~? A_A&"AAwNA"AZAbAjArAzAAALO[9@AgzrAe@A 3 AQzAr@A` uѿA?A~<*Aռ9?2Aoֽ:A0 BAռ9?JAoֽRA0 ٘i)I9e@Y G J<C=JJJJ@E&K Y:^~?yVMAϛE7P9B)ٯBE[[ @[^~?[I[[[[BZYY i) eID?if b;@))b;@b;@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035159.363165 s, next control iter: 1743035159.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8658&, header.stamp.nsec: 0&0 temperature: 13.387848&* salinity: 33.391689&, density: 1025.000000&* values[0]: 0.690906&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035159.763165 s.8{I~,#&AJ"J*J2J:JBJnJvJA @A@A _~? AA"V&"AAvNA"AZAbAjArAzAAA.=9@Ajc _rAo8f@Ah:A白Aj@A"ZҿAe?A۳<*AW9?2Aֽ:AF!BAW9?JAֽRAF!٘i)I98f@Y G J<JJJJBE&K Y^~?yMAқE777P9B)֯BE[[D @[^~?[z[[[[BZYY i]=) [(I6D?iXؕ L<@))L<@L<@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035159.783165 s, next control iter: 1743035160.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035160.183165 s.˂I~,o &AA(\B@Au5@A_~? AA`&"AAvNA"AZAbAjArAzAAA/<̐9@AD7IrAf@A0$<AsA`@A =ӿA~j?Aڭ<*Aq9?2A׽:AcBAq9?JA׽RAc٘i)I9f@Yx G J<JJJJEE&K Y~^~?yNAԛE{7j7&P9)ѯB[[ @[^~?[Ys[[[[BZYY i) MֺIpD?ieH A !l>@))!l>@!l>@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035160.203165 s, next control iter: 1743035160.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035160.603165 s.@4I~,Ԛ&&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066928< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035160.603288F (some fields omitted in printout)J"J*J2J:JBJnJvJAQx@AGk@A_~? A+ީAVw&"AAvNA"AZAbAjArAzAAA}8@AA `rA\g@Aoh`<AA @AԿA@-7?Av <*A29?2AH׽:An1BA29?JAH׽RAn1٘i)I9\g@Y G JB<JJJJHE&K Yq^~?yw{NAכE77P9)ͯB[[9@[ ^~?[*l[[[[BZYY i) 9ID?iO6^[ ?@))?@?@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035160.623165 s, next control iter: 1743035161.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8659 , header.stamp.nsec: 0 0 temperature: 13.387601 * salinity: 33.391674 , density: 1025.000000 * values[0]: 0.691939 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035161.023165 s.ZI~,|A&AAHz@AJ_@A__~? A֩A&"AAvNA"AZAbAjArAzAAAa8@A;rAmg@AH'<A# AQ^ @A`ԿA ?A%<*A9?2Akֽ:AmBA9?JAkֽRAm٘i)I9g@Y# G J<JJJJJE&K Ye^~?yoNAڛE777PP9 B)˯BE[[e@[^~?[0e[[[[BZYY i) Mo9ID?iP"+ϻ >mA@))>mA@>mA@yS={*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035161.043165 s, next control iter: 1743035161.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035161.443165 s.5ÖI~,5]\&AJ"J*J2J:JBJnJvJAq= @A@A_~? AϩA0&"AA3vNA"AZAbAjArAzAAAk8@A rAmh@A3:AA @AտA?AЙ<*A9?2Aֽ:ABA9?JAֽRAI٘i)I9mh@Yu G J/<JJJJME&K YY^~?yg?OAܛE77P9)ǯB[[@[|^~?[j^[[[[BZYY i) 7b:I\D?io y B@))B@B@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035161.463165 s, next control iter: 1743035161.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8660, header.stamp.nsec: 00 temperature: 13.387441* salinity: 33.391682, density: 1025.000000* values[0]: 0.692855F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035161.863165 s.+I~,>w&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066928< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035161.863289F (some fields omitted in printout)A@A΅ @A7_~? AȩA&"AAvNA"AZAbAjArAzAAA3'Đ8@A f4rA>h@A A JA} @A#ֿA?A償<*AW9?2Aaֽ:Ai,BAW9?JAaֽRAi,Y? @yH?ٓH=๋?z?@1EIe?@?)? I٘i)I9h@Y G J<B=J;JJJPE&K> YH^~?y`OA @ߛEj7Z7{P9 B)įBE[[@[Mi^~?[W[[[[BZYY i)  ;I*D?iK gD@))gD@gD@׽*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035161.883165 s, next control iter: 1743035162.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035162.283165 s.6RI~,&AJ"J*J2J:J}1?BJ}1?nJ:5vJA(\O@AI*SB@Ary_~? AAG&"AAvNA"AZAbAjArAzAAA8z j8@A+{rAIyi@A[AA,@Az׿AEV?A͜<*A9?2ARֽ:AI BA9?JARֽRAI ٘i)I9yi@YG Jh<C=JJJJRE&K Y7^~?yYOAE7777P9)B[[@[U^~?[P[[[[BZYY i) G;InD?i}P E@))E@E@غ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035162.303165 s, next control iter: 1743035162.683178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 86612, header.stamp.nsec: 020 temperature: 13.3872352* salinity: 33.3916852, density: 1025.0000002* values[0]: 0.6937482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035162.703165 s.ֺI~,&AAQ@AŊx@A8l_~? AA2&"AAJyvNA"AZAbAjArAzAAA DA8@A(jrA$i@A~=AtA|@A`MؿAQ?A<*A 9?2As~ֽ:AuBA 9?JAs~ֽRAu٘i)I9i@YgG J<B=JJJJUE&K Y&^~?yRWPAE7P9B)BE[[ۉ@[dA^~?[tJ[[[[BZYY i) ;ICD?ii徉Ғ B`G@))B`G@B`G@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035162.723165 s, next control iter: 1743035163.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035163.123165 s.1ᱱI~,C&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066928< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035163.123259F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@Ac#խ@A^_~? AA &"AAdvNA"AZAbAjArAzAAAUt8@AO"wrAwj@AhmAuA@AٿA?AN<*A9?2Aֽ:ABA9?JAֽRA٘i)I9wj@YG Jt<C=JJJJXE&K Y^~?yKPAEj7j7;P9B)BE[[m@[,^~?[*D[[[[BZYY i) Vݡ;IyD?ix̾Z܂ pH@))pH@pH@ѵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035163.143165 s, next control iter: 1743035163.523173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743035163.543165 s.II~,&AA= ף@AU@AgP_~? AA>&"AAOvNA"AZAbAjArAzAAAsV˜7@Ax}SrAAj@Am;AQA#+@A ٿA?Ax;<*A9?2A׽:AUBA9?JA׽RAU񼙘٘i)I9j@YG J <JJJJ[E&K Y^~?yDQAE777ѧP9B)BE[[p@[!^~?[>[[[[BZYY i=) ;I uD?iY` G))GUJ@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035163.583165 s, next control iter: 1743035163.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8662, header.stamp.nsec: 00 temperature: 13.387055* salinity: 33.391697, density: 1025.000000* values[0]: 0.694596F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035163.963165 s.zI~,&AJ"J*J2J:JBJnJvJAffff&@A"[@AA_~? A?A2&"AA":vNA"AZAbAjArAzAAA~a7@A d=rA_k@ASQ<AA@AcڿA`yO?A<*A&9?2AK9׽:A8KBA&9?JAK9׽RA8KYk@r@y Q<ٓHwWl 3?e?{`𥣿t?L*?c?)k@ I٘i)I9_k@Y@G JՆ<J<JJJ]E&KGx> YO]~?y=>kQAr@Eb77fP9)B[[@[^~?[8[[[[BZYY i) *;IpD?iV;M EQF))EQFpK@e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035164.003165 s, next control iter: 1743035164.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035164.383165 s.űI~,@&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743035164.383287F (some fields omitted in printout)A(\@A#J O@A2_~? AA D&"AA#vNA"AZAbAjArAzAAAp֓7@A1G6rAk@AN<A|A@A lۿA`_?AC<*AY9?2A׽:ABAY9?JA׽RA󼙘٘i)I9k@YG Jj<JJJJ`E&K Y]~?y7QAE7P9B)BE[[X@[]~?[=2[[[[BZYY i) ;IlD?i4 D))DFM@ٳ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035164.403165 s, next control iter: 1743035164.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8663&, header.stamp.nsec: 0&0 temperature: 13.386901&* salinity: 33.391701&, density: 1025.000000&* values[0]: 0.695377&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035164.803165 s.zA̱I~,g3&AJ"J*J2J:J2?BJ2?nJ:5vJA@A/M@AY#_~? A%A&"AA vNA"AZAbAjArAzAAA Ad7@A#>rA:l@AǾ;A盅A@AGܿAӿ?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9:l@YG J<JJJFJcE&K Y]~?yT1RAE7P9B)BE[[@[]~?[,[[[[BZYY i) n elevatorAngleAction: 0.076149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743035165.643290F (some fields omitted in printout)A ףp@Aje@A3_~? AqAH&"AAuNA"AZAbAjArAzAAAҜd#7@A+}rAm@AAA퉽Ap@ApݿA)?Aэ<*Ak9?2APֽ:ABAk9?JAPֽRA٘i)I9m@YQG JΊ<JJJJhE&K Ya]~?yl$RAE{7j7P9B)BE[[ @[D]~?[![[[[BZYY i) c.Aq8&"AAuNA"AZAbAjArAzAAAn6@Ap촳rAm@AJO[A2AZ@A}޿A@a?A<*A09?2A\ֽ:ABA09?JA\ֽRAY? @d@y/[ٓHf! ɥ?F?`N`Br?i?)? @ I٘i)I9m@YG JP<J JJJkE&K x> Y%]~?y+SA@E77{7QP9B)BE[["@[;]~?[[[[[BZYY i) <> elevatorAngleAction: 0.076149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035166.903285F (some fields omitted in printout)AQ@AŠS@A^~? A+zA&&"AAuNA"AZAbAjArAzAAAfh6@A(J@VrAn@Ax:A濐A0@A߿A/7?A)<*At9?2Aֽ:ABAt9?JAֽRA٘i)I9n@Y/G Jݑ<JJJJpE&K Yd]~?ySAE777|P9B)BE[[:$@[~d]~?[[[[[BZYY i) ]<*A9?2Ae5׽:A+BA9?JAe5׽RA+٘i)I9o@YzG Jӑ<JJJJsE&K YvO]~?y/ ETAE77P9B)BݹE[[S&@[L]~?[[[[[BZYY i) XlrANo@Ah^<AAV< @A`"A +?A=x<*A9?2A4׽:ABA9?JA4׽RA٘i)I9o@YG Jp<JJJJuE&K Y::]~?y_TAE7ŧ7P9)B[['@[5]~?[, [[[[BZYY i-=) | elevatorAngleAction: 0.085536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743035168.163291F (some fields omitted in printout)A@@Av2@A,^~? AhA'{&"AA=uNA"AZAbAjArAzAAA]" 5@Ad͡rAp@Ak<AAۄ!@AAx3?A˩<*At9?2Aֽ:A BAt9?JAֽRA Yr@y!@y%S<ٓH U?>?(I?`Y? ?)r@ I٘i)I9p@YG J<JbJJJxE&K'x> Y9#]~?yD UAy!@E77=: 7))7UZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035168.183165 s, next control iter: 1743035168.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035168.583165 s.I~,S%&AA)\u@A |Eh@A-^~? AdcA'&"AAc!uNA"AZAbAjArAzAAA6Xt5@ADAorAp@AX` :AޫA"@AOA@+?A[<*A 9?2Aֽ:A&BA 9?JAֽRA&٘i)I9p@YcG J<JJJJ{E&K Y9 ]~?y*pUA E)7ŧ7P9"B)B׹E[[*@[`]~?[[[[[BZYY i) z#; [6))[6[@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035168.603165 s, next control iter: 1743035168.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8667, header.stamp.nsec: 00 temperature: 13.386220* salinity: 33.391712, density: 1025.000000* values[0]: 0.698577F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035169.003165 s.z I~,U4@&AJ"J*J2J:J2?BJ2?nJ;5vJAR@A-x@Ar^~? A]AR&"AA\uNA"AZAbAjArAzAAAY(%'M5@A[I$rAq@AV{AA$@A1A`?Az<*A;9?2ADֽ:A%BA;9?JADֽRA%٘i)I9q@YG J<JJJJ}E&K Y8\~?yUA E77fP9)B[[S+@[\~?[ [[[[BZYY i) E&; 4))41]@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035169.023165 s, next control iter: 1743035169.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035169.423165 s.uI~,{[&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743035169.423273F (some fields omitted in printout)A{G@AQ<@A#_^~? AXA#&"AAtNA"AZAbAjArAzAAA[]5@AVmOrAq@A]AAO%@AAQH?A <*A9?2A-ֽ:ARBA9?JA-ֽRAR٘i)I9q@YG J<JJJJE&K Y8\~?yNL; 3))3^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035169.443165 s, next control iter: 1743035169.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8668", header.stamp.nsec: 0"0 temperature: 13.386039"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.699511"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035169.843165 s.J "J *J 2J :J 3?BJ 3?nJ ;5vJ I~,u&AAp= @AӅX @AK^~? ASA!&"AAtNA"AZAbAjArAzAAAK=]4@Al>ǔrA5r@AuL8AKA&@A b;A9?A<*Ai9?2A]ֽ:ABAi9?JA]ֽRA٘i)I95r@YjG J<JJJJE&K Y7\~?yVAE777P9'B)BйE[[.@[}\~?[[[[[BZYY i) ԣov; 2))2`@V*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035169.863165 s, next control iter: 1743035170.243184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743035170.263165 s.$I~,ؐ&AAL@An?@A6^~? ANAk&"AA%tNA"AZAbAjArAzAAA8 Q4@AF9 rAlr@A_HAhA3'@A@AQ?Az<<*A9?2Asֽ:A-BA9?JAsֽRA-Y#@H'@y5IٓHC߿@?,? J8ڥ?@i?)#@ I٘i)I9r@YG J<JJJJE&K9x> Y\~?yWA'@Eb77'P9)B)B͹E[[0@[Y\~?[[[[[BZYY i) 4@; 0))0ra@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035170.283165 s, next control iter: 1743035170.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8669., header.stamp.nsec: 0.0 temperature: 13.385828.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.700544.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035170.683165 s.l*I~,&AJ"J*J2J:JV3?BJV3?nJ <5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743035170.683329F (some fields omitted in printout)A(\@A"u@A"^~? AIAD&"AAtNA"AZAbAjArAzAAA X4@AIrAYds@AM;A_ŨAT)@AKAp?A~<*A9?2A׽:AOBA9?JA׽RAO٘i)I9ds@Y"G Jд<B=JJJJE&K Y"\~?y'WAE{7{7P9)B[[Mo1@[\~?[t[[[[BZYY i) ; C/))C/b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035170.683165 s, next control iter: 1743035171.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743035171.103165 s.1I~,Ț&AAQ@A[$F@A ^~? ADAC&"AAzktNA"AZAbAjArAzAAA0H44@A?ԋrAs@A9hS<AWA*@AA@ ;?A隸<*AǕ9?2A.׽:A6(BAǕ9?JA.׽RA6(٘i)I9s@YG JԶ<C=JJJJE&K Y}\~?yWAE77QP9*B)BʹE[[2@[n\~?[[[[[BZYY i) 3@AI=rA t@AiI<ARXAh+@A`Apq?AU<*A9?2AD׽:AlBA9?JAD׽RAl٘i)I9t@YG J<JJJJE&K Ye\~?yuܧ`XAE77P9,B)BǹE[[(4@[U\~?[[[[[BZYY i) VI~,F]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035171.943292F (some fields omitted in printout)Aq= #@A;@A]~? A;A*&"AA*tNA"AZAbAjArAzAAArF3@AErA">u@AZ%;AٰA9-@AݢA`?A#<*A\9?2Aֽ:ABA\9?JAֽRA٘i)I9>u@YCG J8<JJJJE&K YL\~?yاXAE|P9-B)BĹE[[5@[L<\~?[)[[[[BZYY i) ڶ&AJ"J*J2J:JBJnJvJAY@AXlL@A:]~? Au7AN&"AA tNA"AZAbAjArAzAAAOEVT3@AG6rAu@AǀAn벽Ax.@A6A`?A<*AC9?2A>ֽ:ABAC9?JA>ֽRAYy @@.@y경AٓH@+ٿ?@ε?F^0`V?`r?)y @ I٘i)I9u@YG J<B=JuJJJE&Kw> Y2\~?yԧGYA.@"E777P9)~B[[6@["\~?[[[[[BZYY i) q/@A@!A ?A{<*A9?2Aֽ:ABA9?JAֽRA٘i)I9v@YG J:<C=JJJJE&K Y\~?yѧYA%EZ7Z7P9/B)zBE[[g68@[\~?[{[[[[BZYY i)  elevatorAngleAction: 0.085536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743035173.203305F (some fields omitted in printout)AQ@Ad@A]~? A-/A3&"AAsNA"AZAbAjArAzAAAPV-o2@A(&Z~rAPw@AWAgA81@A^A:?AlZ<*AA9?2A ֽ:ABAA9?JA ֽRA٘i)I9Pw@YG J<JJJJE&K Y[~?yyͧ7ZA'E77BZYY i¸>ߪ) Ns a`ҵ? ??)&@ I٘i)I9y@YG Js<Jҝ;JJJE&KFx> Y[~?yç[A5@/E777Q9)hB[[݊=@[I[~?[Dܧ[[[[ZZZZBZYY i) 1W@[r[~?[ڧ[[[[ZZZZBZYY i) a#< a!))a!˽p@y7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035174.903165 s, next control iter: 1743035175.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035175.303165 s.RtI~,fg&AA@A`@A+]~? AA]!&"AA.sNA"AZAbAjArAzAAAs:AZ 2A?8@A@hA`?A<*Ak9?2A@ֽ:AvBAk9?JA@ֽRAv٘i)I9{@YWG J<JJJJE&K Y`[~?y\A7ES77Q98B)XBE[[A@[ U[~?[ا[[[[ZZZZBZYY i) vJJJE&Kox> Y)[~?y]A;@=EQ9)PBE[[D@[![~?[ק[[[[ZZZZBZYY ḯ) P&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743035176.983283F (some fields omitted in printout)A\@Aّ@A\~? A.AK"&"AAarNA"AZAbAjArAzAAA?I0@AԼAlrA9}@A`"A;A<@A%A?AK:<*A9?2Aֽ:Ay<BA9?JAֽRAy<I٘i)I9}@YJG Jm<JJJJE&K Y [~?y ]A@E77}Q9:B)NBE[[dlE@[[~?[֧[[[[ZZZZBZYY iRϙ) Ōm5vJAQ@AU@Av\~? AA"&"AA2arNA"AZAbAjArAzAAA`D/@At퉯jrA}@A^AǬ<Am>@AMA?A;*A9?2AVZֽ:AP<BA9?JAVZֽRAP<٘i)I9}@YoG Jw<JJJJE&K Y=Z~?yF]ABE777Q9)LB[[yF@['Z~?[*֧[[[[ZZZZBZYY i) Y5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035178.243298F (some fields omitted in printout)Aףp=J@AR1=@A\~? A A"&"AArNA"AZAbAjArAzAAAIV).@A ZgrA}@AU<A4=A@@AɔA`a?Aa*A9?2AOս:AOV<BA9?JAOսRAOV<٘i)I9}@YvG J%ȺJJJJE&K YߺZ~?y]AHEŧ7b7=%Q9=B)OBE[[dLI@[TZ~?[է[[[[BZYY i) ]2JJJE&K w> YĞZ~?yi]AB@JE77j7(Q9>B)QBE[[rJ@[ʡZ~?[֧[[[[BZYY i h) "5vJĞZ~?)A)\µ@A'@AfN\~? AAt0#&"AA qNA"AZAbAjArAzAAAvF.r -@A|lYerATb}@A;Aqx=ANC@ATA?A}1*Aы9?2A'cֽ:ASK =BAы9?JA'cֽRASK =٘i)I9b}@Y8G JZJJJJE&K YZ~?y ]AMEŧ7b7h,Q9?B)TBE[[K@[fZ~?[H֧[[[[BZYY i) e5vJA{G!@AemS<@A\~? AsAv#&"AA9}qNA"AZAbAjArAzAAA# I(i,@ADcrA!|@A?A =AtE@AA ?AՄ*A9?2Aֽ:AƔ =BA9?JAֽRAƔ =٘i)I9|@YG JvJJJJÜE&K YvJZ~?y\AREb73Q9@B)[BE[[lN@[4VZ~?[Hק[[[[BZYY i) pj;IlE?i?a< n))n]X@yQlhƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035179.943165 s, next control iter: 1743035180.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035180.343165 s.<ŲI~,&AAp= W@AKI@A\~? AA͔#&"AAVqNA"AZAbAjArAzAAAh+@A61x_brA0|@AKAy=AIG@A@A@?A껒*A)9?2Aֽ:A =BA)9?JAֽRA =٘i)I90|@Y~G JJJJJƜE&K Y\.Z~?yE\AUE7'7Q9AB)_BE[[!O@[q=Z~?[ا[[[[BZYY i) ;IDE?i?< ,)),@y҈ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035180.363165 s, next control iter: 1743035180.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8679&, header.stamp.nsec: 0&0 temperature: 13.384458&* salinity: 33.391731&, density: 1025.000000&* values[0]: 0.707768&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035180.763165 s.:˲I~,,0&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743035180.763297F (some fields omitted in printout)J"J*J2J:JBJnJvJǍ@Ak @A^[~? AA#&"AA/qNA"AZAbAjArAzAAA Z3+@AXbarA.{@A`׻AVq=AˏH@A0A@O?A:v*A9?2Aֽ:A= =BA9?JAֽRA= =Y:@H@yzp=eػٓHo@L@d?``{x`I@z`?):@ I٘i)I9{@Y/G J%B=JX=JJJɜE&Kw> YZ~?y[AH@XE:Q9)cB[[P@[$Z~?[ا[[[[BZYY i)  ;IE?i?E< /))/C@lԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035180.803165 s, next control iter: 1743035181.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035181.183165 s.ҲI~,^K&AA(\@A,j@A[~? AA#&"AAqNA"AZAbAjArAzAAA<+L*@A,E`rA${@A$ 4;A=AdNHA AAĒ?A-%*A9?2ACֽ:Aiy=BA9?JACֽRAiy=٘i)I9${@YG J5C=JJJJ˜E&K YY~?yu[AZE777R>Q9)hBE[[7R@[ Z~?[٧[[[[BZYY i) 0;IF?i?W$< ͣ ))ͣ =@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035181.223165 s, next control iter: 1743035181.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743035181.603165 s.;4ٲI~,f&AJ"J*J2J:JBJnJvJAQ@A,IE@AӴ[~? AA#&"AApNA"AZAbAjArAzAAA8W)@A5>H`rAz@Am.<AyM=A GAPA Ӵ?A*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9z@YG JJJJJJΜE&K YY~?y[A]E{7AQ9BB)mBE[[yS@[?Y~?[ۧ[[[[BZYY i) bN;I1F?i?"< 3b ))3b ނ@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035181.623165 s, next control iter: 1743035182.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8680 , header.stamp.nsec: 0 0 temperature: 13.384706 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.706771 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035182.023165 s.ZI~,{&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035182.023286F (some fields omitted in printout)AHz.@A^K!@A[~? AA#&"AApNA"AZAbAjArAzAAA?7 ])@A_rAy@A%T<AA=AHEA+]A ?Ak*A9?2AHֽ:Aa =BA9?JAHֽRAa =٘i)I9y@Y#G JJJJJќE&K YnY~?ypZA`E7777}EQ9)rBE[[T@[Y~?[lܧ[[[[BZYY i) O;I&LF?i?`{< " ))" x~@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035182.063165 s, next control iter: 1743035182.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035182.443165 s.J "J *J 2J DI~:J4?BJ4?,t]&AnJ=5vJAq= c@A V@A [~? AA#&"AA`pNA"AZAbAjArAzAAA^(@A2^b_rA7^y@A&- <A=AlDA`gAw?AKִ*A_9?2AJbֽ:A: =BA_9?JAJbֽRA: =٘i)I9^y@YG JJJJJӜE&K Y2Y~?y]>ZAbEj7j7IQ9CB)xBE[[U@[Y~?[ݧ[[[[BZYY i) Ŭ:IgF?i@<  )) @dժYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743035182.463165 s, next control iter: 1743035182.843184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8681, header.stamp.nsec: 00 temperature: 13.384972* salinity: 33.391720, density: 1025.000000* values[0]: 0.705645F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035182.863165 s.+I~,>&AA@Ac@Ag[~? AAf$&"AAlpNA"AZAbAjArAzAAAlu#(@A_rAx@A A=A2CAoA Ţ?Ab*A׮9?2A{ֽ:A9=BA׮9?JA{ֽRA9=YA@Cy=8W ٓH`?@!ҷ:u~K^A9?)A@ I٘i)I9x@YjG JȲJJJJ֜E&K x> YY~?y/YACeE77LQ9)}BE[[h6W@[˪Y~?[~ߧ[[[[BZYY i) s9IǃF?i@X+< W))W/@iҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035182.883165 s, next control iter: 1743035183.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035183.283165 s.8RI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199422 time: 1743035183.283283F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A P@AM[~? AFA|$&"AADpNA"AZAbAjArAzAAAW|'@A @^rA6x@ABAf=A/AAtA{?A3*A9?2Awֽ:A=BA9?JAwֽRA=٘i)I96x@YG JҬJJJJٜE&K YhY~?yqYAhE7{7=PQ9)B|E[[ uX@[ݒY~?[?[[[[BZYY i) 7 I}F?i@< f))f\@0ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035183.303165 s, next control iter: 1743035183.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8682., header.stamp.nsec: 0.0 temperature: 13.385262.* salinity: 33.391727., density: 1025.000000.* values[0]: 0.704521.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035183.703165 s.ֺI~,&AAQ@A@A3[~? AAU$&"AAQpNA"AZAbAjArAzAAA=;;&@A*}3^rAw@AWVAU=AQj@A`wADz?A*A9?2A, ׽:A7<BA9?JA, ׽RA7<٘i)I9w@YG J妼B=JJJJܜE&K YLY~?yԬ YAjE77SQ9DB)ByE[[5Y@['{Y~?[#[[[[BZYY i) IF?i@7< ))))@ ̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035183.723165 s, next control iter: 1743035184.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035184.123165 s.7I~,]&AJ"J*J2J:JBJnJvJAG:@ASAE-@A[~? AA$&"AAoNA"AZAbAjArAzAAAzυJ&@A+^rA:!w@A~%AG=A ?A`wA@A *A$9?2Aֽ:A<BA$9?JAֽRA<٘i)I9!w@YiG JC=JJJJޜE&K Y0Y~?yXAmE7hWQ9)B[[Z@[cY~?['[[[[BZYY i) bI+F?i @< ))Y@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035184.143165 s, next control iter: 1743035184.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035184.543165 s.II~,"&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035184.543292F (some fields omitted in printout)A= ףp@Ac@AZ~? AJAd$&"AA}oNA"AZAbAjArAzAAA$oY׬%@A$ל^rAv@AmAɏ=A=AyuA A{E*AC9?2Ajֽ:A<BAC9?JAjֽRA<٘i)I9v@YG JDJJJJE&K YY~?yx>XApESI7SI7ZQ9)BvE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #48q/0^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) W)#ƪYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743035184.563165 s, next control iter: 1743035184.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8683, header.stamp.nsec: 00 temperature: 13.385534* salinity: 33.391705, density: 1025.000000* values[0]: 0.703475F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035184.963165 s.uI~,=&AJ"J*J2J:JBJnJvJAffff@A"[@AZ~? AA$&"AAoNA"AZAbAjArAzAAAvbJ@%@A_rAv@Aٽ;A=A-<A`pA`pjAF *A*9?2A Qֽ:A<BA*9?JA QֽRA YX~?y.WA<sE77^Q9)BtE[[$a]@[m5Y~?[[[[[BZYY ivR) žIF?i6@n< z)) z҇@%êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035185.003165 s, next control iter: 1743035185.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035185.383165 s.I~,+X&AA(@A 6u@AZ~? A(A$&"AAoNA"AZAbAjArAzAAAq$@A m_rAu@A?J<AA{=A9;A`sA >A_*A:?2A:A%<BA:?JARA%<٘i)I9u@YpG JJJJJE&K Y6X~?y㱧WA DuE7(bQ9)BqE[[i^@[xY~?[[[[[BZYY i) IG?i@ < Ѐ))U@o@!ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035185.403165 s, next control iter: 1743035185.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8684&, header.stamp.nsec: 0&0 temperature: 13.385779&* salinity: 33.391705&, density: 1025.000000&* values[0]: 0.702466&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035185.803165 s.xAI~,gs&AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074864< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743035185.803312F (some fields omitted in printout)A@A͔@A!Z~? AA$#&"AACXoNA"AZAbAjArAzAAA{+ #@Av_rAu@A5O.<A=AE:A pAGA왼*A:?2Aý:A=BA:?JAýRA=٘i)I9u@Y G JJJJJE&K YX~?y WAxEb77eQ9)BnE[[_@[Y~?[[[[[BZYY i) cȻI=G?iB@X,< )) @⽪Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035185.843165 s, next control iter: 1743035186.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035186.223165 s.g#I~,H&AAzG@A:@A*Z~? AAT#&"AA0oNA"AZAbAjArAzAAA96#@A&?V`rAɅt@A[[[[BZYY i)  1I^G?i@< ?))?K@y:3YfYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035186.243165 s, next control iter: 1743035186.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035186.643165 s.z)I~,*&AJ"J*J2J:J3?BJ3?nJO<5vJA ףp}@A܄{ep@A<}Z~? AA#&"AA oNA"AZAbAjArAzAAAFm"@A5`rA t@AA=A8Ag`AMAn*Aۢ:?2A@Ƚ:AĨ<BAۢ:?JA@ȽRAĨ<٘i)I9 t@YG JJJJJE&K YX~?ybVA}Eŧ7b7lQ9)BhE[[5?b@[TX~?[[[[[BZYY i) IeG?i @< 9))9A@YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8685, header.stamp.nsec: 00 temperature: 13.386012* salinity: 33.391693, density: 1025.000000* values[0]: 0.701506F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743035186.663165 s, next control iter: 1743035187.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035187.063165 s.0I~,c &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074864< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743035187.063283F (some fields omitted in printout)A3333@AI&@AZcZ~? AA'#&"AA?nNA"AZAbAjArAzAAAYI~!@AMSarA_s@A'7A=Ab7A6SAaAC*A:?2AH˽:A8A=BA:?JAH˽RA8A=YmL@&o7y=C8ٓH s?߯]ѿ@`%`@?)mL@ I٘i)I9s@Y@G J J =JJJE&KC> YnX~?yhVAo7EZ7Z7}pQ9)BeE[[uc@[HX~?[[[[[BZYY i) {IG?i#@%x< ))܊@UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035187.083165 s, next control iter: 1743035187.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035187.483165 s.x_7I~,&AJ"J*J2J:Jw3?BJw3?nJ/<5vJA\@A˻@AIZ~? AA`#&"AAnNA"AZAbAjArAzAAAW_!@A*GbrA_s@Ag7AS=A6ABA&ԽA*A:?2Aν:A=BA:?JAνRA=٘i)I9s@YG JrJJJJE&K YSX~?yͻUAE77{7tQ9)B[[d@[X~?[[[[[BZYY i) !IrG?i&@}z< a))auw@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035187.503165 s, next control iter: 1743035187.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8686, header.stamp.nsec: 00 temperature: 13.386233* salinity: 33.391682, density: 1025.000000* values[0]: 0.700607F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035187.903165 s.=I~,&AAQ@APT6@A/Z~? A/A#&"AAnNA"AZAbAjArAzAAA @A{Q9)B_E[[~g@[X~?[h[[[[BZYY i) @IH?i<.@< ))@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035188.343165 s, next control iter: 1743035188.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8687*, header.stamp.nsec: 0*0 temperature: 13.386483** salinity: 33.391682*, density: 1025.000000** values[0]: 0.699744*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035188.743165 s.WKI~,~/&AAףp=@A3333}@AY~? AZA;b#&"AA7FnNA"AZAbAjArAzAAAav@A5 erAq@AJ*<A =A92AA`FĿArw*Au:?2A9ҽ:A8b =BAu:?JA9ҽRA8b =٘i)I9q@YG JvC=JJJJE&K Y)X~?y§TAE7{7~Q9)B\E[[e>h@[:pX~?[[[[[BZYY i) ePI8H?i2@< :)):←.A@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035188.763165 s, next control iter: 1743035189.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035189.163165 s.u}RI~,qJ&AJ"J*J2J:JBJnJvJA@AD@A&Y~? A+Aq@#&"AAnNA"AZAbAjArAzAAAB@@AW*&frAw q@AB<A w=AJ0AAdƿA*Al:?2A]ӽ:A? =BAl:?JA]ӽRA? =YkAS@)0y[t=C<ٓH{@=?Z ׿`brR??)kAS@ I٘i)I9 q@YG JJ1<JJJE&K {> YW~?y>Ƨ+TA0E77iQ9)BYE[[pi@[u[X~?[D[[[[BZYY i) O_I_H?i5@0< c))c쿩Bڍ@7̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035189.183165 s, next control iter: 1743035189.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035189.583165 s.XI~,Re&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074864< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035189.583266F (some fields omitted in printout)A)\@A@AY~? A% A#&"AAmNA"AZAbAjArAzAAA ]qA@AS[grAKp@A;A꼕=A/A`fA@4ǿA*Ad:?2Aս:A21 =BAd:?JAսRA21 =٘i)I9p@YnG J!JJJJE&K YW~?y~ɧSAE77Q9)BVE[[0j@[GX~?[ [[[[BZYY iv) $nIpH?i8@~< u))u꿩r@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035189.603165 s, next control iter: 1743035189.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8688, header.stamp.nsec: 00 temperature: 13.386711* salinity: 33.391697, density: 1025.000000* values[0]: 0.698777F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035190.003165 s.| `I~,]4&AJ"J*J2J:J2?BJ2?nJ;5vJAR+@Ay@AY~? AH A"&"AAmNA"AZAbAjArAzAAA@AbAhrAfp@A\ƷA=AQ/.AXAHɿA *A]:?2Aս:A =BA]:?JAսRA =٘i)I9p@YG JšJJJJE&K YmW~?y̧dSAE{7j7Q9)ïB[[\k@[2X~?[[[[[BZYY i) L~IH?iS;@r< ))迩) @ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035190.043165 s, next control iter: 1743035190.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035190.423165 s.ufI~,&AA{Ga@A`;T@AY~? A Ai"&"AAǬmNA"AZAbAjArAzAAA &eR@AjrA_o@AAi=A,AVA ԧ˿AH*AQ:?2Aֽ:A<3 =BAQ:?JAֽRA<3 =٘i)I9o@YG JJJJJE&K Y2W~?yЧSAE77)Q9)ǯBTE[[fl@[X~?[b[[[[BZYY i) ʦIH?i?@4< ))忩@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035190.463165 s, next control iter: 1743035190.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8689, header.stamp.nsec: 00 temperature: 13.386979* salinity: 33.391674, density: 1025.000000* values[0]: 0.697776F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035190.843165 s.lI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743035190.843281F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @AMd@A~Y~? AA,"&"AAmNA"AZAbAjArAzAAAO$@AMaUkrA.o@AEA=A~+A[A |ͿAh䟼*AF:?2Avֽ:A =BAF:?JAvֽRA =٘i)I9o@YyG JJJJJ E&K Y~W~?y@ӧRAEŧ77Q9CB)˯BQE[[(n@[ X~?[E[[[[BZYY i) &CII?i C@< kf))kf㿩@6@y2e*ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035190.863165 s, next control iter: 1743035191.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035191.263165 s.tI~,'&AA@A@AfY~? AAh"&"AAeamNA"AZAbAjArAzAAAS@A9'mrA6}n@Ar' A=A2*A@K3AJϿAE*A1<:?2Aֽ:Ak=BA1<:?JAֽRAk=YY@=*yc=H ٓHF ?vݿY43@ँ`R?)Y@ I٘i)I9}n@Y&G JۡJ56<JJJ E&K{> YeW~?yTק3RA=*EZ7Z7SQ9)ϯBNE[[Vo@[LW~?[N[[[[BZYY i) 쾕II?ilE@[< G ))G ῩI͐@/٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035191.283165 s, next control iter: 1743035191.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 86902, header.stamp.nsec: 020 temperature: 13.3872182* salinity: 33.3917052, density: 1025.0000002* values[0]: 0.6968002F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035191.683165 s.lzI~,Z&AJ"J*J2J:Ja2?BJa2?nJ ;5vJA(\@Ad@AMY~? AgA4"&"AAW~?[o[[[[BZYY i)  ;IiH@= Ӱ޿))Ӱ޿c@^ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035191.683165 s, next control iter: 1743035192.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035192.103165 s.I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035192.103285F (some fields omitted in printout)AQ8@A;4,F+@A95Y~? ARA7!&"AAmNA"AZAbAjArAzAAA3 Z@AprA[m@A y;A=A'A@A@jѿA}*A ):?2A&ֽ:A;=BA ):?JA&ֽRA;=٘i)I9[m@YuG JⰼJJJJE&K Y3W~?y{ߧ_QAE7777~Q9)دB[[q@[W~?["[[[[BZYY i) ֶIi/K@ = ;Zܿ));ZܿL@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035192.123165 s, next control iter: 1743035192.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035192.523165 s.I~,{!&AJ"J*J2J:JA2?BJA2?nJ:5vJAHzn@ACa@AY~? AcA!&"AAXlNA"AZAbAjArAzAAA?lxwc@AE"l~rrAl@AHE<A,t=A"_&AAKҿA黼*A :?2Aֽ:AH}=BA :?JAֽRAH}=٘i)I9l@YG JJJJJE&K YW~?yPAEQ9BB)ܯBHE[[7r@[*W~?[&[[[[BZYY i) 2IiN@RA= ڿ))ڿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035192.543165 s, next control iter: 1743035192.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8691, header.stamp.nsec: 00 temperature: 13.387480* salinity: 33.391651, density: 1025.000000* values[0]: 0.695769F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035192.943165 s.YdI~,F]<&AAq= ף@ABʖ@A-Y~? AA!&"AAlNA"AZAbAjArAzAAAÎsRb@AYmkutrA l@A $<A=AH %AzA`>,ӿAt*A:?2Aֽ:AN=BA:?JAֽRAN=I٘i)I9 l@YG JͽJJJJE&K YW~?yPAE{7j7Q9)BEE[[s@[+W~?[Q+[[[[BZYY i) Ii~R@A= ׿))׿!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035192.963165 s, next control iter: 1743035193.343179 s, wait time: 0.380014 sW~?) rAdjusting time to match Gazebo time: 1743035193.363165 s.I~,p>W&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083722< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743035193.363276F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ac@AzX~? A!A{E!&"AAԩlNA"AZAbAjArAzAAA7FB@Aʂ)vrAk@A6;AӀ=Ae#A`fFA ԿA*A+:?2A0׽:A=BA+:?JA0׽RA=Yh`@#y=qS7;ٓHĢ?'-GIf? ?)h`@ I٘i)I9k@YTG J:Jm<JJJE&Ky> YQV~?y|PA#E77>Q9)BBE[[G*u@[EW~?[/[[[[BZYY i) IiT@= bտ))bտ@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035193.403165 s, next control iter: 1743035193.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8692&, header.stamp.nsec: 0&0 temperature: 13.387764&* salinity: 33.391651&, density: 1025.000000&* values[0]: 0.694645&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035193.783165 s.XI~,r&AA(\@A;T@AX~? A%AS!&"AAlNA"AZAbAjArAzAAA~^\&@AxrAj@AAQ=AY"A~A`ԿA-*A# :?2Aw׽:A=BA# :?JAw׽RA=٘i)I9j@YG JB=JJJJE&K YV~?yVOAE777ԩQ9)BCE[[Sv@[W~?[m4[[[[BZYY i) Q¼IiV@} = _ӿ))_ӿK@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035193.823165 s, next control iter: 1743035194.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035194.203165 s.I~, &AJ"J*J2J:J1?BJ1?nJM:5vJAQE@AIv8@AʾX~? A*)A= &"AAblNA"AZAbAjArAzAAA/T @A 3trzrA:j@A <A=At!AjAտA#ü*A{:?2AD׽:A=BA{:?JAD׽RA=٘i)I9:j@YG J¼C=JJJJE&K Y YTvV~?ytMA)Eŧ77)Q9)B[[Gz@[GW~?[G[[[[BZYY i) Ty߼Iikb@= ɿ))ɿ@OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035195.483165 s, next control iter: 1743035195.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8694, header.stamp.nsec: 00 temperature: 13.388327* salinity: 33.391632, density: 1025.000000* values[0]: 0.692262F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035195.883165 s.J "J *J 2J :J 81?BJ 81?nJ 95vJ zI~,Y&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743035195.883298F (some fields omitted in printout)A(@A O@A{dX~? AH9A&"AAkNA"AZAbAjArAzAAAU@AQ;rAƈg@AP!/<A=AA AٿA׼*A9?2ACֽ:AD=BA9?JACֽRAD=٘i)I9g@Y G JgռJJJJ)E&K Y`V~?y _MAE)7ŧ7Q9)B7E[[R|@[7W~?[L[[[[ZZ¸BZYY i¸=z=) SwӼIid@N= ېǿ))ېǿ+@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035195.903165 s, next control iter: 1743035196.283182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035196.303165 s.VijI~,wg&AAQ@A2D@ANX~? A=A3&"AAkNA"AZAbAjArAzAAA,x@AirADf@Ai@<A:=AAA@ٿAAټ*A9?2A՞ֽ:A=BA9?JA՞ֽRA=٘i)I9f@Y{ G JؼJJJJ,E&K YJV~?yLAEb7b7TQ9?B) B5E[[38}@[,(W~?[Q[[[[ZZBZYY i) RuǼIi,g@f= Gſ))Gſ@yoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035196.323165 s, next control iter: 1743035196.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8695*, header.stamp.nsec: 0*0 temperature: 13.388675** salinity: 33.391621*, density: 1025.000000** values[0]: 0.690966*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035196.723165 s.˳I~,H.&AJ"J*J2J:JBJnJvJAz@A z@A9X~? A+BA&"AAkNA"AZAbAjArAzAAAPl@AIk*rA f@A>;A=AwHA`_UAĤڿAb*A09?2Aֽ:Aw<BA09?JAֽRAw<٘i)I9 f@Y G JJJJJ/E&K Y4V~?y+oLAE77{7Q9)B[[[~@[W~?[V[[[[ZZBZYY i) sIij@= ¿))¿O@y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035196.743165 s, next control iter: 1743035197.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035197.143165 s.T/ҳI~,)I&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083241< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035197.143289F (some fields omitted in printout)A ףp@Ad@A#X~? AFA&"AAvkNA"AZAbAjArAzAAA^%ph@Ak rA-e@A A\=AkA@ A,mۿA*AC9?2A׽:A<BAC9?JA׽RA<٘i)I9-e@Y{ G J8JJJJ2E&K YV~?yKAEj7Z7~Q9)B1E[[}@[ W~?[ \[[[[ZZBZYY i) rIipm@!= ?))?@y٨=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035197.163165 s, next control iter: 1743035197.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035197.563165 s.سI~,[ d&AJ"J*J2J:JBJnJvJA3333@AS'@AX~? AKA'&"AAVkNA"AZAbAjArAzAAAY3?Ad*rAvZd@A#Av=A-A`AR3ܿA*AB9?2A2(׽:A,c<BAB9?JA2(׽RA,c Y V~?y!KAÜE77{7Q9>B)B.E[[5Q@[>V~?[^a[[[[ZZBZYY i) O.Iin@= r))r0s@ҫYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035197.583165 s, next control iter: 1743035197.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8696, header.stamp.nsec: 00 temperature: 13.389008* salinity: 33.391605, density: 1025.000000* values[0]: 0.689489F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035197.983165 s.߳I~,~&AA\(@A\@AW~? APA+&"AA6kNA"AZAbAjArAzAAAV 4R?ADrAc@ASA"3=AKAczAܿAh̼*A9?2A׽:A|8;BA9?JA׽RA|8;٘i)I9c@Y G JJJJJ7E&K Y&U~?y:(QKAƜEŧ7b7Q9)!B[[&@[V~?[f[[[[ZZBZYY i) P꘼Iip@+= *))*!@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035198.003165 s, next control iter: 1743035198.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035198.403165 s.&I~,͙&AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083241< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743035198.403298F (some fields omitted in printout)AQ^@AūQ@AW~? AUA h&"AAtkNA"AZAbAjArAzAAAXϺ?A 0rAb@AշA2@<AAK.A@ݿA*A9?2Aֽ:A BA9?JAֽRA ٘i)I9b@Y& G JJJJJ:E&K Y7U~?yy.JAȜE777?Q9)&B+E[[t@[V~?[:l[[[[ZZBZYY i) /Ii/s@ң= 广))广@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035198.423165 s, next control iter: 1743035198.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8697", header.stamp.nsec: 0"0 temperature: 13.389331"* salinity: 33.391613", density: 1025.000000"* values[0]: 0.688096"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035198.823165 s.I~,>&AAGz@Aq@AW~? AZAb&"AAjNA"AZAbAjArAzAAARJ?Aa|(rA{b@AZTA'<AܶA` A@Du޿Aꄼ*A9?2Aֽ:AqBA9?JAֽRAq٘i)I9{b@Y G JJJJJ elevatorAngleAction: 0.083241< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743035199.663284F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8698, header.stamp.nsec: 00 temperature: 13.389592* salinity: 33.391602, density: 1025.000000* values[0]: 0.687219F (some fields omitted in printout)A@Aw@AܪW~? AseA5&"AALjNA"AZAbAjArAzAAAu+?A2B4rAa@AB><A舦AA@Y=A@߿A{m*A9?2A׽:A[ҧBA9?JA׽RA[ҧYs@yL><ٓH $ X?n?= #j?cД?`2ȇ?@?)s@ I٘i)I9a@Yr G JJaDJJJBE&K{x> YU~?yAuJAМEŧ77Q9).B&E[['@[ĶV~?[|[[[[ZZBZYY iQr=) "\Ii)z@ = {)){H@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035199.683165 s, next control iter: 1743035200.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035200.083165 s.DI~,S&AJ"J*J2J:J/?BJ/?nJy85vJA)\5@A5(@AW~? AjA&"AANjNA"AZAbAjArAzAAA8M?APrAa@A<A APA AKA؉*A,9?2Akֽ:AмBA,9?JAkֽRAм٘i)I9a@Y^ G J۞JJJJDE&K YU~?yHJAӜE7b7Q9)/B[[@[ V~?[[[[[BZYY i =)  JIi{@>&!= {װ)){װٜ@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035200.103165 s, next control iter: 1743035200.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035200.503165 s.I~,]4 &AARk@AsV{^@A[W~? ApAY]&"AA܃jNA"AZAbAjArAzAAAk;?A.h4rA)a@A;A7J8A A ATAPSl;*A\9?2Anֽ:A:BA\9?JAnֽRA:켙٘i)I9a@Y` G J:JJJJGE&K YޅU~?yOJA֜Eŧ77*Q9 elevatorAngleAction: 0.069853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743035200.923334F (some fields omitted in printout)A{G@A1=@A)sW~? AovA&"AAgjNA"AZAbAjArAzAAATõ?ArAa@AӻA]A? A=AACU<*A]9?2AHcֽ:AFBA]9?JAHcֽRAF٘i)I9a@Yw G J;JJJJJE&K Y tU~?yeVJA؜Eb7b7Q9=B)$E[[؄@[V~?[X[[[[BZYY i) %Ii@ #= T))T@yˢ=8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035200.943165 s, next control iter: 1743035201.323183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035201.343165 s.<I~,U&AAp= @A%̴@AWaW~? AR|A{&"AALjNA"AZAbAjArAzAAA c A;n#rA!b@A$/CA4{A0 Aj߿AIA?<*A9?2A@ֽ:ATy BA9?JA@ֽRATy ٘i)I9!b@Y G J<JJJJLE&K Y;bU~?y@]JAۜE{7j7TQ9Iiz@%= '))'@*YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743035201.363165 s, next control iter: 1743035201.743176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8700., header.stamp.nsec: 0.0 temperature: 13.389622.* salinity: 33.391590., density: 1025.000000.* values[0]: 0.687239.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035201.763165 s.8I~,#p&AJ"J*J2J:JBJnJvJA @AƣT@AOW~? ARA&"AA1jNA"AZAbAjArAzAAA5NFտASrA{b@A7A?A_ A@߿AiAn<*Ab9?2A\ֽ:AlBAb9?JA\ֽRAlY{z@ y<:8ٓH{?`ݖ?Fொ ^?`S$?@?){z@ I٘i)I9{b@Y G JkV<JJJJOE&Kw> YRU~?ydAKA ޜE7{7Q9)(B[[@[zV~?[.[[[[BZYY i0i=) <7Ii@/Y&= ק))ק@"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035201.803165 s, next control iter: 1743035202.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035202.183165 s."I~,^&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056888< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743035202.183279F (some fields omitted in printout)A(\B@AMg'5@A>W~? AnAؑ&"AAjNA"AZAbAjArAzAAAHxAXrA"b@AA@AgUAY޿AA<*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J <JJJJRE&K YJCU~?ykKAE77Q9;B)$BE[[Ї@[oV~?[1[[[[BZYY i) ~cIi@W4'= ?))?˩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035202.203165 s, next control iter: 1743035202.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035202.603165 s.J "J *J 2J :J 0?BJ 0?nJ 85<4)I~vJ,Ú&AAQx@A+MFk@AB.W~? AA&"AA@iNA"AZAbAjArAzAAA11dARٸrA`c@Ai;AhAAݿA:Az<*A9?2A׽:A_BA9?JA׽RA_٘i)I9`c@Yb G JĐ<JJJJTE&K Y3U~?y]sKAE{7j7Q9]&AJ"J*J2J:JA0?BJA0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056888< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035203.443277F (some fields omitted in printout)Aq= @A_@ACW~? AdA"&"AAiNA"AZAbAjArAzAAA?Ql#A8ERrAqd@Ad@<AٍAWA9ܿAA<*A[9?2A""׽:A BA[9?JA""׽RA ٘i)I9qd@Y G J<C=JJJJZE&K YU~?yLAE7777?Q9,B)B[[|4@[ QV~?[v[[[[BZYY i=) #9Ii@}5+= 垿))垿wV@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035203.463165 s, next control iter: 1743035203.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8702, header.stamp.nsec: 00 temperature: 13.389264* salinity: 33.391560, density: 1025.000000* values[0]: 0.689053F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035203.863165 s.+=I~,>&AA@A @AV~? AꡩA&"AAqiNA"AZAbAjArAzAAA:eA슜rAe@A};AAARۿAA<*A9?2Aֽ:ABA9?JAֽRAY<@y"u;ٓHSUݿ`l?ŝ?JV@cݿ?`:n? z?1?)<@ I٘i)I9e@Ya G Jܭ<JήJJJ]E&KSx> YU~?y뉨MAEb7b7Q9+B)BE[[~È@[GV~?[[[[[BZYY i) F\Ii@$+= ))y@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035203.903165 s, next control iter: 1743035204.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035204.283165 s.7RDI~,&AJ"J*J2J:J0?BJ0?nJ95vJA(\O@A_vOB@AV~? AAT$&"AAsiNA"AZAbAjArAzAAAj%ArAe@A` AAAڿA``A}$<*A9?2Aֽ:A-BA9?JAֽRA-٘i)I9e@Y G J<JJJJ_E&K  R9YT~? R9yMAE77jR9)BE[[FR@[g>V~?[辨[[[[BZYY i) - Ii@G,= gn))gnAt@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035204.303165 s, next control iter: 1743035204.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8703., header.stamp.nsec: 0.0 temperature: 13.389028.* salinity: 33.391529., density: 1025.000000.* values[0]: 0.690200.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035204.703165 s.պJI~, -&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743035204.703266F (some fields omitted in printout)AQ@A.x@AuV~? A>AH&"AAiNA"AZAbAjArAzAAA?Bz?A*92rA.f@AOA AMAٿA`HAD<*AJ9?2Alֽ:ABAJ9?JAlֽRA٘i)I9.f@Y G J^<B=JJJJbE&K YT~?yMAE777R9*B)BE[[@[5V~?[1Ũ[[[[BZYY i) ȺIiK@--= 3))3@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035204.723165 s, next control iter: 1743035205.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035205.123165 s.:QI~J"J*J2J,iG&A:J0?BJ0?nJo95vJAG@AE٭@AdV~? A At&"AAmriNA"AZAbAjArAzAAA4aArAf@AEA.AA|AؿA@KA<*A9?2Atֽ:AKBA9?JAtֽRAK٘i)I9f@Yr G J6<C=JJJJeE&K YT~?y`SNAE R9)B[[o@[%-V~?[˨[[[[BZYY i) ~Ii-@N.= ))@y= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035205.143165 s, next control iter: 1743035205.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035205.543165 s.IXI~,b&AA= ף@ADkE@AV~? AA&"AAk]iNA"AZAbAjArAzAAANQL~AZ[rATg@AA&1AA/%ؿA&A<*A9?2AHֽ:A'BA9?JAHֽRA'٘i)I9Tg@Y G J<JJJJgE&K YT~?y1NAE77*R9)B[[@[%V~?[Ѩ[[[[BZYY i) 9Ii?@T/= ē))ē@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035205.563165 s, next control iter: 1743035205.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8704, header.stamp.nsec: 00 temperature: 13.388755* salinity: 33.391487, density: 1025.000000* values[0]: 0.691386F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035205.963165 s.J "J *J 2J :J 0?BJ 0?nJ 95^I~vJ,"}&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743035205.963301F (some fields omitted in printout)Affff&@AZ@AV~? AéA&"AAIiNA"AZAbAjArAzAAAD\ADO[rAXg@Ag9A]A'ARP׿AeeAv<*A9?2Avֽ:A>BA9?JAvֽRA>Yƒ@(y]9ٓH m׿ ?`? &|׿?ȱ? !?7?)ƒ@ I٘i)I9g@Y G J2<J|<JJJjE&Kix> YT~?ybOA(Eb77R9)B)BE[[@[WV~?[>ب[[[[BZYY i) :Iii@d/= ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035205.983165 s, next control iter: 1743035206.363188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743035206.383165 s.eI~,#&AA(\@AS[ O@AV~? AʩA&"AAz5iNA"AZAbAjArAzAAAP2AN=rA'ch@AU<AtAyA@qxֿA A <*A;9?2A6׽:A;BA;9?JA6׽RA;٘i)I9ch@Yo G J<JJJJmE&K YCT~?y{OAE{7j7UR9)B[[7@[V~?[ި[[[[BZYY i) [\;IiÉ@~V0= R))R2;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035206.403165 s, next control iter: 1743035206.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8705&, header.stamp.nsec: 0&0 temperature: 13.388516&* salinity: 33.391495&, density: 1025.000000&* values[0]: 0.692528&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035206.803165 s.AlI~,g&AJ"J*J2J:JI1?BJI1?nJ95vJA@A@AV~? AҩA.&"AA"iNA"AZAbAjArAzAAA ZA*IrA$h@AZ#G<AFA"A@ŞտAA ;<*AI9?2AY@׽:ArBAI9?JAY@׽RAr󼙘٘i)I9h@Y G J<JJJJoE&K YT~?yOAE)7ŧ7R9)B[[5@[V~?[)[[[[BZYY i) L;IiM@1= ))0ɥ@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035206.823165 s, next control iter: 1743035207.203183 s, wait time: 0.380018 sT~?) rAdjusting time to match Gazebo time: 1743035207.223165 s.gsI~,H&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743035207.223282F (some fields omitted in printout)Az@Aq@AV~? AN٩A&r&"AA[iNA"AZAbAjArAzAAASwA>H>lrA[i@Aw<AcA@A:ԿA0A3<*A 9?2A׽:ABA 9?JA׽RA󼙘٘i)I9[i@YG J<JJJJrE&K YT~?yɨ:PAE777R9)ޯBE[[4@[QV~?[[[[[BZYY i) 9;Ii@21= ㊿))㊿V@*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035207.243165 s, next control iter: 1743035207.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035207.643165 s.yyI~,*&AJ"J*J2J:JBJnJvJA ףp@A>=e@AV~? AA&"AAhNA"AZAbAjArAzAAA&Ae݌rAOi@A;AAAVAӿAGAE<*A9?2Aֽ:APBA9?JAֽRAP٘i)I9i@YPG JÐ<JJJJuE&K Y+T~?y&ҨPAEj7j7 R9)گBE[[;@[V~?[+[[[[BZYY i) ;Ii@3= ))6@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035207.663165 s, next control iter: 1743035208.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8706, header.stamp.nsec: 00 temperature: 13.388326* salinity: 33.391468, density: 1025.000000* values[0]: 0.693570F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035208.063165 s.I~,J &AA33333@A)&@A}V~? AAU&"AAhNA"AZAbAjArAzAAA>LgsA\[rAbOj@AeػA0 A-A6 ӿA@1zAБ<*A9?2Aֽ:ABA9?JAֽRAY@xyoٻٓHeFѿv?? VѿV??{B?)@ I٘i)I9Oj@YG JP<J<JJJwE&K=x> YT~?yڨPAEZ7#R9)֯B[[P@[%U~?[[[[[BZYY i_=) ;;Ii3= kw))kwr@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035208.083165 s, next control iter: 1743035208.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035208.483165 s.y_I~,&AJ"J*J2J:J1?BJ1?nJP:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077331< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035208.483306F (some fields omitted in printout)A\h@A[@AsV~? A]A&"AA hNA"AZAbAjArAzAAA+TAKC)rAj@A@AAA@-ҿA rA<*A9?2Aֽ:A1BA9?JAֽRA1٘i)I9j@YG J<JJJJzE&K YT~?yNQA E@'R9)үB[[ݎ@[U~?[T[[[[BZYY i) Ts;Ii@WZ3= @))@@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035208.503165 s, next control iter: 1743035208.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8707, header.stamp.nsec: 00 temperature: 13.388102* salinity: 33.391457, density: 1025.000000* values[0]: 0.694572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035208.903165 s.ȍI~,9&AAQ@AHG@AiV~? AA'4&"AAhNA"AZAbAjArAzAAAL[PxAItrALAk@AV/Aw|AAfJѿA`A_<*A9?2A3ֽ:ABA9?JA3ֽRA٘i)I9Ak@Y.G Jl<JJJJ}E&K Y>T~?yQA E7)7*R9(B)ίBE[[Yk@[lU~?[[[[[BZYY i) dпA LA3<*A]9?2Aֽ:ABA]9?JAֽRAI٘i)I9k@YtG J<JJJJE&K YT~?yRAEb7b7j.R9)ʯBE[[@[U~?[ [[[[BZYY i) 9s elevatorAngleAction: 0.077331< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743035209.743303F (some fields omitted in printout)Aףp= @Ai2@A|WV~? AA &"AAYhNA"AZAbAjArAzAAAA1 AW/sA#l@Aw;AƆAAοA-Az<*A9?2A((׽:ASBA9?JA((׽RAS٘i)I9#l@YG J<JJJJE&K YyT~?y\RAE7772R9)ǯB[[ۅ@[2U~?[;[[[[BZYY i) l YuT~?y;RA߿EZ7SI75R9)ïB[[0@[!U~?[[[[[BZYY i) /G J<JJJJE&K YIpT~?y SAE{7j7*9R9)B[[@[pU~?[ [[[[BZYY i) ? elevatorAngleAction: 0.077331< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743035211.003304F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A|~@A?V~? AAK&"AAhNA"AZAbAjArAzAAAc#k AFpsAhrm@Ac;ApAٿAxɿA`7A˾<*A9?2AOֽ:ABA9?JAOֽRA٘i)I9rm@YG J<B=JJJJE&K YrkT~?yqSAE7)7@6= }i))}i ݫ@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035211.443165 s, next control iter: 1743035211.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8710, header.stamp.nsec: 00 temperature: 13.387524* salinity: 33.391422, density: 1025.000000* values[0]: 0.697454F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035211.843165 s.ݼI~,&AJ"J*J2J:JBJnJvJAp= @AН` @A2V~? A,Ao &"AAxhNA"AZAbAjArAzAAA Au?DZsAkn@Atr%ACYAԿA`ſA`JA0ל<*A9?2Aaֽ:A[BA9?JAaֽRA[٘i)I9kn@YG J<JJJJE&K YaT~?y')TAE77CR9)B[[ H@[U~?[4[[[[BZYY i) #m elevatorAngleAction: 0.077331< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035212.263295F (some fields omitted in printout)AL@AY?@A-V~? A4A &"AAohNA"AZAbAjArAzAAAfo6A^Z)sAn@ADEA?A+ҿA@ÿA A<*A9?2Afֽ:ABA9?JAfֽRAY@ҿymEٓHN@?`?``3|?^?@o`?)@ I٘i)I9n@YmG J[<JƉJJJE&Kx> Y_T~?y0TAҿ!E7GR9)BE[[Փ@[fU~?[;[[[[BZYY i) 8|9?2ARֽ:A\fBA>9?JARֽRA\f٘i)I9zo@YG JH<JJJJE&K Y]T~?y9TA#E{7j7KR9)B[[)b@[U~?[OB[[[[BZYY i) < elevatorAngleAction: 0.077331< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743035213.523315F (some fields omitted in printout)AHz@A( @AV~? AqLAޱ &"AAXhNA"AZAbAjArAzAAAm xAɳ,sAyp@A_<A< A%ʿA@A4A#<*A9?2A%/׽:A BA9?JA%/׽RA ٘i)I9p@YiG J<JJJJE&K YYT~?yKUA)E)7)7@RR9)B[[f|@[ U~?[O[[[[BZYY id=)  ]|&AAq= #@A@AV~? ApTA &"AARhNA"AZAbAjArAzAAAM0A1sAq@AF<AA%ǿAA EA5.<*A9?2A2׽:Ab BA9?JA2׽RAb ٘i)I9q@YG J٥<JJJJE&K YWT~?yS&VA,E77j7UR9(B)BE[[Q @[VU~?[V[[[[BZYY i) |&AJ"J*J2J:JBJnJvJAY@A)L@AV~? At\Ay &"AA`MhNA"AZAbAjArAzAAAf+kA\y6sA§q@Ai<A6A ĿAZ괿ASA择<*A59?2Aֽ:A׀BA59?JAֽRA׀Y(ː@ſy<ٓH?@f?@ȇX?@?`L ? &?`}?)(ː@ I٘i)I9q@YG Jħ<B=Jl)JJJE&Kx> YXT~?y\VAſ.E777kYR9)B[[<@[U~?[k][[[[BZYY i) D& elevatorAngleAction: 0.086955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035214.783281F (some fields omitted in printout)A(\@A=&R@AIV~? A|dA&"AAHhNA"AZAbAjArAzAAAPk_=;Aa;sA;8r@A:AAh¿AT%A _A}ۯ<*A!9?2ALֽ:AX\BA!9?JALֽRAX\٘i)I98r@YkG J <C=JJJJE&K YYT~?yreVA1E)7ŧ7]R9)B[[ǿ[ U~?[3d[[[[BZYY i)  elevatorAngleAction: 0.086955< massPositionAction: 0.000000J"J4 buoyancyAction: 0.000500*J2J dt: 0.420004:JBJ2 time: 1743035216.043283nJF (some fields omitted in printout)vJA= ף0@Aׅ#@AyV~? A|Ab&"AAT@hNA"AZAbAjArAzAAA8vA!JsAJ t@A;+AZĪAA#AsAO<*AX9?2A_ֽ:ABAX9?JA_ֽRA٘i)I9 t@YG J<JJJJE&K YP\T~?yAXA9E7gR9)B[[[pU~?[x[[[[BZYY i)  Y`T~?yXAhNA"AZAbAjArAzAAA |A5SsARu@AG;AWATA~?A`>uA&<*A9?2A׽:ASaBA9?JA׽RASa٘i)I9Ru@YOG J0<JJJJE&K YcT~?yE)YA>E7{7nR9,B)E[[m[U~?[[[[[BZYY i)  elevatorAngleAction: 0.086955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743035217.303269F (some fields omitted in printout)A@AJ@AnV~? AޔA,&"AA>hNA"AZAbAjArAzAAAq|k|vAF XsA\u@Ao7<AAA@)?ArA(<*A9?2A!׽:ABA9?JA!׽RA٘i)I9u@YG J<JJJJE&K YgT~?yYAAEj7SI7rR9)|B[[ex[/U~?[Ԍ[[[[BZYY i)  elevatorAngleAction: 0.086955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743035218.563288F (some fields omitted in printout)A3333s@An,(f@A+V~? AAT&"AADhNA"AZAbAjArAzAAA`<AgsARx@A[[AʷArAA(?AYAh <*A9?2A!Nֽ:ABA9?JA!NֽRAYeN@yʷ\ٓHذ?@C?` ?C?r? htk?)eN@ I٘i)I9x@YG J<JLJJJE&Kw> YuT~?y[AIEZ7SI7A}R9-B)mBE[[ٳ[LU~?[[[[[ZZZZ¸>BZYY i¸>`) G&"AALhNA"AZAbAjArAzAAA-FApqsAy@ABAoA楿A?A;A(=*A9?2A ֽ:AFBA9?JA ֽRAF٘i)I9y@YG J<JJJJE&K YłT~?yũ[ANEZ7SI7kR9)aB[[ n[=U~?[d[[[[ZZZZBZYY i) O=JJJȝE&K[w> Y?T~?yީ+]AVEb77,R9/B)NBE[[Ȩ[U~?[T©[[[[ZZZZBZYY in) $A,ԄsA|@AE/Y<A&ݼATAr?AQAw<*AD9?2Avֽ:A#;BAD9?JAvֽRA#;٘i)I9|@YG J<JJJJ˝E&K YT~?yh]AYER9)IB[[[U~?[ȩ[[[[ZZZZBZYY i) Q7q<BAh9?JAɆֽRA>7q<٘i)I9}@YPG Jb<JJJJНE&K YDT~?yy]A^E77R90B)DB E[[[ V~?[֩[[[[ZZZZBZYY iܩ) tX}AN;*A~9?2Amֽ:AZB<BA~9?JAmֽRAZB<٘i)I9}@YwG J<<JJJJӝE&K YT~?y^AaEŧ7b7R9)BB[[Uߟ[V~?[ܩ[[[[ZZZZBZYY i) gDٓH&? ?@?` l.?N蟿 @o?)`ϝ@ I٘i)I9}@YG Jפ;J7>JJJ֝E&Kx> YT~?y]AdE)7R9)AB[[ϥ[V~?[[[[[BZYY ibAk) o2V@+= w))w侩wy7Ȫ-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035222.803165 s, next control iter: 1743035223.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035223.183165 s.rI~,V&AA(\@AR@ANV~? AA[%"AA;hNA"AZAbAjArAzAAA~ AsA}@AI&A8/=APA?A#MA*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9}@YG JJ:JJJJ؝E&K YT~?y]AgE7{7R91B)#E[[aj[V~?[[[[[BZYY iv-) D A8CsA}@A39A|sV=A‹A?A&A *A9?2Abbֽ:A<BA9?JAbbֽRA<٘i)I9}@Y~G J)JJJJ۝E&K YT~?y]AiE77AR92B)CB$E[[Y-[g'V~?[[[[[BZYY i) $337&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035224.863315F (some fields omitted in printout)A @A\ @ArV~? A"Ab%"AAfhNA"AZAbAjArAzAAA#;ݚAۘsA|@A\?<AW=AA ?AA*An9?2Acֽ:A?=BAn9?JAcֽRA?=Y@yT=@<ٓHh?`+v??aTl?尿汿?b?)@ I٘i)I9|@YG JzB=J7=JJJE&K[w> Y. U~?yM/\A DqE7ŧ7R9)LB[[gt[FAV~?[[[[[BZYY iBj) <=BA9?JA|jֽRA>=I٘i)I9d|@YG J\C=JJJJE&K YU~?y6\AtEb77R94B)QB+E[[#7[JV~?[S [[[[BZYY i) ;Ii@3%= ּ))ּּͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035225.303165 s, next control iter: 1743035225.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 87242, header.stamp.nsec: 020 temperature: 13.5676172* salinity: 33.3750082, density: 1025.0000002* values[0]: 0.5805552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035225.703165 s.պI~, m&AAQ @Aި @AχV~? A0A`@%"AAshNA"AZAbAjArAzAAA:^ AJ*sA{@A6~AǙ=An}Af?AAA㟼*A!9?2Aֽ:Aؗ =BA!9?JAֽRAؗ =٘i)I9{@YNG JJJJJE&K Y6&U~?yi>'\AwE77,R9)UB[[[PTV~?[[[[[BZYY i) 5;Ii"@$= ~))~~ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035225.723165 s, next control iter: 1743035226.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035226.123165 s.:ᡵI~,i&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057287< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035226.123290F (some fields omitted in printout)AG: @A1]- @A V~? A8A|%"AAhNA"AZAbAjArAzAAA}^kAK)sAX{@Aeo3AP=AZxAw?A AH*A9?2ACֽ:A/ =BA9?JACֽRA/ =٘i)I9X{@YG JJJJJE&K Y4U~?yE[AyE77{7R95B)ZB.E[[ [e^V~?[[[[[BZYY i) {;Ii~@r#= ~))~~yjժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035226.143165 s, next control iter: 1743035226.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035226.543165 s.II~,â&AA= ףp @A`c @AĞV~? AC?A#%"AAu iNA"AZAbAjArAzAAA~)pAƣLsAz@A4HA=AdrA@?AAB*Al9?2A ֽ:AC=BAl9?JA ֽRAC=٘i)I9z@YG J쨼JJJJE&K Y>CU~?yMg[A|Eŧ7b7WR9)_B[[t[hV~?[[[[[BZYY i) ;Ii}@Y"= ))rժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035226.563165 s, next control iter: 1743035226.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8725, header.stamp.nsec: 00 temperature: 13.567820* salinity: 33.375023, density: 1025.000000* values[0]: 0.579961F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035226.963165 s.xI~,&AJ"J*J2J:JBJnJvJAffff @AwF[ @AV~? AeFA%"AAiNA"AZAbAjArAzAAAҔzHAWjEsAs9z@AɅA+=AmAp?AA۝*A9?2Aֽ:A=BA9?JAֽRA=YP@my*=]-ٓH?`3?Sө?@ *?$u 0}?)P@ I٘i)I99z@YKG JJR;<JJJE&K/x> Y$TU~?yT[AmE7R97B)eB2E[[6[sV~?[![[[[BZYY i) | Q;Iiz@} = v))vvӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035226.983165 s, next control iter: 1743035227.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035227.383165 s.صI~,'&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057287< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743035227.383260F (some fields omitted in printout)A( @AT @AV~? AsMAO %"AAW2iNA"AZAbAjArAzAAAӸjmAxsAy@AV:A=AhAD?A`ybA*A9?2Aoֽ:AAg=BA9?JAoֽRAAg=٘i)I9y@YG J꯼JJJJE&K Y eU~?y[ZAE{7{7R9)iB[[[~V~?['[[[[BZYY ibȇ) D;Ii; @AV~? AlTA>%"AAEiNA"AZAbAjArAzAAA&ASsA\y@A<A=AcA@?A %AY*A 9?2ABֽ:Au=BA 9?JABֽRAu=٘i)I9y@YG JJJJJE&K YuU~?yb2ZAE77R9)oB5E[[[5V~?[-[[[[BZYY i) :Iiv@}= Tq))TqTq_ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035227.823165 s, next control iter: 1743035228.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035228.223165 s.gõI~,H&AAzG @A4: @AHV~? AQ[A%"AAZiNA"AZAbAjArAzAAAJ -?AjR sArx@AK<AT=Aw^A?A A2*A-9?2AKֽ:A5<BA-9?JAKֽRA5<٘i)I9x@Y?G JJJJJE&K YֆU~?yiYAE{7j7R9)sB[[om[V~?[3[[[[BZYY i) 9IiMt@fZ=  ,_)) ,_ ,_oêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035228.243165 s, next control iter: 1743035228.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035228.643165 s.wɵI~, *)&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066300< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743035228.643286F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp} @A/Iep @AJV~? AbAv%"AAniNA"AZAbAjArAzAAAuAKI2sAnw@AH <A@=Aa.YA?AZAS,*A 9?2A\ֽ:A<BA 9?JA\ֽRA<٘i)I9w@YG JSJJJFJE&K YU~?ypeYAEZ7SI7BR99B)yB9E[[M|[VV~?[9[[[[BZYY i) Iir@Zu= L))LLy}AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035228.663165 s, next control iter: 1743035229.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8727, header.stamp.nsec: 00 temperature: 13.568261* salinity: 33.375038, density: 1025.000000* values[0]: 0.578699F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035229.063165 s.еI~,k D&AA3333 @A1[* @AV~? AhA%"AAkiNA"AZAbAjArAzAAAN9A̷1KsAtw@A9A͆=ASA ?A`*aA*A;9?2A2ֽ:A<BA;9?JA2ֽRA Y۪U~?yDw YASEZ7R9)~B[[w[֮V~?[w?[[[[BZYY i) Iio@+j= 0:))0:0:㹪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035229.083165 s, next control iter: 1743035229.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035229.483165 s.v_׵I~,^&AJ"J*J2J:JBJnJvJA\ @AGg @AV~? AvoAp%"AAiNA"AZAbAjArAzAAA# ~lA^ۄVsAv@AA}i=AwNAM?AA*A9?2A)׽:AE<BA9?JA)׽RAE<٘i)I9v@YQG JؐC=JJJJE&K YU~?y}XAE{7{7lR9:B)BsAev@A&AӁ=AZDA?AA:郼*A 9?2Aֽ:A<BA 9?JAֽRA<٘i)I9v@YG JJJJJE&K Y8U~?yWAE777R9)B[[/j[V~?[P[[[[BZYY iԙ) NIifh@= P))PPYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035230.343165 s, next control iter: 1743035230.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8729*, header.stamp.nsec: 0*0 temperature: 13.568604** salinity: 33.375046*, density: 1025.000000** values[0]: 0.577612*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035230.743165 s.WI~,y&AAףp= @AF 2} @A,W~? AA%"AA>iNA"AZAbAjArAzAAA;Aj?A@<A=*A9?2Arֽ:A<BA9?JArֽRA<٘i)I9u@YG JJJJJ E&K YVU~?y4WAE7S7,R9??@1`?H(`|z??)8Ԫ@ I٘i)I9:u@Y@G J%JϻJJJ E&Kx> Yy V~?y IWA9E{7{7R9)B[[{`[V~?[[[[[[BZYY i) ˻IiEc@s= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035231.183165 s, next control iter: 1743035231.563186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743035231.583165 s.I~,S&AA)\ @Ag @ANW~? AA%"AAtjNA"AZAbAjArAzAAA{*uLֿASmsA_t@AD<AF=A4A A?AȟA/*Aw9?2AZֽ:A<BAw9?JAZֽRA<٘i)I9t@YG JiJJJJE&K Y!V~?y圪VAEb77WR9=B)BFE[[{Y\[vW~?[`[[[[BZYY i) LIi0`@){= M))MMyEiYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035231.623165 s, next control iter: 1743035231.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8730, header.stamp.nsec: 00 temperature: 13.568712* salinity: 33.375053, density: 1025.000000* values[0]: 0.577159F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035232.003165 s.w I~,H4&AJ"J*J2J:J?BJ?nJ5vJAR+ @Ay @A_W~? AA%"AAx-jNA"AZAbAjArAzAAA ?¿AOsA[t@A8<Ap=A/A`Ž?A` NA*AQ9?2ACxֽ:A=BAQ9?JACxֽRA=٘i)I9[t@YG JńJJJJE&K Y6V~?yVAE77R9>B)BIE[[W[rW~?[=f[[[[BZYY i) KIi}]@ = j))jj^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035232.023165 s, next control iter: 1743035232.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035232.423165 s.uI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035232.423299F (some fields omitted in printout)A{Ga @AB=T @AqW~? AA%"AAHjNA"AZAbAjArAzAAAIc?A.7sAs@AX;A矅=A_2*A 8?AA=*AC9?2Aֽ:Ao=BAC9?JAֽRAo=٘i)I9s@YuG JJJJJE&K YKV~?yDVAE7{7R9)B[[S[W~?[k[[[[BZYY i)  Ii,[@E =  ))  YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035232.463165 s, next control iter: 1743035232.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8731, header.stamp.nsec: 00 temperature: 13.568844* salinity: 33.375057, density: 1025.000000* values[0]: 0.576693F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035232.843165 s. I~,5&AJ"J*J2J:J?BJ?nJ5vJAp= @A, @AЃW~? AɠAr%"AAJcjNA"AZAbAjArAzAAA^{ƻ?AU^qsAEs@A%A=AP$A ?A ^A)*AM9?2A6׽:Auw=BAM9?JA6׽RAuw=٘i)I9s@Y3G JJJJJE&K YaV~?yoUAEŧ7b7R9)BLE[[CxN[/W~?[p[[[[BZYY i) $Ii?Y@ =  ))   YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035232.863165 s, next control iter: 1743035233.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035233.263165 s.I~,P&AA @A @AZW~? AtA4%"AAjNA"AZAbAjArAzAAA!x?AfsAs@A6AK=AA`{?A&KAJ/*A|9?2A-׽:A=BA|9?JA-׽RA=Y@y=6ٓH??t?`@M?/Rц?)@ I٘i)I9s@YG J[J1<JJJE&KMx> YwV~?yUAEj7j7R9@B)BPE[[I[e?W~?[u[[[[BZYY i) C4IiU@T= ,N)),N,NоYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035233.283165 s, next control iter: 1743035233.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 87322, header.stamp.nsec: 020 temperature: 13.5689902* salinity: 33.3750952, density: 1025.0000002* values[0]: 0.5762312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035233.683165 s.lI~,kk&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035233.683309F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@ApY @ABW~? AA%"AAnjNA"AZAbAjArAzAAA'N??AiJtADr@ACAJ=AqGA;?Ah߿Ad*A9?2A׽:A=BA9?JA׽RA=٘i)I9r@YG JJJJJE&K YV~?y3UAESI787BR9)B[[V~?)>ê rAdjusting time to match Gazebo time: 1743035234.943165 s.\d.I~,S]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743035234.943295F (some fields omitted in printout)Aq= ף@Ak˖@AW~? A껫A7%"AAjNA"AZAbAjArAzAAAqJ$?AD tA1q@AQ%<A9=AX A)?A@ݿAX*A"9?2AGֽ:A =BA"9?JAGֽRA =٘i)I91q@YG JJJJJ#E&K YV~?y)ȪTAEZ7Z7 S9)BZE[[57[W~?[h[[[[BZYY i) 6rIiJ@8= Ҏ=))Ҏ=Ҏ=NͪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743035234.963165 s, next control iter: 1743035235.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035235.363165 s.NJ5I~,>&AJ"J*J2J:JU?BJU?nJ}5vJA@Ah@A`W~? AA$(%"AA1kNA"AZAbAjArAzAAA-77x?A":tATp@AK<A[I=A@AVu?A`ܿA}:*Al9?2AIֽ:A%=BAl9?JAIֽRA%=YW@y[F=[L<ٓHF??@8?Z߿@S?m`d䲿sy??)W@ I٘i)I9p@YzG JJp<JJJ&E&Kw> Y&V~?y̪SAEb77 S9)B[[2[W~?[[[[[BZYY i)  IiF@;< =))== ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035235.383165 s, next control iter: 1743035235.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8734", header.stamp.nsec: 0"0 temperature: 13.569259"* salinity: 33.375088", density: 1025.000000"* values[0]: 0.575239"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035235.783165 s.X;I~,&AA(\@AS@A X~? AūA%"AA(1kNA"AZAbAjArAzAAA|??A-1tA3%p@AM!<A˾=AטA?Ar<ܿAÊ*A>9?2Aֽ:A=BA>9?JAֽRA=٘i)I9%p@Y(G J٠JJJJ)E&K YW~?yЪQSAE7777-S9DB)ïB^E[[-[W~?[[[[[BZYY i) tBIiC@< y=))y=y=yHiӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035235.803165 s, next control iter: 1743035236.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035236.203165 s.CI~,\ &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035236.203307F (some fields omitted in printout)J"J*J2J:JBJnJvJAQE@Am38@A!X~? AʫAg%"AAPkNA"AZAbAjArAzAAA Vud>@A^b tAUo@AA|=A$oA?AuۿA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9o@YG J¡JJJJ,E&K YW~?yUժRAE{7S9)ȯBaE[[+)[0W~?["[[[[BZYY i) ՏIi?@T<  "=)) "= "=%תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035236.223165 s, next control iter: 1743035236.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035236.623165 s.VII~,X'&AAGz@A m@A'7X~? AZϫA- %"AApkNA"AZAbAjArAzAAAD=A@AWtAo@A A=AAO?AYڿA2*AC9?2A{׽:A=BAC9?JA{׽RA=٘i)I9o@YG JJJJJ.E&K Y5W~?y٪RAEb77XS9EB)̯BdE[[o$[W~?[[[[[BZYY i) iIi#=@< >))>>D۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035236.643165 s, next control iter: 1743035237.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8735 , header.stamp.nsec: 0 0 temperature: 13.569415 * salinity: 33.375103 , density: 1025.000000 * values[0]: 0.574677 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035237.043165 s.PI~,B&AJ"J*J2J:J?BJ?nJC5vJA= ף@A?N@ALX~? AӫAq%"AAkNA"AZAbAjArAzAAA5\zL@A.tA n@AϩJA=AA ?AٿAL*A9?2A ׽:A=BA9?JA ׽RA=٘i)I9n@Y.G J/JJJJ1E&K Y NW~?yު RAE7777S9)ѯB[[s[W~?[៪[[[[BZYY i) Ii:@< %>))%>%>ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035237.063165 s, next control iter: 1743035237.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035237.463165 s.VWI~,]&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743035237.463270F (some fields omitted in printout)Affff@AT^@AbX~? AAثAaZ%"AAͱkNA"AZAbAjArAzAAA )]@AMtAm@ASA=A־A?AٿA*Au9?2Apֽ:AU=BAu9?JApֽRAU=٘i)I9m@YG JJJJJ4E&K YfW~?yQAE7S9)կBgE[[[W~?[[[[[BZYY i)  Ii8@~< 8>))8>8> YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035237.483165 s, next control iter: 1743035237.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8736, header.stamp.nsec: 00 temperature: 13.569586* salinity: 33.375130, density: 1025.000000* values[0]: 0.574079F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035237.883165 s.y]I~,Dx&AJ"J*J2J:J?BJ?nJ5vJA(@A@AxX~? AܫA%"AAkNA"AZAbAjArAzAAAlv @A|! tAdm@A]A=A.̾A?AAAؿA}з*A9?2AMֽ:A(v=BA9?JAMֽRA(v=٘i)I9dm@Y{G JJJJJ6E&K YW~?yUQAĝE"S9FB)ۯBjE[[ [X~?[@[[[[BZYY i) "Ii47@< @K>))@K>@K>!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035237.923165 s, next control iter: 1743035238.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035238.303165 s.RdI~,fg&AAQ@AVD@AX~? AAV%"AAkNA"AZAbAjArAzAAAtP%ߔ @AڗAif#tAl@Ae;A~j=A¾A Q?Ap׿A*AQ9?2A7ֽ:A9f=BAQ9?JA7ֽRA9f=٘i)I9l@YG JJJJJ9E&K YyW~?yHPAǝE77{7%S9)BmE[[T[XX~?[G[[[[BZYY i) CIi6@< ^>))^>^>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035238.323165 s, next control iter: 1743035238.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8737., header.stamp.nsec: 0.0 temperature: 13.569743.* salinity: 33.375126., density: 1025.000000.* values[0]: 0.573484.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035238.723165 s.kI~,H&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743035238.723330F (some fields omitted in printout)Az@A}z@AX~? AAee%"AAlNA"AZAbAjArAzAAA{Yt @A2A%tA%"l@AF<A`=A\}A?A`ֿAquǼ*Ao9?2ASֽ:AS=BAo9?JASֽRAS=٘i)I9"l@YG J ļJJJJ))&r>&r>LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035238.743165 s, next control iter: 1743035239.123181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035239.143165 s.Z/rI~,*&AA ףp@Ai@AX~? AeA<%"AAZ9lNA"AZAbAjArAzAAA}C@Aq#'(tAyk@A2<AԮ=AA ?A1տA"ʼ*A9?2A?ֽ:A=BA9?JA?ֽRA=٘i)I9yk@YPG JPɼJJJJ>E&K YmW~?y$PA̝E77{7,S9HB)BqE[[[@X~?[[[[[BZYY i) ļIi4@< h>))h>h>PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035239.163165 s, next control iter: 1743035239.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035239.563165 s.xI~,t &AJ"J*J2J:JBJnJvJA3333@AM(@AX~? AA%"AA7\lNA"AZAbAjArAzAAA2So; @AhAXe*tA,j@AG;Ay=A#GA`?A@ԿAK˼*A9?2Aֽ:A_=BA9?JAֽRA_=Y$۷@By=‚;ٓH%G?`?w? ӿ@b?`Jf`W@Hp??)$۷@ I٘i)I9j@YG Jj˼J<JJJAE&K&> Y7W~?yOAϝEb77m0S9)BtE[[[UX~?[[[[[BZYY i) ̼Ii0@< ">))Frq">">YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035239.603165 s, next control iter: 1743035239.963184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8738, header.stamp.nsec: 00 temperature: 13.569981* salinity: 33.375122, density: 1025.000000* values[0]: 0.572761F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035239.983165 s.I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235787@ elevatorAngleAction: -0.084177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743035239.983277F (some fields omitted in printout)A\(@A`5@AX~? AAx%"AAslNA"AZAbAjArAzAAAw?|&@A>,tA#j@AA~=AMtA 3?A ԿA.ʼ*A9?2AYֽ:A@=BA9?JAYֽRA@=٘i)I9#j@YG J3˼JJJJDE&K YW~?y8OAҝE7{74S9IB)BwE[[|[iX~?[$[[[[BZYY i) RXӼIi,@< >)) >>9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035240.003165 s, next control iter: 1743035240.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035240.403165 s.&I~,&AJ"J*J2J:JBJnJvJAQ^@A)Q@AY~? AAF%"AAlNA"AZAbAjArAzAAArNE@Aܯ.tAxi@A;A=A[Al?A:#ӿA[X˼*Aë9?2AԽ:A=BAë9?JAԽRA=٘i)I9xi@YG JʼJJJJFE&K YX~?yTNAԝE77777S9)BzE[[[~X~?[[[[[BZYY i) ڼIi!)@|< 4>))4>4>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035240.423165 s, next control iter: 1743035240.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8739", header.stamp.nsec: 0"0 temperature: 13.570177"* salinity: 33.375153", density: 1025.000000"* values[0]: 0.572065"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035240.823165 s.I~,)4&AAGz@A>!;o@AY~? A2Az%"AAlNA"AZAbAjArAzAAAȦ3f@Aso0tAUh@ABBA=AA@?AMҿA5ͼ*Ad9?2A^Խ:A[=BAd9?JA^ԽRA[=I٘i)I9h@Y G Jh̼JJJJIE&K Y3X~?yLNAםE77-;S9)B}E[[K[ēX~?[[[[[BZYY iq1) Ii&@|<  Ԩ>)) Ԩ> Ԩ>Y#6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035240.843165 s, next control iter: 1743035241.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035241.243165 s.󵓶I~,`O&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035241.243278F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@A ~1@A2Y~? AFA%"AABlNA"AZAbAjArAzAAAm@Ag3t2tAh@AĻAvѳ=Au_tA)?AlsѿAsҼ*A9?2A'Խ:A+=BA9?JA'ԽRA+=٘i)I9h@YE G JϼJJJJLE&K Y^NX~?yMAڝESI787>S9)B[[-߾[OX~?[Ū[[[[ZZ¸BZYY i¸(>=) ռIiF#@T< >))>>!YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743035241.263165 s, next control iter: 1743035241.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035241.663165 s.I~,qj&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8740, header.stamp.nsec: 00 temperature: 13.570410* salinity: 33.375153, density: 1025.000000* values[0]: 0.571307F (some fields omitted in printout)A@A@AJY~? A4A%"AAmNA"AZAbAjArAzAAACq@AXY>4tAflg@ALG;Ay=Aɖ`A j?AпAQbּ*A٢9?2AԽ:A=BA٢9?JAԽRA=YG @P`yB=vH;ٓH@?U?ߵ?@˿ ;?h?@?)G @ I٘i)I9lg@Y G J&ԼJ!;JJJNE&Kr> YiX~?y]MAP`ܝE{7{7XBS9)BE[[q ־[ѾX~?[(Ȫ[[[[ZZBZYY i) ɼIi@ R< E>))V{E>E>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035241.683165 s, next control iter: 1743035242.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035242.083165 s.J "J *J 2J :J A?BJ A?nJ [5vJ EI~,&S&AA)\5@A(@A-cY~? AAT%"AA4mNA"AZAbAjArAzAAAC+Q@AJH5tAf@A٫+<A(=ALAd?AkϿAu*Ao9?2A3Խ:A<BAo9?JA3ԽRA<٘i)I9f@Y_ G JJJJJQE&K YnX~?yLAߝE7777ES9JB)BE[[g̾[X~?[˪[[[[ZZBZYY i) ǽIi@]'< >)) >>y{=2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035242.103165 s, next control iter: 1743035242.483186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743035242.503165 s.I~,@4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035242.503298F (some fields omitted in printout)ARk@AMy^@A{Y~? AA%"AAYmNA"AZAbAjArAzAAAD@A#ċ7tAWe@AqH<Ao=A;8A@@?AͿAV*A{9?2A]ӽ:A!'<BA{9?JA]ӽRA!'<٘i)I9e@Y G JJJJJTE&K YX~?yjLAE{7IS9)BE[[¾[X~?[ͪ[[[[ZZBZYY i) TIi+@~< m>))m>m>y#=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035242.523165 s, next control iter: 1743035242.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8741, header.stamp.nsec: 00 temperature: 13.570633* salinity: 33.375164, density: 1025.000000* values[0]: 0.570513F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035242.923165 s.9I~,&AJ"J*J2J:J ?BJ ?nJ%5vJA{G@A=D;@A{Y~? AA%"AAmNA"AZAbAjArAzAAAC-@Ak`9tACd@AV;As=A<#A@ne?A@˿A>*A9?2A[HԽ:Ao<BA9?JA[HԽRAo<٘i)I9d@YT G JJJJJWE&K Y}X~?y{ KAEMS9)"BE[[츾[RY~?[Ъ[[[[ZZBZYY i) rIi@~Z< 3>))3>3>੪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035242.963165 s, next control iter: 1743035243.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035243.343165 s.))>>vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035243.363165 s, next control iter: 1743035243.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8742&, header.stamp.nsec: 0&0 temperature: 13.570909&* salinity: 33.375195&, density: 1025.000000&* values[0]: 0.569606&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035243.763165 s.9I~,'&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743035243.763280F (some fields omitted in printout)J"J*J2J:JBJnJvJA @A3@AjY~? AA%"AAmNA"AZAbAjArAzAAA݊@A4;tAc@A'A\<AeyAt?ADȿA*Au9?2Aս:A BAu9?JAսRA Y<@y<5'ٓH9?m\?k? hk?;}? ] G?)<@ I٘i)I9c@Y G JJJJJ\E&Ks> Y!X~?yq SKAEb77CTS9RB)6BE[[W[.Y~?[ժ[[[[ZZBZYY iό=) GWIi @m< >))1y>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035243.803165 s, next control iter: 1743035244.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035244.183165 s.¶I~,s &AA(\B@AH5@AY~? A Ai%"AAmNA"AZAbAjArAzAAAIۧG@A =tA'c@A&w_AT<AʽA`?A,rƿA=u*A9?2AeUս:A1a BA9?JAeUսRA1a ٘i)I9c@Y4 G JJJJJ_E&K Y:Y~?y} 0KAEj7SI7WS9):BE[[i[EY~?[ت[[[[ZZBZYY i) Iif@/< M>)) M>M>eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035244.223165 s, next control iter: 1743035244.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035244.603165 s.14ɶI~,&&AJ"J*J2J:JBJnJvJAQx@A-Ik@AY~? Ar AD%"AAnNA"AZAbAjArAzAAAf^@Ab8,(>tAӼb@Af&A,ȻAhA`?A ĿAG"*A9?2A& Խ:A|BA9?JA& ԽRA|٘i)I9b@Y G JBRJJJJaE&K YW,Y~?y KAEn[S9) elevatorAngleAction: 0.078725< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743035245.023320F (some fields omitted in printout)AHz@A΍ @A^Z~? A$AM!%"AAL=nNA"AZAbAjArAzAAA`n @A0?tAƅb@AӺA"A;qA?A ý¿Au*A9?2AԽ:Ah.BA9?JAԽRAh.٘i)I9b@Y G JJJJJdE&K YpHY~?yJAE777_S9)>BE[[[uY~?[Yܪ[[[[ZZBZYY i) `IiT@< =?))=?=?y⨌=?)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035245.063165 s, next control iter: 1743035245.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035245.443165 s.:ֶI~,J]\&AJ"J*J2J:J?BJ?nJ5vJAq= @A@A+Z~? AA%"AAcnNA"AZAbAjArAzAAAM! @A$ @tA,kb@A|;A-AA@?A1A]޺*A9?2A.ս:A~ļBA9?JA.սRA~ļ٘i)I9kb@Y G Je}JJJJgE&K YdY~?yJAE)7ŧ7bS9SB)@BE[[={[Y~?[Kު[[[[BZYY i)  'LIi?С< h@ ?))h@ ?h@ ?y=!-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035245.463165 s, next control iter: 1743035245.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8744, header.stamp.nsec: 00 temperature: 13.571087* salinity: 33.375183, density: 1025.000000* values[0]: 0.568750F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035245.863165 s.+ݶI~,>w&AA@AO: @AEZ~? AA%"AAnNA"AZAbAjArAzAAArk2vH!@A$(@tA;kb@A/L<A~O/AAQ/?A`AT;*A&9?2ANս:ABA&9?JANսRAYxt@NyL/_L<ٓH?@T}?@ ?釿?˅??)xt@ I٘i)I9Y J7B=J 'JJJiE&Kt> Y׀Y~?yKANE77.fS9)E[[ig[ƤY~?[[[[[BZYY i@di=) vF;Ii?< 5?))#Ix5?5?Jk*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743035245.903165 s, next control iter: 1743035246.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035246.283165 s.7RI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242466> elevatorAngleAction: 0.056980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199292 time: 1743035246.283266F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\O@A,NB@AN_Z~? AEA{%"AAnNA"AZAbAjArAzAAA~!@ApAAtAb@A!.<AUWA,;A5A?ATUA;*Ay9?2Arս:ABAy9?JArսRA٘i)I9b@Y G J;C=JJJJlE&K YY~?y;KAEb77iS9)?BE[[qS[ؼY~?[[[[[BZYY io=) n*Ii#?C}< h3?)) h3?h3?0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035246.303165 s, next control iter: 1743035246.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 87452, header.stamp.nsec: 020 temperature: 13.5709492* salinity: 33.3752252, density: 1025.0000002* values[0]: 0.5688512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035246.703165 s.ԺI~,&AAQ@A3x@AyZ~? ASA2%"AAnNA"AZAbAjArAzAAAŨ"@A{ֺZBtA b@A*H;AfwA;<AwS?A@3{A3<*A9?2AԽ:ABA9?JAԽRA٘i)I9b@Y G J} <B=JJJJoE&K YgY~?y!vKAE7ŧ7YmS9)=BE[[N?[9Y~?[=[[[[BZYY i) Ii?< T<?))T<?T<?_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035246.723165 s, next control iter: 1743035247.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035247.123165 s.7I~,]&AJ"J*J2J:JBJnJvJAG@ABfխ@AZ~? A8A%"AAnNA"AZAbAjArAzAAAe#@AN^BtAc@As̻Ag懽A'=A@*`?A ⲿA%k<*A=9?2A&Խ:A2 BA=9?JA&ԽRA2 ٘i)I9c@Y6 G J;N<C=JJJJqE&K YY~?yKKAE77pS9):BE[[ +[Y~?[[[[[BZYY i) Ii?G< L?))L?L?M*Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035247.143165 s, next control iter: 1743035247.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035247.543165 s.II~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035247.543298F (some fields omitted in printout)A= ף@A@AZ~? AAޑ%"AA"'oNA"AZAbAjArAzAAA c=%#@AÞYCtA*c@AJA吽Aw=Aj?AkAn<*As9?2AngԽ:AiBAs9?JAngԽRAi٘i)I9c@Yx G J<JJJJtE&K YY~?yuKAEb7b7tS9RB)6BE[[ [Z~?[[[[[BZYY i) #Ii?|< Xe#?))Xe#?Xe#?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035247.563165 s, next control iter: 1743035247.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8746, header.stamp.nsec: 00 temperature: 13.570690* salinity: 33.375229, density: 1025.000000* values[0]: 0.569273F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035247.963165 s.yI~,&AJ"J*J2J:J?BJ?nJ5vJAffff&@A[@AZ~? AAׄ%"AAuNoNA"AZAbAjArAzAAAMX$@A۳CtA3d@AEA;AbM=As?A樂Ai<*A9?2AԽ:AԌBA9?JAԽRAԌYM@u!=ygiFٓH?@mϴ? ?=x?*߲?`ʻ?)M@ I٘i)I9d@Y G JԔ<JJJJwE&KBt> YZ~?yRLA!=Ej7j7xS9)2B[[[MZ~?[[[[[BZYY i) eѻIi?< m(?))Rwm(?m(?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035247.983165 s, next control iter: 1743035248.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035248.383165 s.I~,/&AA(\@AB !O@AZ~? AAz%"AAuoNA"AZAbAjArAzAAAt*7 elevatorAngleAction: 0.066165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035248.803299F (some fields omitted in printout)A@Af@AZ~? A2Agt%"AAGoNA"AZAbAjArAzAAA&%@A#iDtAte@A3t;AA ?A?AX<*AR :?2A~Խ:A BAR :?JA~ԽRA ٘i)I9e@Y G J><JJJJE&K YbZ~?yMA E77{7قS9OB)"BE[[&e[jZ~?[2[[[[BZYY i) lIi?si< 67?))67?67?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035249.243165 s, next control iter: 1743035249.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035249.643165 s.I~,I*i&AJ"J*J2J:JBJnJvJA ףp@Awe@A/[~? A4Ap%"AA:oNA"AZAbAjArAzAAA&@Ao=DtA:f@ApP<A듞A&>A`?A`?AmJ<*AC :?2A@ս:A BAC :?JA@սRA ٘i)I9:f@Y G J߮<JJJJE&K Y~Z~?y MAE7ŧ7nS9)BE[[A[-Z~?[[[[[BZYY i)  S0Ii?b<  elevatorAngleAction: 0.066165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035250.063310F (some fields omitted in printout)A33333@AiA'&@AI[~? AAs%"AApNA"AZAbAjArAzAAA x}m'@A<CtAf@A^U;AuНAs:>A/}?A ?AM<*A :?2Aeս:A\uBA :?JAeսRA\uY@8:>yZϝ;ٓHa?8ǿ ?w?ṕ@촳?J~?w?)@ I٘i)I9f@Yy G J<J-JJJE&Ket> YpZ~?yF QNA8:>E77{7S9NB)BE[[W߼[sZ~?[[[[[BZYY i) (IiK?X#V< `B?))w`B?`B?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035250.083165 s, next control iter: 1743035250.463185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035250.483165 s.x_'I~,&AJ"J*J2J:J1?BJ1?nJK5vJA\h@A4[@Ac[~? AAy%"AA';pNA"AZAbAjArAzAAAc (@AqCtA hg@AAJFAN>A`Nw?Aw?A%<*A :?2Apս:ABA :?JApսRA٘i)I9hg@Y G J<JJJJE&K Y4Z~?y NAEb77S9)BE[[^x[Z~?[[[[[BZYY i) bIiО?GK< :G?)) :G?:G?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035250.503165 s, next control iter: 1743035250.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8749, header.stamp.nsec: 00 temperature: 13.569560* salinity: 33.375290, density: 1025.000000* values[0]: 0.571459F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035250.903165 s.-I~,͹&AAQ@AHG@A}[~? AA%"AAbpNA"AZAbAjArAzAAAӓZ(@A;`CtAh@A'$A0 AҦb>A`q?A@@?Aq<*A*:?2AJӽ:A>BA*:?JAJӽRA>٘i)I9h@Y4 G J<JJJJE&K YZ~?y %OAE777.S9MB) BE[[QW<[Z~?[[[[[BZYY i) 4W8Ii/?yA< loL?))loL?loL?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035250.923165 s, next control iter: 1743035251.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035251.323165 s.w4I~,)&AJ"J*J2J:Jf?BJf?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035251.323287F (some fields omitted in printout)AGz@AMp@A [~? AGAe%"AApNA"AZAbAjArAzAAAF)@A$~_BtAh@ASANA(v>Af?A@?A<*A,:?2A0-Խ:ACBA,:?JA0-ԽRAC٘i)I9h@Y G J<JJJJE&K YZ~?yOAE{7j7ĔS9)B[[ =[Z~?[[[[[BZYY i) T }:Iik?<8< Q?))Q?Q?Y*Y0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035251.343165 s, next control iter: 1743035251.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8750*, header.stamp.nsec: 0*0 temperature: 13.569131** salinity: 33.375298*, density: 1025.000000** values[0]: 0.572295*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035251.743165 s.W;I~,&AAףp= @AY5@A[~? AfA%"AACpNA"AZAbAjArAzAAAu )@AeBtA3i@AALAʅ>A;Z?AVx?A<*A,:?2ApԽ:A|BA,:?JApԽRA|٘i)I93i@Y G J<JJJJE&K Y [~?yOAEŧ7b7YS9)BE[[E^=[[~?[[[[[BZYY i) Z:Ii?!O1< ,V?)),V?,V?>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035251.763165 s, next control iter: 1743035252.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035252.163165 s.x}BI~,q &AJ"J*J2J:JBJnJvJA@@A-!2@A[~? A[A%"AA}pNA"AZAbAjArAzAAA&*@A'|AtAi@AmĹAzYA>AJ?AWyyYbĹٓH@ ?ѿ@v?@?ړG'? 8`?)G= I٘i)I9i@YFG Jm<Jcm<JJJE&Kt> Y$[~?yu[PA> E{7j7S9LB)B¹E[[J=[F[~?[[[[[BZYY i) @d8;IiA?Dr%< d,\?))Vxd,\?d,\?5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035252.183165 s, next control iter: 1743035252.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035252.583165 s.HI~, S%&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242519> elevatorAngleAction: 0.066165< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743035252.583303F (some fields omitted in printout)A)\u@Ah@A[~? A&AQ%"AApNA"AZAbAjArAzAAA^jB+@AAtAcNj@Ax <AA?>A8?A?A\<*A<,:?2AN0ֽ:ABA<,:?JAN0ֽRA٘i)I9Nj@YG J<JJJJE&K Y?[~?yPA"E{7S9KB)BŹE[[=[.8[~?[P[[[[BZYY i) ߠu;Iiq?< npa?)) npa?npa?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035252.603165 s, next control iter: 1743035252.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8751, header.stamp.nsec: 00 temperature: 13.568725* salinity: 33.375305, density: 1025.000000* values[0]: 0.573072F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035253.003165 s.x PI~,L4@&AJ"J*J2J:J?BJ?nJ5vJAR@AEJy@AF[~? AAd%"AA&qNA"AZAbAjArAzAAAƪ+@AT/@tAj@AFS<AA>Ao%?A@P?A9<*AE:?2AԽ:A޷BAE:?JAԽRA޷٘i)I9j@YG J<JJJJE&K YZ[~?yQA%Eŧ7b7S9)BȹE[[J{=[>R[~?[s[[[[BZYY i) >s;Iib?< Df?))Df?Df?b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035253.043165 s, next control iter: 1743035253.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035253.423165 s.uVI~,[&AA{G@A]4d<@A\~? A>A%"AAMqNA"AZAbAjArAzAAAnT,@AZY??tAQk@A-<AۊAE>A??A?A<*AE:?2Aս:A^BAE:?JAսRA^٘i)I9Qk@Y8G J(<JJJJE&K Yu[~?yQA(E)7ŧ7S9JB)B˹E[[ >[kl[~?[j[[[[BZYY i9=) L ;IiJU?< bl?))bl?bl?A*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035253.443165 s, next control iter: 1743035253.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8752, header.stamp.nsec: 00 temperature: 13.568334* salinity: 33.375340, density: 1025.000000* values[0]: 0.573771F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035253.843165 s.\I~,u&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035253.843300F (some fields omitted in printout)Ap= @A< @Ab1\~? A A%"AACtqNA"AZAbAjArAzAAA߮c,@At7>tAOk@